A dredging operation robot platform automatic escape device and an operation method thereof

Abstract

The application discloses a kind of automatic escape device of dredging operation robot platform and its operation method, the automatic escape device includes silt scraping device and driving device for driving silt scraping device operation;The silt scraping device is arranged below the chassis of dredging operation robot, including horizontal guide plate and several vertical scrapers;The driving device is installed on the chassis of dredging operation robot, and the driving device includes connecting rod mechanism and power motor for driving connecting rod mechanism operation, and the rotating shaft of power motor is connected with connecting rod mechanism transmission through swing handle and power rod.The application can efficiently scrape silt under the chassis of robot when dredging operation robot walks dredging, prevent robot chassis from accumulating too much silt, so as to slow down the walking speed of dredging operation robot, ensure the smooth progress of dredging work.

Description

Technical Field

[0001] This invention relates to a dredging robot, and more specifically to an automatic dredging robot platform escaping obstacles, as well as a method for operating the automatic dredging robot. Background Technology

[0002] Currently, rivers, pipe networks, and sewage ponds all face the need for dredging. For example, sewage ponds in chemical plants accumulate large amounts of sludge at the bottom after prolonged use. This sludge has a complex chemical composition and contains a large amount of organic matter, requiring timely removal. Dredging robots are now widely used to replace manual labor for dredging operations, offering higher safety and work efficiency.

[0003] When dredging robots are in operation, they typically use pusher blades or rotary mixers to break up the silt at the bottom of the pool, and then use a suction pump to suck it up. These robots usually use a tracked walking mechanism to move along the bottom of the pool. However, due to the complex distribution of silt at the bottom of the pool, sometimes too much silt accumulates at the bottom of the robot, specifically between its two tracks. This excessive accumulation of silt slows down the robot's movement, affecting dredging efficiency, and in severe cases, even causing the robot to become unable to move, forcing a halt to the dredging work. In such situations, the robot needs external assistance to free itself, which is time-consuming and labor-intensive. Summary of the Invention

[0004] Based on the above-mentioned technical problems, the present invention proposes an automatic escape device for a dredging robot platform, and a method for operating the automatic escape device.

[0005] The technical solution adopted in this invention is:

[0006] An automatic escape device for a dredging robot platform includes a sludge scraping device and a drive device for driving the sludge scraping device.

[0007] The sludge scraping device is located below the chassis of the dredging robot, between the two side tracks of the dredging robot. The sludge scraping device includes a horizontal guide plate, which is arranged along the walking direction of the dredging robot. Several vertical scrapers are spaced apart at the bottom of the horizontal guide plate. The vertical scrapers are perpendicular to the horizontal guide plate and perpendicular to the walking direction of the dredging robot.

[0008] The drive device is installed on the chassis of the dredging robot. The drive device includes a linkage mechanism and a power motor for driving the linkage mechanism. The rotating shaft of the power motor is connected to one end of the crank handle, the other end of the crank handle is rotatably connected to one end of the power rod, and the other end of the power rod is connected to the linkage mechanism.

[0009] The linkage mechanism includes a first sliding support rod, a first guide rod, a linkage rod, and a first synchronizing rod. The top of the first sliding support rod is connected to one end of the linkage rod through a first fixed shaft, and the end of the first fixed shaft is slidably connected to a first guide groove. The top of the first guide rod is connected to the other end of the linkage rod through a second fixed shaft, and the end of the second fixed shaft is slidably connected to a second guide groove.

[0010] The bottom of the first sliding support rod is rotatably connected to one end of the first synchronizing rod, and the bottom of the first guide rod is rotatably connected to the other end of the first synchronizing rod. The first sliding support rod and the first guide rod are arranged in parallel, and the first synchronizing rod and the linkage rod are both arranged horizontally. The first sliding support rod, the linkage rod, the first guide rod and the first synchronizing rod form a parallelogram structure.

[0011] The two ends of the first synchronizing rod are respectively connected to one side of the top of the horizontal guide plate via support legs;

[0012] The first fixed shaft is connected to the power rod; the first guide slide and the second guide slide are both arranged at an inclination and are parallel to each other; the first guide slide and the second guide slide are both installed on the fixed main support, and the fixed main support is fixedly connected to the chassis of the dredging robot.

[0013] Preferably, the horizontal guide plate is a flat cuboid with a hollow interior. It has strip-shaped hollow sludge guide holes on both sides and through holes spaced apart on the top and bottom surfaces.

