An anti-siltation and silt removal robot

Abstract

A silt removal robot for preventing siltation and subsidence comprises a frame equipped with a transfer mechanism, a silt removal tool, and a control system. The transfer mechanism is located below the frame, and the silt removal tool is located at the front end of the frame. The transfer mechanism enables the device to move from one location to another. The silt removal tool crushes, gathers, and removes silted soil and / or undisturbed soil from the current area. The silt removal reamer of the silt removal tool shears the undisturbed soil and / or silt removal soil. The control system sends control commands to the transfer mechanism and the silt removal mechanism and controls their operations. Buoyancy mechanisms are provided on the left and right wing frames of the frame, respectively. The buoyancy mechanisms include an outer frame and a sealable cavity, wherein the ratio of the cavity volume to the swept volume of the silt removal reamer is 0.027 to 0.0507. The present invention controls the minimum ground pressure of the entire robot underwater within a reasonable range, enabling the robot to hover within a designated area during silt removal operations, thereby improving its anti-siltation performance.

Description

Technical Field

[0001] The invention relates to an anti-siltation and silt-clearing robot. Background Art

[0002] In recent years, the problem of siltation behind high-pile berths at large ports has become increasingly serious, with the height of the mud surface increasing year by year. At the same time, to meet the increasing demand for berthing water depths for large ships, the front of the pier is regularly dredged, resulting in a continuous increase in the height difference between the mud surface in front and behind the pier pile foundation, causing damage and fracture to the pile foundation, posing a serious safety hazard. An investigation found that all ports and berths above 10,000 tons along the Zhejiang coast all use high-pile beam-slab pier structures. An investigation into the siltation behind more than 100 high-pile berths along the Zhejiang coast found that approximately 90% of the piers have serious siltation problems below and behind the piers. The maximum siltation height at the rear edge of some piers has reached 15.5 meters, and the underwater slope ratio is close to 1:2, posing a serious safety hazard to the safe operation of the piers.

[0003] At present, the bottleneck problems in the research on dredging and unloading behind the dock are mainly reflected in two aspects: first, due to the dense arrangement of pile foundations under the high-pile dock, the narrow water area behind it and the limited water depth, traditional dredging construction facilities cannot enter the back of the dock for dredging operations due to size and water depth restrictions; second, traditional dredging technology has problems such as the need to modify the construction ship, high cost, low efficiency, and increased siltation behind the dock after dredging, resulting in poor dredging and unloading effects.

[0004] Currently, research on port terminal dredging and unloading technologies is primarily focused on the front of the terminal, harbor basin, and waterway. Dredging in the waters and waterways in front of the terminal primarily utilizes traditional methods such as jet dredgers, chain bucket dredgers, bucket dredgers, grab dredgers, cutter suction dredgers, trailing suction dredgers, and pneumatic silt flushing. These methods are often manual, making it difficult to navigate the shallow, narrow waters and mudflats behind the terminal. Furthermore, in the area behind the terminal, due to the dense cluster of piles beneath the high-pile terminal, traditional dredgers and dredgers are limited in size and cannot enter the narrow waters behind the terminal to perform dredging operations. Summary of the Invention

[0005] With the rapid growth of my country's port construction, a large number of new docks and berths have been rapidly put into operation. At the same time, the long-term siltation of soil near the docks has reduced the safety of the dock structures. The dense pile clusters beneath the port's high-pile docks necessitate the clearing of the silted and undisturbed soil beneath and behind the docks, influenced by time, tides, wind and wave mud transport, and dock berthing upgrades. However, due to the limited space available, existing large and medium-sized dredging equipment is unable to operate. Currently, such dredging projects primarily utilize direct suction from mud pumps and manual high-pressure water jet flushing, resulting in low efficiency, significant safety hazards, and poor quality control.

[0006] The object of the present invention is to provide a dredging robot which can hover underwater and stably perform dredging operations under the conditions of soft silted soil and original soil.

[0007] The technical solution adopted by the present invention is: an anti-siltation and dredging robot, comprising: a frame, on which a migration mechanism, a dredging tool and a control system are provided; the migration mechanism is provided under the frame, and the dredging tool is provided at the front end of the frame;

[0008] Migration mechanism enables the movement of equipment from one location to another;

[0009] The dredging equipment can crush, gather and remove the silted soil and / or the original soil from the current area; the silt removal reamer of the silt removal equipment can shear the original soil and / or the silted soil;

[0010] The control system sends control instructions to the migration mechanism and the dredging mechanism and controls their operations;

[0011] The frame includes a load-bearing frame, which includes a main frame formed by welding strip profiles and left and right wing frames arranged on the left and right sides of the main frame. A left migration mechanism mounting portion is provided below the left wing frame, and a right migration mechanism mounting portion is provided below the right wing frame. The dredging equipment mounting portion is on the main frame or is part of the main frame. There are strip-shaped connecting pieces at the top of the main frame and the leftmost side of the left wing frame, and there is a long strip connecting piece at the top of the main frame and the rightmost side of the right wing frame.

[0012] The left and right wing frames are each equipped with a buoyancy mechanism consisting of an outer frame and a sealable chamber. The ratio of the chamber volume to the swept volume of the dredging reamer is 0.027 to 0.0507. This keeps the robot's minimum ground contact pressure within a reasonable range while underwater, allowing it to hover within a designated area during dredging operations and improve its anti-silting performance.

[0013] Furthermore, the ratio of the cavity volume to the swept volume of the dredging reamer is 0.039 to 0.041. At this point, the minimum ground pressure of the entire robot underwater is controlled at approximately 3 kPa, allowing the robot to hover within a designated area during dredging operations, improving its anti-silting performance.

[0014] The specific structure of a buoyancy mechanism is as follows: the outer frame is a box body, the sealable cavity includes the cavity of the flexible bag and the inner cavity of the box body, the flexible bag is in the box body, and the inner cavity of the box body outside the flexible bag is called the auxiliary cavity. A partition is arranged in the box body, and the partition and the bottom plate or top plate of the box body work together to limit the flexible bag; the outer frame is provided with a connection part connected to the frame.

[0015] The flexible bladder can be filled with water or air in a fixed amount, while the auxiliary chamber is filled with air to provide buoyancy for the robot during underwater operations. The flexible bladder has a water inlet and outlet port, which can be shared by one or two ports. This allows the bladder to be filled and drained to adjust the device's buoyancy underwater and indirectly adjust the ground pressure ratio between the robot and the seabed (underwater) mud surface. The partitions and housing secure and protect the flexible bladder, extending its service life. The bladder can be filled and drained with water and air, allowing water and air to coexist within it. Adjusting the amount of water can change the robot's weight, and thus its buoyancy.

[0016] Furthermore, the partition is provided with a plurality of through holes, which allow air to circulate in the box body and facilitate the filling and draining of water in the flexible bag.