[0014] Preferably, a synchronization stabilizing mechanism is further provided above the linkage mechanism. The synchronization stabilizing mechanism includes a second sliding support rod, a second guide rod, and a second synchronization rod. The bottom end of the second sliding support rod is connected to one end of the linkage rod, and the top end of the second sliding support rod is connected to one end of the second synchronization rod. The bottom end of the second guide rod is connected to the other end of the linkage rod, and the top end of the second guide rod is connected to the other end of the second synchronization rod. The second sliding support rod and the second guide rod are arranged in parallel, and the second synchronization rod is arranged horizontally. The second sliding support rod, the second synchronization rod, the second guide rod, and the linkage rod form a parallelogram structure.

[0015] Preferably, the first sliding support rod and the second sliding support rod are integral structures, and the first guide rod and the second guide rod are integral structures.

[0016] Preferably, the chassis of the dredging robot includes a support frame, which includes a vertical support beam and a horizontal support beam; the fixed main support is elongated and arranged along the walking direction of the dredging robot, and a fixing block is provided on the back of the fixed main support, which is connected to the vertical support beam.

[0017] Preferably, a dredging device is also provided above the chassis of the dredging robot. The dredging device includes a bucket, a support arm and a power telescopic rod. The bottom end of the support arm is hinged to a fixed seat, the fixed seat is installed on the chassis, the bucket is installed on a movable seat, and the movable seat is hinged to the top end of the support arm.

[0018] The power telescopic rod includes a first telescopic rod and a second telescopic rod. The main body end of the first telescopic rod is hinged to the fixed seat, and the end of the first telescopic rod is hinged to the middle of the support arm. The main body end of the second telescopic rod is hinged to the support arm, and the end of the second telescopic rod is hinged to the movable seat.

[0019] Preferably, the support arm is L-shaped, with a connecting seat at the corner of the support arm, the main body end of the second telescopic rod is hinged to the connecting seat, and a connecting rod is also provided between the connecting seat and the fixed seat; the power telescopic rod is an electric push rod or a hydraulic cylinder.

[0020] Preferably, a stirring shaft is also provided inside the bucket, which is connected to a stirring motor, and spiral blades are arranged on the stirring shaft;

[0021] The bucket is also equipped with a sludge suction port, which is connected to a sludge suction pump through a sludge suction pipe. The sludge suction pipe is laid out along the extension direction of the support arm. The sludge suction pump is installed above the chassis of the dredging robot, and a protective bracket is installed on the outside of the sludge suction pump.

[0022] A method for automatic obstacle avoidance operation of a dredging robot platform, employing the automatic obstacle avoidance device described above, includes the following steps:

[0023] When the dredging robot is dredging, the silt under the chassis of the dredging robot is scraped to the rear of the robot by the silt scraping device;

[0024] The sludge scraping device is driven by a drive unit. The motor of the drive unit drives the crank to rotate, and the crank drives the power rod to reciprocate. When the power rod reciprocates, it drives the first fixed shaft to slide up and down along the first guide groove. The first fixed shaft drives the second fixed shaft to slide up and down along the second guide groove simultaneously through the linkage rod.

[0025] When the first fixed shaft slides up and down along the first guide groove, and the second fixed shaft slides up and down synchronously along the second guide groove, the first fixed shaft drives the first sliding support rod and the second sliding support rod to move, and causes the included angle between the first sliding support rod and the second sliding support rod and the linkage rod to change; the second fixed shaft drives the first guide rod and the second guide rod to move, and causes the included angle between the first guide rod and the second guide rod and the linkage rod to change.

[0026] The first synchronizing rod causes the first sliding support rod and the first guide rod to move synchronously, and the second synchronizing rod causes the second sliding support rod and the second guide rod to move synchronously.

[0027] During the movement of the first sliding support rod and the first guide rod, the support legs drive the horizontal guide plate and the vertical scraper on it to perform a repeated backward-upward-backward motion, scraping away the silt under the chassis of the dredging robot and enabling the dredging robot platform to automatically get out of trouble.

[0028] When the aforementioned dredging robot is performing dredging operations, it moves by means of tracks on both sides, and moves the bucket by means of a power telescopic rod and support arm. The spiral blades arranged on the mixing shaft inside the bucket crush and disperse the sludge, and then remove the sludge through the sludge suction port, sludge suction pipe and sludge suction pump.

[0029] The beneficial technical effects of this invention are:

[0030] This invention, by installing a silt scraping device under the chassis of a dredging robot, can promptly and efficiently scrape away the silt under the chassis of the dredging robot while it is moving and dredging, preventing excessive silt accumulation on the chassis that would slow down the robot's movement speed, thus ensuring the smooth progress of the dredging work and improving its efficiency.

[0031] The driving device in this invention uses a power motor to drive the linkage mechanism through a crank and a power rod. The linkage mechanism is set as a parallelogram structure. With the reciprocating motion of the fixed shaft along the inclined guide groove, the reciprocating sludge scraping action of the sludge scraping device connected to the linkage mechanism can be well realized. The structure is reasonably designed, the action is efficient, and it has excellent operational stability.

[0032] The sludge scraping device of the present invention adopts a horizontal guide plate and a vertical scraper arrangement. The horizontal guide plate is hollow inside and has strip-shaped hollowed-out sludge guide holes, which not only ensures the sludge scraping effect during the operation, but also prevents the sludge from adhering and accumulating on the horizontal guide plate.

[0033] The chassis of the dredging robot of the present invention adopts a support frame structure formed by vertical support beams and horizontal support beams, and the guide slide is fixed on the fixed main bracket. The fixed main bracket is connected to the support frame through a fixing block, which does not interfere with the operation of the drive device and the sludge scraping device, and the structure is relatively stable.

[0034] The dredging device of the present invention includes a bucket, a support arm and a power telescopic rod. The power telescopic rod drives the support arm to move, which in turn drives the bucket to perform related actions. Furthermore, a spiral blade is arranged inside the bucket, which has a good crushing effect on the silt. Moreover, the crushed silt can be directly sucked out through the silt suction port at the bucket, resulting in high silt removal efficiency. Attached Figure Description

[0035] The present invention will be further described below with reference to the accompanying drawings and specific embodiments:

[0036] Figure 1 This is a schematic diagram of the structural principle of the automatic escape device for the dredging robot platform of the present invention, showing the first action state;

[0037] Figure 2 for Figure 1 Side view;

[0038] Figure 3 This is a schematic diagram of the structural principle of the automatic escape device for the dredging robot platform of the present invention, showing the second action state;

[0039] Figure 4 for Figure 3 Side view;

[0040] Figure 5 This is a schematic diagram of the structural principle of the automatic escape device for the dredging robot platform of the present invention, showing the third action state;

[0041] Figure 6 for Figure 5 Side view;

[0042] Figure 7 This is a schematic diagram of the structural principle of a dredging robot using the automatic obstacle-avoidance device of the present invention. One side of the track structure is omitted in the diagram.

[0043] Figure 8 for Figure 7 Side view;

[0044] Figure 9 This is a schematic diagram of the structure of a dredging robot using the automatic obstacle-avoidance device of the present invention;

[0045] Figure 10 for Figure 9 Side view;

[0046] Figure 11 for Figure 9 A front view;

[0047] Figure 12 for Figure 9 The bottom view.

[0048] In the diagram: 1-Sludge scraping device, 2-Drive device, 3-Chassis, 4-Crawler, 5-Fixed main support, 6-Bucket, 7-Support arm, 8-Fixed seat, 9-Movable seat, 10-First telescopic rod, 11-Second telescopic rod, 12-Connecting seat, 13-Connecting rod, 14-Agitator shaft, 15-Agitator motor, 16-Helical blade, 17-Sludge suction port, 18-Sludge suction pump, 19-Protective support;

[0049] 101-Horizontal guide plate, 102-Vertical scraper, 103-Support leg, 104-Hollowed silt guide hole, 105-Through hole;

[0050] 201-Linkage mechanism, 202-Power motor, 203-Crank handle, 204-Power rod;

[0051] 2011-First sliding support rod, 2012-First guide rod, 2013-Linkage rod, 2014-First synchronizing rod, 2015-First fixed shaft, 2016-First guide groove, 2017-Second fixed shaft, 2018-Second guide groove, 2019-Second sliding support rod, 2020-Second guide rod, 2021-Second synchronizing rod; 301-Vertical support beam, 302-Transverse support beam; 501-Fixing block. Detailed Implementation

[0052] Referring to the accompanying drawings, an automatic obstacle-avoidance device for a dredging robot platform includes a sludge scraping device 1 and a drive device 2 for driving the sludge scraping device 1. The sludge scraping device 1 is located below the chassis 3 of the dredging robot, between the two side tracks 4 of the dredging robot. The sludge scraping device 1 includes a horizontal guide plate 101, which is arranged along the length direction or walking direction of the dredging robot. Several vertical scrapers 102 are spaced apart at the bottom of the horizontal guide plate 101. The vertical scrapers 102 are perpendicular to the horizontal guide plate 101 and perpendicular to the walking direction of the dredging robot, or arranged along the width direction of the dredging robot.