[0017] Furthermore, the flexible bag is arranged under the partition, and ribs are arranged on the upper surface or the lower surface of the partition, and the ribs are arranged along the width direction of the outer frame. The length direction of the outer frame is consistent with the length direction of the robot, and the width direction of the outer frame is consistent with the width direction of the robot.

[0018] Furthermore, the outer frame is a skeleton formed by connecting strips of connectors. A floating plate assembly is installed on the outer frame, enclosing the outer frame. The floating plate assembly comprises multiple floating plates made of a corrosion-resistant, flexible material (such as foam) with a density lower than that of water. In addition to providing buoyancy, the floating plates also protect the buoyancy mechanism from rigid collisions.

[0019] Another buoyancy mechanism has a specific structure: the buoyancy mechanism includes multiple buoyancy units, each with its own outer frame and flexible bladder. The outer frame is a hollow cage, and the flexible bladder is housed within the outer frame. The left and right buoyancy mechanisms have the same number of buoyancy units and the same layout. The outer frame of the bottom buoyancy unit has a connection to the frame, and the outer frames of adjacent buoyancy units on the same side of the buoyancy mechanism are interconnected. This allows the robot to reduce weight while utilizing the flexible bladder for buoyancy adjustment, thereby lowering its ground pressure.

[0020] Furthermore, the flexible bag is an airbag, and there is an inflation and deflation port on the airbag, and the inflation and deflation ports share an interface, or the inflation port is one interface and the deflation port is another interface; the outer frame is provided with an inflation and deflation pipe mounting portion, and the inflation and deflation port is connected to the pipe, and the pipe extends beyond the outer frame through the mounting portion, and the mounting portion limits the pipe. The inflation and deflation port of the airbag is connected to the air compressor on the water surface through a pipe to achieve inflation and deflation, thereby achieving buoyancy adjustment of the robot. The mutual restriction between the inflation and deflation port and the outer frame makes the layout of the buoyancy mechanism on the entire robot reasonable, which is conducive to the stable operation of the robot during underwater dredging operations. Here, we refer to the opening on the airbag as the inflation and deflation port, and the channel for conveying gas connected to the opening on the airbag is collectively referred to as a pipe.

[0021] Furthermore, the outer frame includes a cylindrical cage body and front and rear covers mounted at each end of the cage body. The mounting portion for the inflatable and deflation ports is located on the rear cover. Pipes extend outward from the rear end of the robot, ensuring a stable connection and preventing interference with underwater dredging operations.

[0022] Furthermore, the cage body, front cover, and rear cover are all hollow metal pieces, and the connectors between adjacent buoyancy units are also hollow metal pieces. This ensures the robot's rigidity and connection reliability while also reducing weight.

[0023] A specific structure of a migration mechanism: the migration mechanism includes a driving wheel, a road wheel, an inducer wheel and a track roller, and a flexible crawler surrounding the driving wheel, the road wheel, the driven wheel and the track roller. The outer end surface of the flexible crawler has a grounding tooth, and the inner end surface of the flexible crawler has a driving tooth. The driving teeth are respectively engaged with the driving wheel, the road wheel, the inducer wheel and the track roller for transmission.

[0024] Furthermore, taking the line connecting the center of the driving wheel and the center of the driven wheel as the baseline, the track roller is above the baseline, and the road wheel is below the baseline. There are at least two track rollers, and the line connecting the centers of the track rollers is parallel to the baseline; there are multiple road wheels, and the line connecting the centers of the road wheels is parallel to the baseline.

[0025] Furthermore, the ratio of the distance between adjacent support rollers to the distance between adjacent road wheels is 5:2 to 2:1.

[0026] The beneficial effects of the present invention are:

[0027] 1. It can hover underwater and perform dredging operations stably under the conditions of soft silt soil and original soil.

[0028] 2. It can dive into the water to carry out dredging operations, and can flexibly enter narrow spaces such as dock piles.

[0029] 3. It can hover underwater and perform dredging operations stably under the conditions of soft silt soil and original soil.

[0030] 4. It is used for dredging silted soil and undisturbed soil behind and below the port terminal. It can dive into the water for operation and the dredging capacity can reach more than 150 cubic meters per hour. It has stable power and control. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a three-dimensional diagram of the present invention from one angle.

[0032] Figure 2 It is a three-dimensional diagram from another angle of the present invention.

[0033] Figure 3It is a side view of the present invention.

[0034] Figure 4 It is a structural diagram of dredging equipment.

[0035] Figure 5 This is a structural diagram of the first buoyancy mechanism of the dredging robot.

[0036] Figure 6 This is a schematic diagram of the internal structure of the first buoyancy mechanism box of the dredging robot.

[0037] Figure 7 It is a structural diagram of a dredging robot equipped with the second buoyancy mechanism.

[0038] Figure 8a This is a schematic diagram of the second buoyancy mechanism airbag in the filled state.

[0039] Figure 8b This is a schematic diagram of the air bag decompression state of the second buoyancy mechanism.

[0040] Figure 9 This is a three-dimensional diagram of the dredging robot control system from one angle.

[0041] Figure 10 This is a three-dimensional diagram of the dredging robot control system from another angle.

[0042] Figure 11 It is a schematic diagram of the internal structure of the dredging robot control system.

[0043] Figure 12 This is a three-dimensional image of the valve block of the dredging robot from one angle.

[0044] Figure 13 This is a three-dimensional image of the dredging robot valve block from another angle.

[0045] Figure 14 This is the piping diagram of the hydraulic system of the dredging robot valve block.

[0046] Figure 15 This is the piping diagram of the hydraulic system for the brake valve of the dredging robot.

[0047] Figure 16 This is the hydraulic system piping diagram of the dredging robot's multi-way valve B.

[0048] Figure 17 This is the piping diagram of the hydraulic system of the multi-way valve A of the dredging robot.

[0049] Description of reference numerals:

[0050] Figure 1-7Middle: 1. Frame; 101. Dredging tool mounting portion; 2. Dredging tool; 201. Dredging reamer; 202. Cutter cover; 203. Mud delivery pipe interface; 205. Crushed soil collection portion; 206. Support arm; 3. Movable support arm; 4. Migration mechanism; 41. Driving wheel; 42. Road wheel; 43. Idler; 44. Track roller; 45. Flexible crawler; 5. Buoyancy mechanism; 501. Box; 502, sealable cavity; 503, partition; 504, connection; 505, inflation port; 506, water filling and discharge port; 507, float plate group; 508, buoyancy unit; 509, cage; 6, control system; 601, cylinder; 602, first end cover; 603, second end cover; 604, cantilever; 605, multi-way valve A; 606, multi-way valve B; 607, hydraulic lock; 60 8. Multi-way valve controller; 609, valve block; 609-1, main oil supply port; 609-1A, oil supply port A; 609-1B, oil supply port B; 609-1C, oil supply port C; 609-2, main oil return port; 609-2A, oil return port A; 609-2B, oil return port B; 609-2C, oil return port C; 609-2D, oil return port D; 609-3, main oil unloading port; 609-3A, oil unloading port A; 609-3B, oil unloading port B; 609-3C, oil unloading port C; 609-4, process hole; 609-5, mounting threaded hole; 610, plate connector; 611, sonar bracket; 612, single-beam sonar; 613, pressure sensor; 614, IMU; 615, control component; 616, sealing groove; 7, mud pipe connection; 8, dredging pump.

[0051] Figure 9-12In: (1) transition joint; (2) brake oil outlet pipe; (3) through-plate joint; (4) brake circuit oil return pipe; (5) brake oil unloading circuit oil pipe; (6) brake pressure oil pipe; (7) PVG32 control oil return line; (8) PVG32 pressure oil line; (9) PVG32 oil return line; (10) transition joint; (11) transition joint; (12) through-plate joint; (13) travel motor oil supply line in the control box; (14) travel motor oil supply line outside the control box; (15) transition joint; (16) transition joint; (17) travel motor oil return line; (18) transition joint; (19) transition joint; (2 0) Travel motor brake control oil circuit; (21) Travel motor displacement control oil circuit; (22) Transition joint; (23) Working oil circuit A of attitude adjustment hydraulic cylinder in control box; (24) Through plate joint; (25) Working oil circuit B of attitude adjustment hydraulic cylinder in control box; (26) Working oil circuit of attitude adjustment hydraulic cylinder outside control box; (27) Exhaust pressure measuring joint; (28) None; (29) LS valve block connecting pipeline; (30) PVG100 valve block control oil return pipeline; (31) Heavy-duty SAE11 / 4 split flange; (32) Heavy-duty flange joint; (33) PVG100 pressure oil pipeline; (34) Transition joint; ( 35) PVG100 oil return line 1; (36) PVG100 oil return line 2; (37) three-way transition joint; (38) transition joint; (39) transition joint; (40) transition joint; (41) spiral reamer pressure oil circuit; (42) plate joint; (43) three-way joint; (44) spiral reamer A pressure oil circuit; (45) spiral reamer B pressure oil circuit; (46) three-way joint; (47) B valve block oil drain line 2; (48) transition joint; (49) B valve block oil drain line 3; (50) B valve block oil drain line 1; (51) transition joint; (52) transition joint; (53) B valve block oil drain line 4; (54) B valve block oil drain line 5; (55) transition joint; (56) none; (57) transition joint; (58) transition joint; (59) transition joint; (60) transition joint; (61) transition joint; (62) travel motor oil drain line; (63) transition joint; (64) transition joint; (65) brake pressure line; (66) transition joint; (67) travel motor displacement control oil line; (68) transition joint; (69) desilting pump motor pressure line control room section; (70) through-plate joint; (71) desilting pump motor pressure line control room section; (72) none; (73) three-way transition joint. DETAILED DESCRIPTION

[0052] The following will clearly and completely describe the technical solution of the present invention in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0053] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and are therefore not to be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

[0054] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific contexts.

[0055] Dredging robot

[0056] The dredging robot in the present invention refers to an operating robot that can dive into the ocean or underwater in lakes and rivers to perform dredging operations such as crushing and extracting silted soil and undisturbed soil.

[0057] A dredging robot comprises: a frame 1, on which a migration mechanism 4, a dredging tool 2 and a control system 6 are provided; the migration mechanism 4 is provided under the frame 1, and the dredging tool 2 is provided at the front end of the frame 1;

[0058] The migration mechanism 4 enables the equipment to be moved from one location to another;

[0059] The desilting machine 2 realizes the crushing, gathering and removal of the silted soil and / or the original soil from the current area; the desilting reamer of the desilting machine performs a shearing action on the original soil and / or the silted soil;

[0060] The control system 6 sends control instructions to the migration mechanism 4 and the silt removal mechanism 2 and controls their operations.

[0061] In some embodiments, the control system 6 includes a protective shell, in which a hydraulic control component 615 and an electronic control component are disposed. The protective shell includes a cylinder 601, a first end cover 602, and a second end cover 603. The two end covers are respectively sealed with the cylinder 601. The first end cover 602 is used to install the hydraulic control component, and the second end cover 603 is used to install the electronic control component.

[0062] The hydraulic control assembly includes a valve block 609, a multi-way valve, a multi-way valve controller 608 and a hydraulic lock 607. The valve block 609 is mounted on the first end cover 602. The first end cover 602 is provided with a cantilever assembly, which includes multiple cantilevers 604. The first end of the cantilever 604 is fixed to the first end cover 602, and the second end of the cantilever 604 is suspended. Suspended means that it does not contact the cylinder 601 and / or the second end cover 603; the multi-way valve, the multi-way valve controller 608 and the hydraulic lock 607 are mounted on their respective supports. The frame is fixed to the boom assembly, and the multi-way valve, multi-way valve controller 608, and hydraulic lock 607 are located within the cylinder 601. The outer end surface of the valve block 609, exposed outside the protective shell, has a main oil supply port 609-1 and a main oil return port 609-2. The driving liquid medium enters through the main oil supply port 609-1 and is discharged through the main oil return port 609-2. With the center plane of the robot in the width direction as the reference plane, the main oil supply port 609-1 and the main oil return port 609-2 are located on either side of the reference plane. When the main oil supply port 609-1 and / or the main oil return port 609-2 do not intersect the reference plane, the main oil supply port 609-1 and the main oil return port 609-2 are located on either side of the reference plane. When main oil supply port 609-1 and / or main oil return port 609-2 intersect the reference plane, the center of main oil supply port 609-1 and the center of main oil return port 609-2 are on opposite sides of the reference plane, respectively. The hydraulically driven dredging robot offers stable power and control, providing continuous and stable power capable of clearing over 150 cubic meters per hour.

[0063] In some embodiments, the inner end surface of the valve block 609 located in the protective shell is provided with multiple sub-oil return ports and multiple sub-oil supply ports, all of which are connected to the main oil return port 609-2 through their own return oil channels, and all of which are connected to the main oil supply port 609-1 through their own channels; the sub-oil return ports are located on the same side, the sub-oil supply ports are located on the same side, and the sub-oil return ports and the sub-oil supply ports are located on both sides of the reference plane.

[0064] In some embodiments, a main oil unloading port 609-3 and a sub-oil unloading port are provided on the valve block 609. The main oil unloading port 609-3 is located on the outer end surface of the valve block 609. A side connecting surface is provided between the inner end surface and the outer end surface of the valve block 609. Sub-oil unloading ports are provided on the connecting surface and the inner end surface respectively. Each sub-oil unloading port is connected to the main oil unloading port 609-3 through an oil unloading channel.

[0065] like Figure 8a、 8b As shown in , 9 , in some embodiments, the control system 6 includes a protective shell, in which a hydraulic control component 615 and an electronic control component are disposed. The protective shell includes a cylinder 601, a first end cover 602, and a second end cover 603, and the two end covers are respectively sealed with the cylinder 601; a sonar bracket 611 is provided on the top of the first end cover 602, and a single-beam sonar 612 is provided on the sonar bracket 611; an IMU 614 is provided at the bottom of the cylinder 601, and a pressure sensor 613 is provided at the top of the cylinder 601 near the sonar bracket 611;

[0066] like Figures 11-16 As shown, the valve block 609 is provided with an oil supply channel, an oil return channel and an oil unloading channel. The oil supply channel is connected by the oil supply port A609-1A, the oil supply port B609-1B, the oil supply port C609-1C and the main oil supply port 609-1. Among them, the oil supply port A609-1A is connected to the multi-way valve A060, and the multi-way valve A606 is connected to the dredging pump motor, the spiral reamer motor A, and the spiral reamer motor B to provide the power required by the dredging pump, the spiral reamer A and the spiral reamer B; the oil supply port B is connected to the multi-way valve B, and the multi-way valve B605 is connected to the left travel motor and the right travel motor. The left and right attitude adjustment hydraulic cylinders provide the power required for walking and attitude adjustment; the oil supply port C is connected to the brake valve to provide the power required by the brake valve; the main oil supply port is connected to the external hydraulic power system to provide power for the entire device; the return oil channel is formed by the return oil port A, return oil port B, return oil port C, return oil port D and the main return oil port; the return oil port A and return oil port B are the return oil channels of the multi-way valve A, the return oil port C is the return oil channel of the multi-way valve B, and the main return oil port is the return oil channel of the entire system. The hydraulic oil returns to the oil tank of the hydraulic power system through the main return oil port.

[0067] In some embodiments, the multi-way valve A606 includes two parallel working modules A, which are respectively referred to as a first working module A and a second working module A;

[0068] The A port of the first working module A is connected to the oil inlet of the silt clearing pump motor of the silt clearing machine, the B port of the first working module B is connected to the oil outlet of the silt clearing pump motor of the silt clearing machine, and the oil drain port of the silt clearing pump motor is connected to the oil unloading port A;

[0069] The port A of the second working module A is connected to the oil inlet of the spiral reamer motor A of the dredging tool through the pipeline A, the port B of the second working module A is connected to the oil outlet of the spiral reamer motor A through the pipeline B, and the oil drain port of the spiral reamer motor A is connected to the oil unloading port B;

[0070] A tee joint A is provided on pipeline A, the third end of which is connected to the oil outlet of the spiral reamer motor B of the dredging machine. A tee joint B is provided on pipeline B, the third end of which is connected to the oil inlet of the spiral reamer motor B of the dredging machine. The oil drain port of the spiral reamer motor B of the dredging machine is connected to the oil discharge port B. The spiral reamer motor A and the spiral reamer motor B rotate in opposite directions, thereby enabling the dredging machine to crush soil and remove silt.

[0071] The Ls port of multi-way valve A is connected to the Lx port of multi-way valve B, the T0 port of multi-way valve A is connected to the control oil return pipeline of the valve block of multi-way valve A, the T1 port of multi-way valve A is connected to the oil return port A of the valve block, the T2 port of multi-way valve A is connected to the oil return port B of the valve block, and the P port of multi-way valve A is connected to the oil supply port A of the valve block.

[0072] In some embodiments, the multi-way valve B includes four parallel working modules B, which are respectively referred to as a first working module B, a second working module B, a third working module B, and a fourth working module B; the port A of the first working module B is connected to the port A of the left travel motor of the migration mechanism, and the port B of the first working module B is connected to the port B of the left travel motor of the migration mechanism;

[0073] The A port of the second working module B is connected to the A port of the right travel motor of the migration mechanism, and the B port of the second working module B is connected to the B port of the right travel motor of the migration mechanism; the T port of the right travel motor is connected to the T port of the left travel motor and then connected to the oil unloading port A; the Pb port of the right travel motor is connected to the Pb port of the left travel motor and then connected to the Pb port of the brake valve; the Ps port of the right travel motor is connected to the Ps port of the left travel motor and then connected to the travel motor brake displacement control oil circuit;

[0074] The A port of the third working module B is connected to the V1 port of the two-way hydraulic lock A, and the B port of the third working module B is connected to the V2 port of the two-way hydraulic lock B; the C1 port of the two-way hydraulic lock A is connected to the rodless cavity of the left attitude adjustment hydraulic cylinder, and the C2 port of the two-way hydraulic lock A is connected to the rod cavity of the left attitude adjustment hydraulic cylinder; the left attitude adjustment hydraulic cylinder is connected between the dredging tool and the frame, and the left attitude adjustment hydraulic cylinder realizes the pitch adjustment of the dredging tool;

[0075] The A port of the fourth working module B is connected to the V1 port of the two-way hydraulic lock B, and the B port of the fourth working module B is connected to the V2 port of the two-way hydraulic lock B; the C1 port of the two-way hydraulic lock B is connected to the rodless cavity of the right attitude adjustment hydraulic cylinder, and the C2 port of the two-way hydraulic lock B is connected to the rod cavity of the right attitude adjustment hydraulic cylinder; the right attitude adjustment hydraulic cylinder is connected between the dredging tool and the frame, and the right attitude adjustment hydraulic cylinder realizes the pitch adjustment of the dredging tool;

[0076] The Ls port of multi-way valve B is blocked, the P port of multi-way valve B is connected to the oil supply port B, and the T port of multi-way valve B is connected to the oil return port C.

[0077] The L port of the brake valve is connected to the oil unloading port C of the valve block, the P port of the brake valve is connected to the oil supply port C of the valve block, the Pb port of the brake valve is connected to the Pb port of the right travel motor and the Pb port of the left travel motor, and the T port of the brake valve is connected to the oil return port D.

[0078] In some embodiments, a dredging machine includes a dredging reamer 201, a blade cover 202, a mud pipe interface 203, and a drive motor 204. The dredging reamer 201 has a main shaft and a mud guide plate arranged concentrically with the main shaft, the mud guide plate being spirally arranged along the outer end surface of the main shaft. The blade cover 202 has two end plates and a blade cover shell connecting the two end plates. The ends of the main shaft of the dredging reamer 201 are respectively supported by the end plates of the blade cover 202. The drive motor 204 is mounted on the end plates. The mud pipe interface 203 is disposed on the blade cover shell. The ratio of the pitch of the mud guide plate to the minimum distance from the outer edge of the mud guide plate to the inner wall of the blade cover shell is 50:1 to 60:1. This dredging machine can perform quantitative automated cleaning of underwater silt and / or undisturbed soil in a designated area, with controlled dredging quality. It can provide a dredging robot with the ability to crush silt and undisturbed soil at a dredging rate of more than 150 cubic meters per hour.

[0079] During underwater dredging operations, the drive motor 204 drives the main shaft to rotate, and the mud guide plate arranged along the outer spiral of the main shaft cuts the silted soil and / or the original soil into pieces through the rotary cutting motion and gathers them in the area of ​​the knife cover, making it easy to remove the cut soil or mud. The mud guide plate and the knife cover cooperate to quickly cut the silted soil and / or the original soil, avoid the mud guide plate and the main shaft from getting stuck, and at the same time ensure that the main shaft, the mud guide plate and the knife cover can achieve the aggregation of broken soil (silt) through the Venturi effect, thereby improving the efficiency of soil crushing and dredging. The main shaft speed is controllable, the pitch and thread height of the mud guide plate are controllable, the dredging efficiency is controllable, the dredging area is controllable, the dredging depth (dredging amount) is controllable, and the dredging quality is controllable.

[0080] In some embodiments, the mud guide plate has two sections, a first section mud guide plate and a second section mud guide plate. The spiral directions of the two sections mud guide plates are opposite. There is a gap between the first section mud guide plate and the second section mud guide plate. The gap forms a crushed soil collection part 205. The crushed soil collection part 205 is within the coverage area of ​​the mud pipe interface 203.

[0081] During silt removal, the two sections of mud guide plates rotate, cutting and crushing the soil while sending the crushed soil from the outside to the inside. The crushed soil is first gathered in the crushed soil collection part and then cleared out from the mud pipe interface.

[0082] In some embodiments, the ratio of the minimum width of the soil collection portion 205 to the minimum distance from the outer edge of the mud guide plate to the inner wall of the blade housing is 55:1 to 70:1. The dredging reamer 201 operates underwater, with the mud guide plate rotating to cut silt and / or undisturbed soil, crushing the soil in the water to form a mud-water mixture. The dredging reamer's main shaft rotates driven by a drive motor, and the soil collection portion 205, mud guide plate, and blade housing work together to produce a suitable particle size of the mud-water mixture, essentially preventing the dredging reamer from getting stuck. The mud-water mixture, under the Venturi effect, collects in the soil collection portion and is discharged from the mud pipe interface 203.

[0083] In some embodiments, the soil collecting portion 205 is aligned with the main shaft, and the two sections of mud guide plates are symmetrically arranged about the center plane of the main shaft. The center plane of the main shaft refers to the center plane of the main shaft in the length direction, and the center plane is perpendicular to the main shaft.

[0084] In some embodiments, the closest points of the two mud guide plates and the blade cover are located on either side of the main shaft axis, with the blade cover located above the axis and the closest points of the two mud guide plates located below the axis. Crushed soil collects below the mud pipe interface 203 and tends to flow toward the interface 203.

[0085] In some embodiments, the area between the two end plates of the blade cover 202 includes a blade cover shell and an open portion. The area formed by the blade cover shell and the open portion encloses the dredging reamer 201, with the ratio of the central angle covered by the blade cover shell to the central angle covered by the open portion being 0.9:1 to 1.1:1. During dredging, the blade cover shell covers the operating area of ​​the dredging reamer 201. With the stationary blade cover shell and the rotating dredging reamer 201 working together, the mud-water mixture, driven by the dredging reamer 201, forms a flow field, converging toward the crushed soil collection area and the mud pump interface.

[0086] In some embodiments, the blade cover has a fan-shaped cross-section and is provided with a cavity connected to the mud pipe interface 203. This cavity is tangent to the blade cover in cross-section and includes a pair of front and rear side panels perpendicular to the blade cover, a pair of left and right side panels, and a top panel connecting the front, rear, left, and right side panels. The top panel has a through hole connected to the mud pipe interface 203. This cavity buffers the mud-water mixture.

[0087] In some embodiments, the left side plate and the right side plate respectively have a straight plate section and an inclined plate section, the straight plate section is connected to the knife cover shell, and there is an arc-shaped groove at the bottom of the straight plate section. The minimum distance between the groove wall and the outer edge of the mud guide plate is equal to the minimum distance between the inner end face of the knife cover shell and the outer edge of the mud guide plate.

[0088] In some embodiments, the cavity is aligned with the knife cover shell, and the mud pipe interface is aligned with the cavity; the outer end faces of the four side panels of the cavity are respectively provided with ribs, the first edge of the rib is aligned with the side panel vector, and the second edge of the rib is aligned with the knife cover shell.

[0089] In some embodiments, both ends of the knife cover shell are respectively connected to the end plates, and the two side edges of the knife cover shell are respectively provided with outwardly extending extension plates, the upper side extension plate extends obliquely upward, and the lower side extension plate extends obliquely downward.

[0090] In some embodiments, the blade cover is provided with a pair of arms 206, located on either side of the mud pipe interface 203. Each arm 206 has two connection holes. The distance between the first connection hole and the outer end surface of the blade cover is greater than the distance between the second connection hole and the outer end surface of the blade cover. The lines connecting the centers of the first and second connection holes and the center of the blade cover form a triangle. This ensures that when the connection holes are connected to the mechanism that drives the dredging tool, the triangle provides stability, providing a secure support for the dredging tool. Furthermore, the positioning of the first and second connection holes enables pitch adjustment of the dredging tool.

[0091] The dredging machine can be mounted on a dredging vessel or on a dredging robot capable of diving into the water to perform underwater operations.

[0092] In some embodiments, a drive motor 204 is mounted on each end plate of the blade housing 202, namely, a spiral reamer motor A and a spiral reamer motor B. The two drive motors have the same output torque but rotate in opposite directions. This balances the dredging tool while increasing the operating torque of the dredging reamers.

[0093] In some embodiments, a dredging robot includes: a frame 1, on which a migration mechanism 4, a dredging tool 2, and a control system 6 are provided; the migration mechanism 6 is provided under the frame, and the dredging tool 2 is provided at the front end of the frame;

[0094] The migration mechanism 4 enables the equipment to be moved from one location to another;

[0095] The desilting machine 2 is used to break up and gather the silted soil and / or the original soil and remove it from the current area;

[0096] The control system 6 sends control instructions to the migration mechanism 4 and the dredging equipment 2 and controls their operations;

[0097] The ratio of the ground clearance height of the robot's chassis 1 to its height is 0.06 to 0.12. This provides sufficient height to clear obstacles while also improving the robot's ability to resist silting in both silted and undisturbed soil environments. The robot can submerge underwater for silt removal operations and deftly maneuver into confined spaces such as dock piles.

[0098] In some embodiments, a migration mechanism mounting portion is provided on the left and right sides of the frame 1, and the front end of the frame is a dredging tool mounting portion 101; a movable arm 3 and a fixed arm are provided on the dredging tool mounting portion 101, and the movable arm is above the fixed arm;

[0099] The movable arm includes a first arm and a first arm seat. The first arm seat is fixed to the dredging tool mounting portion 101. One end of the first arm is connected to the first arm seat. The first arm has a degree of freedom of rotation relative to the first arm seat. The other end of the first arm is connected to the dredging tool. The first arm has a degree of freedom of rotation relative to the dredging tool. The first arm includes a first arm and a second arm. The first arm and the second arm can move relative to each other to complete the extension and retraction of the first arm.

[0100] The fixed support arm includes a second support arm and a pin shaft, the pin shaft is connected to the dredging tool, and the dredging tool has a rotational freedom relative to the pin shaft;

[0101] The center plane of the frame 1 in the height direction is taken as the second reference plane, the movable arm is located above the second reference plane, and the migration mechanism installation part is located below the second reference plane.

[0102] In this way, the balance of the dredging robot can be maintained during operation, and the pitch adjustment of the dredging equipment can be achieved.

[0103] In some embodiments, the dredging robot employs the solution provided by the first aspect of the present invention, comprising a pair of movable arms 3 and a pair of fixed arms. The movable arms 3 and the fixed arms are symmetrically arranged with respect to the third reference plane, with the center plane of the frame 1 in the width direction serving as the third reference plane. A strip-shaped connector connects the diagonally opposite first and second arm mounts. This ensures the stability and reliability of the dredging robot during operation.

[0104] In some embodiments, the mud pipe 7 is connected to the mud pipe interface 203 of the dredging machine. There is a space in the dredging machine mounting part 101 and under the diagonal connector to allow the mud pipe 7 to pass through. The other end of the mud pipe 7 is connected to the dredging pump 8. The dredging pump 8 provides negative pressure to allow the mud-water mixture in the dredging machine 2 to move through the mud pipe 7 in a direction away from the dredging machine 2.

[0105] In some embodiments, the dredging pump 8 is installed on the frame 1, with the front-to-back direction as the length direction and the center plane of the length direction as the fourth reference plane. The dredging equipment and the dredging pump are respectively located on both sides of the fourth reference plane.

[0106] In some embodiments, the plane at the rear end of the frame 1 serves as the fifth reference plane, the fifth reference plane being parallel to the fourth reference plane. The ratio of the distance from the outlet of the dredging pump 8 to the fourth reference plane to the distance from the outlet of the dredging pump 8 to the fifth reference plane is 1:3 to 2:7. This allows the robot to maintain smooth dredging operations and improve dredging efficiency.

[0107] In some embodiments, the frame 1 includes a load frame and a base plate. The base plate is fixed to the bottom of the load frame and comprises a flat plate at the lowest point, and two inclined plates, one at the front and one at the rear, extending diagonally upward. During dredging operations, particularly in soft silted or undisturbed soil environments, the base plate is utilized to increase support for the robot, improving its ability to resist silting and rollover.

[0108] In some embodiments, the bottom plate is provided with a plurality of holes. On the basis of the bottom plate having sufficient rigidity, the arrangement of the holes achieves lightweighting of the robot, which is conducive to improving the operating performance of the robot in water.

[0109] In some embodiments, the load-carrying frame includes a main frame formed by welding strip profiles and a left wing frame and a right wing frame arranged on the left and right sides of the main frame. A left migration mechanism mounting part is provided under the left wing frame, and a right migration mechanism mounting part is provided under the right wing frame. The dredging equipment mounting part 101 is on the main frame or is a part of the main frame; there are strip-shaped connecting parts at the top of the main frame and the leftmost side of the left wing frame, and there is a long strip connecting part at the top of the main frame and the rightmost side of the right wing frame.

[0110] In this way, the loading frame can carry various necessary components of the dredging robot, and has reasonable weight distribution and good firmness.

[0111] In some embodiments, a dredging robot includes: a frame 1, on which a migration mechanism 4, a dredging tool 2, and a control system 6 are provided; the migration mechanism 6 is provided under the frame 1, and the dredging tool 2 is provided at the front end of the frame 1;

[0112] The migration mechanism 4 enables the equipment to be moved from one location to another;

[0113] The desilting machine 2 realizes the crushing, gathering and removal of the silted soil and / or the original soil from the current area; the desilting reamer of the desilting machine 2 performs a shearing action on the original soil and / or the silted soil;

[0114] The control system 6 sends control instructions to the migration mechanism and the dredging mechanism and controls their operations;

[0115] The frame 1 includes a load-bearing frame, which includes a main frame formed by welding strip profiles and left and right wing frames arranged on the left and right sides of the main frame. A left migration mechanism mounting portion is provided below the left wing frame, and a right migration mechanism mounting portion is provided below the right wing frame. The dredging equipment mounting portion 101 is on the main frame or is part of the main frame; a strip-shaped connecting piece is provided at the top of the main frame and the leftmost side of the left wing frame, and a long strip connecting piece is provided at the top of the main frame and the rightmost side of the right wing frame;

[0116] The left and right wing frames are each equipped with a buoyancy mechanism 5, comprising an outer frame and a sealable cavity. The ratio of the cavity volume to the swept volume of the dredging reamer is 0.027 to 0.0507. This keeps the robot's minimum ground contact pressure within a reasonable range, allowing it to hover within a designated area during dredging operations and improving its anti-sinking performance. The dredging robot is capable of hovering underwater and performing stable dredging operations in both soft silted and undisturbed soils.

[0117] In some embodiments, the ratio of the cavity volume to the swept volume of the dredging reamer 201 is 0.039 to 0.041. At this point, the minimum ground pressure of the entire robot underwater is controlled to approximately 3 kPa, allowing the robot to hover within a designated area during dredging operations, thereby improving anti-silting performance.

[0118] The specific structure of a buoyancy mechanism is as follows: the outer frame is a box body 501, the sealable cavity 502 includes the cavity of the flexible bladder and the inner cavity of the box body, the flexible bladder is in the box body, and the inner cavity of the box body outside the flexible bladder is called the auxiliary cavity. A partition 503 is arranged in the box body, and the partition 503 and the bottom plate or top plate of the box body work together to limit the flexible bladder; the outer frame is provided with a connecting part 504 connected to the frame.

[0119] The flexible bag can be filled with water or air in a quantitative manner, and the auxiliary cavity is filled with air to provide buoyancy for the robot to operate underwater. The flexible bag has a water filling and discharging port, which can share one port or two ports 505 and 506, so as to realize the filling and discharging of the flexible bag to adjust the buoyancy of the equipment underwater and indirectly adjust the ground pressure ratio between the robot and the seabed (bottom of the water). The partition 503 and the box body 501 play a role in fixing and protecting the flexible bag, extending the service life of the flexible bag. The bag can be filled with water and air, so that water and air can coexist in the bag. The weight of the robot can be changed by adjusting the amount of water, thereby changing the buoyancy of the robot.

[0120] In some embodiments, a plurality of through holes are provided on the partition 503. The through holes allow air to circulate in the box, making it easier for the flexible bag to be filled with water.

[0121] In some embodiments, the flexible bladder is disposed below the partition 503. Ribs are disposed on the upper or lower surface of the partition 503. The ribs are disposed along the width of the outer frame. The length of the outer frame is consistent with the length of the robot, and the width of the outer frame is consistent with the width of the robot.

[0122] In some embodiments, the outer frame is a skeleton formed by connecting strips of connectors. A floating plate assembly 507 is provided on the outer frame, enclosing the outer frame. The floating plate assembly 507 comprises multiple floating plates made of a corrosion-resistant, flexible material (e.g., foam board) with a density lower than that of water. In addition to providing buoyancy, the floating plates 507 also protect the buoyancy mechanism from collisions with rigid bodies.

[0123] Another buoyancy mechanism has a specific structure: the buoyancy mechanism includes multiple buoyancy units 508, each with its own outer frame and flexible bladder. The outer frame is a hollowed-out cage 509, and the flexible bladder is housed within the outer frame. The left and right buoyancy mechanisms have the same number of buoyancy units and the same layout. The outer frame of the bottom buoyancy unit has a connection to the frame, and the outer frames of adjacent buoyancy units on the same side of the buoyancy mechanism are interconnected. This allows the robot to reduce weight while utilizing the flexible bladder for buoyancy adjustment, thereby lowering its ground pressure.

[0124] In some embodiments, the flexible bag is an air bag, and there is an inflation and deflation port on the air bag, and the inflation and deflation ports share an interface, or the inflation port is one interface and the deflation port is another interface; there is an inflation and deflation pipe mounting portion on the outer frame, and the inflation and deflation port is connected to the pipe, and the pipe extends outside the outer frame through the mounting portion, and the mounting portion limits the pipe. The inflation and deflation port of the air bag is connected to the air compressor on the water surface through a pipe to realize inflation and deflation, thereby realizing the buoyancy adjustment of the robot. The mutual restriction between the inflation and deflation port and the outer frame makes the layout of the buoyancy mechanism on the entire robot reasonable, which is conducive to the stable operation of the robot during underwater dredging operations. Here, we refer to the opening on the air bag as the inflation and deflation port, and the channel for conveying gas connected to the opening on the air bag is collectively referred to as a pipe.

[0125] In some embodiments, the outer frame includes a cylindrical cage body and front and rear covers disposed at each end of the cage body. The mounting portion for the inflatable and deflation ports is disposed on the rear cover. The pipe extends outward from the rear end of the robot, ensuring a stable connection and preventing interference with underwater dredging operations.

[0126] In some embodiments, the cage body, front cover, and rear cover are hollow metal pieces, and the connectors between adjacent buoyancy units are hollow metal pieces. This ensures robot rigidity and connection reliability while reducing weight.

[0127] A specific structure of a migration mechanism: the migration mechanism 4 includes a driving wheel 41, a road wheel 42, an inducer wheel 43 and a track roller 44, and a flexible crawler 45 surrounding the driving wheel, the road wheel, the driven wheel and the track roller. The outer end surface of the flexible crawler has a grounding tooth, and the inner end surface of the flexible crawler has a driving tooth. The driving teeth are respectively engaged with the driving wheel, the road wheel, the inducer wheel and the track roller. The ground contact area of ​​the transmission migration mechanism 4 is large, which is conducive to walking on soft mud.

[0128] In some embodiments, the line connecting the center of the driving wheel and the center of the driven wheel is used as the baseline, the track roller is above the baseline, and the road wheel is below the baseline. There are at least two track rollers, and the line connecting the centers of the track rollers is parallel to the baseline; there are multiple road wheels, and the line connecting the centers of the road wheels is parallel to the baseline.

[0129] In some embodiments, the ratio of the distance between adjacent support rollers to the distance between adjacent road wheels is 5:2 to 2:1.

[0130] The fourth aspect of the present invention aims to provide a dredging robot that is used for dredging silted soil and undisturbed soil behind and below port terminals, can dive underwater for operations, and has a dredging capacity of more than 150 cubic meters per hour, with stable power and control.

[0131] A silt removal robot, an anti-siltation silt removal robot, comprises: a frame 1, on which a migration mechanism 4, a silt removal tool 2 and a control system 6 are provided; the migration mechanism 4 is provided under the frame, and the silt removal tool is provided at the front end of the frame;

[0132] The migration mechanism 4 enables the equipment to be moved from one location to another;

[0133] The desilting machine 2 realizes the crushing, gathering and removal of the silted soil and / or the original soil from the current area; the desilting reamer of the desilting machine performs a shearing action on the original soil and / or the silted soil;

[0134] The control system 6 sends control instructions to the migration mechanism 4 and the dredging mechanism 2 and controls their operations. The control system 6 includes a protective housing, within which a hydraulic control component and an electrical control component 615 are disposed. The protective housing includes a cylinder, a first end cap, and a second end cap. The two end caps are respectively sealed to the cylinder. The first end cap is used to mount the hydraulic control component, and the second end cap is used to mount the electrical control component.

[0135] The hydraulic control assembly includes a valve block 609, a multi-way valve, a multi-way valve controller and a hydraulic lock. The valve block is mounted on the first end cover. The first end cover is provided with a cantilever assembly. The cantilever assembly includes multiple cantilevers. The first end of the cantilever is fixed to the first end cover, and the second end of the cantilever is suspended. Suspended means that it does not contact the cylinder and / or the second end cover; the multi-way valve, the multi-way valve controller and the hydraulic lock are fixed to the cantilever assembly through their respective mounting brackets, and the multi-way valve, the multi-way valve controller and the hydraulic lock are located in the cylinder; the outer end face of the valve block exposed outside the protective shell has a main oil supply port 609-1 and a main oil return port 609-2, the driving liquid medium enters from the main oil supply port 609-1, and the driving liquid medium is output from the main oil return port. The center plane of the robot in the width direction is used as the reference plane, and the main oil supply port and the main oil return port are respectively on both sides of the reference plane. When the main oil supply port and / or the main oil return port do not intersect the reference plane, the main oil supply port 609-1 and the main oil return port 609-2 are on opposite sides of the reference plane. When the main oil supply port and / or the main oil return port intersect the reference plane, the center of the main oil supply port 609-1 and the center of the main oil return port 609-2 are on opposite sides of the reference plane.

[0136] In some embodiments, the inner end surface of the valve block 609 located in the protective shell is provided with multiple sub-oil return ports and multiple sub-oil supply ports, all of which are connected to the main oil return port 609-2 through their own return oil channels, and all of which are connected to the main oil supply port 609-1 through their own channels; the sub-oil return ports are located on the same side, the sub-oil supply ports are located on the same side, and the sub-oil return ports and the sub-oil supply ports are located on both sides of the reference plane.

[0137] In some embodiments, a main oil unloading port and a sub-oil unloading port are provided on the valve block 609. The main oil unloading port 609-3 is located on the outer end face of the valve block. There is a side connecting surface between the inner end face and the outer end face of the valve block 609. Sub-oil unloading ports are respectively provided on the connecting surface and the inner end face; each sub-oil unloading port is connected to the main oil unloading port through an oil unloading channel.

[0138] The various embodiments of the present invention can be used as independent technical solutions, or combined with each other to form a combined technical solution.

[0139] The contents described in the embodiments of this specification are merely an enumeration of the implementation forms of the inventive concept. The scope of protection of the present invention should not be regarded as limited to the specific forms described in the embodiments. The scope of protection of the present invention also extends to equivalent technical means that can be conceived by those skilled in the art based on the inventive concept.

Claims

1. A silt-prevention and silt-clearing robot, characterized by: The machine comprises a frame on which a migration mechanism, a dredging tool and a control system are arranged; the migration mechanism is arranged under the frame, and the dredging tool is arranged at the front end of the frame; Migration mechanism enables the movement of equipment from one location to another; The dredging equipment can crush, gather and remove the silted soil and / or the original soil from the current area; the silt removal reamer of the silt removal equipment can shear the original soil and / or the silted soil; The control system sends control instructions to the migration mechanism and the dredging mechanism and controls their operations; The frame includes a load-bearing frame, which includes a main frame formed by welding strip profiles and left and right wing frames arranged on the left and right sides of the main frame. A left migration mechanism mounting portion is provided below the left wing frame, and a right migration mechanism mounting portion is provided below the right wing frame. The dredging equipment mounting portion is on the main frame or is part of the main frame. There are strip-shaped connecting pieces at the top of the main frame and the leftmost side of the left wing frame, and there is a long strip connecting piece at the top of the main frame and the rightmost side of the right wing frame. The left and right wing frames are respectively provided with buoyancy mechanisms, which include an outer frame and a sealable cavity, and the ratio of the cavity volume to the swept volume of the dredging reamer is 0.027~0.0507; The specific structure of the buoyancy mechanism is as follows: the outer frame is a box body, the sealable cavity includes the cavity of the flexible bladder and the inner cavity of the box body, the flexible bladder is in the box body, and the inner cavity of the box body outside the flexible bladder is called the auxiliary cavity. A partition is provided in the box body, and the partition and the bottom plate or top plate of the box body work together to limit the position of the flexible bladder; the outer frame is provided with a connection portion connected to the frame; The flexible bag can be filled with water or air in a quantitative manner, and the auxiliary cavity is filled with air to provide buoyancy for the robot to operate underwater; the flexible bag has a water filling and discharging port, and the filling and discharging of water can share one port or two ports, so as to realize the filling and discharging of the flexible bag to adjust the buoyancy of the equipment underwater, and indirectly adjust the grounding pressure ratio between the robot and the seabed or the mud surface at the bottom of the water; the partition and the box body have a fixing and protective effect on the flexible bag, extending the service life of the flexible bag; the bag can be filled with water and air, so that water and air can coexist in the bag, and the robot's own weight can be changed by adjusting the amount of water, thereby changing the robot's buoyancy.

2. The anti-siltation and dredging robot according to claim 1, characterized in that: The ratio of the cavity volume to the swept volume of the dredging reamer is 0.039~0.

041.

3. The anti-siltation and silt-clearing robot according to claim 1, characterized in that: The partition is provided with a plurality of through holes.

4. The anti-siltation and silt-clearing robot according to claim 3, characterized in that: The flexible bag is arranged under the partition, and ribs are arranged on the upper surface or lower surface of the partition, and the ribs are arranged along the width direction of the outer frame; the length direction of the outer frame is consistent with the length direction of the robot, and the width direction of the outer frame is consistent with the width direction of the robot.

5. The anti-siltation and silt-clearing robot according to claim 4, characterized in that: The outer frame is a skeleton formed by connecting strips. A floating plate group is provided on the outer frame, which wraps the outer frame. The floating plate group has multiple floating plates, which are plates made of corrosion-resistant flexible materials with a density lower than water.

6. The anti-siltation and silt removal robot according to claim 1, characterized in that: The specific structure of the buoyancy mechanism is as follows: the buoyancy mechanism includes multiple buoyancy units, each buoyancy unit has its own outer frame and flexible bladder, the outer frame is a hollow cage, and the flexible bladder is installed inside the outer frame; the buoyancy mechanism on the left and the buoyancy mechanism on the right have the same number of buoyancy units and the same layout; the outer frame of the bottom buoyancy unit has a connecting part connected to the frame, and the outer frames of adjacent buoyancy units of the buoyancy mechanism on the same side are connected to each other.

7. The anti-siltation and silt-clearing robot according to claim 6, characterized in that: The flexible bag is an airbag with an inflation and deflation port, which share an interface, or the inflation port is one interface and the deflation port is another interface; the outer frame has an inflation and deflation pipe mounting portion, the inflation and deflation port is connected to the pipe, the pipe extends beyond the outer frame through the mounting portion, and the mounting portion limits the pipe; the inflation and deflation port of the airbag is connected to an air compressor on the water surface through a pipe to realize inflation and deflation, thereby realizing buoyancy adjustment of the robot.

8. The anti-siltation and silt-clearing robot according to claim 7, characterized in that: The outer frame includes a cylindrical cage body and front and rear covers arranged at both ends of the cage body. The mounting part of the inflation and deflation port is arranged on the rear cover; the pipeline extends outward from the rear end of the robot, making the pipeline connection stable and not interfering with the underwater dredging operation.

9. The anti-siltation and silt-clearing robot according to claim 8, characterized in that: The cage body is a hollow metal part, the front end cover is a hollow metal part, and the rear end cover is a hollow metal part; the connecting parts between adjacent buoyancy units are hollow metal parts.

10. The anti-siltation and silt removal robot according to claim 1, characterized in that: Specific structure of the migration mechanism: The migration mechanism includes a driving wheel, a road wheel, an inducer wheel and a track roller, as well as a flexible crawler surrounding the driving wheel, the road wheel, the driven wheel and the track roller. The outer end surface of the flexible crawler has a grounding tooth, and the inner end surface of the flexible crawler has a driving tooth. The driving teeth are respectively engaged with the driving wheel, the road wheel, the inducer wheel and the track roller for transmission.

11. The anti-siltation and silt-clearing robot according to claim 1, characterized in that: The line connecting the centers of the driving wheel and the driven wheel is used as the baseline, the supporting roller is above the baseline, and the road wheel is below the baseline. There are at least two supporting rollers, and the line connecting the centers of the supporting rollers is parallel to the baseline; if there are multiple road wheels, the line connecting the centers of the road wheels is parallel to the baseline.

12. The anti-siltation and silt-clearing robot according to claim 1, characterized in that: The ratio of the distance between adjacent track rollers to the distance between adjacent road wheels is: 5:2~2:1.

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