[0053] The drive unit 2 is mounted on the chassis of the dredging robot, such as... Figure 1-6As shown, the drive device 2 includes a linkage mechanism 201 and a power motor 202 for driving the linkage mechanism 201. The rotating shaft of the power motor 202 is connected to one end of a rocker arm 203, and the other end of the rocker arm 203 is rotatably connected to one end of a power rod 204. The other end of the power rod 204 is connected to the linkage mechanism 201. The linkage mechanism 201 includes a first sliding support rod 2011, a first guide rod 2012, a linkage rod 2013, and a first synchronizing rod 2014. The top of the first sliding support rod 2011 is rotatably connected to one end of the linkage rod 2013 via a first fixed shaft 2015, and the end of the first fixed shaft 2015 is slidably connected to a first guide groove 2016. The top of the first guide rod 2012 is rotatably connected to the other end of the linkage rod 2013 via a second fixed shaft 2017, and the end of the second fixed shaft 2017 is slidably connected to a second guide groove 2018. The bottom of the first sliding support rod 2011 is rotatably connected to one end of the first synchronizing rod 2014, and the bottom of the first guide rod 2012 is rotatably connected to the other end of the first synchronizing rod 2014. The first sliding support rod 2011 and the first guide rod 2012 are arranged in parallel, and the first synchronizing rod 2014 and the linkage rod 2013 are both arranged horizontally. The first sliding support rod 2011, the linkage rod 2013, the first guide rod 2012 and the first synchronizing rod 2014 form a parallelogram structure.

[0054] Both ends of the first synchronizing rod 2014 are connected to one side of the top of the horizontal guide plate 101 via support legs 103. The first fixed shaft 2015 is connected to the power rod 204. The first guide groove 2016 and the second guide groove 2018 are both arranged at an angle and are parallel to each other. The first guide groove 2016 and the second guide groove 2018 are both mounted on the fixed main support 5, and the fixed main support 5 is fixedly connected to the chassis 3 of the dredging robot.

[0055] This invention provides a silt scraping device 1 installed under the chassis of a dredging robot. This device can efficiently scrape away silt from under the chassis of the dredging robot while it is moving and dredging, preventing excessive silt accumulation on the chassis and thus slowing down the robot's movement. This ensures the smooth progress of the dredging work and improves its efficiency.

[0056] The driving device 2 in this invention uses a power motor 202 to drive the linkage mechanism 201 through a crank 203 and a power rod 204. The linkage mechanism 201 is set as a parallelogram structure. With the reciprocating motion of the fixed shaft along the inclined guide groove, the reciprocating sludge scraping action of the sludge scraping device 1 connected to the linkage mechanism can be well realized. The structure is reasonably designed, the action is efficient, and it has excellent operational stability.

[0057] As a further explanation of the present invention, the horizontal guide plate 101 is a flat cuboid with a hollow interior. Strip-shaped perforated sludge guide holes 104 are provided on both sides of the horizontal guide plate 101, and through holes 105 are provided at intervals on the top and bottom surfaces of the horizontal guide plate. The sludge scraping device of the present invention employs an arrangement of a horizontal guide plate 101 and a vertical scraper 102. Furthermore, the hollow interior of the horizontal guide plate 101, with its strip-shaped perforated sludge guide holes 104, ensures effective sludge scraping during operation while preventing sludge from adhering and accumulating on the horizontal guide plate.

[0058] Furthermore, a synchronization stabilizing mechanism is also provided above the linkage mechanism 201. The synchronization stabilizing mechanism includes a second sliding support rod 2019, a second guide rod 2020, and a second synchronization rod 2021. The bottom end of the second sliding support rod 2019 is connected to one end of the linkage rod 2013, and the top end of the second sliding support rod 2019 is connected to one end of the second synchronization rod 2021. The bottom end of the second guide rod 2020 is connected to the other end of the linkage rod 2013, and the top end of the second guide rod 2020 is connected to the other end of the second synchronization rod 2021. The second sliding support rod 2019 and the second guide rod 2020 are arranged in parallel, while the second synchronization rod 2021 is arranged horizontally. The second sliding support rod 2019, the second synchronization rod 2021, the second guide rod 2020, and the linkage rod 2013 form a parallelogram structure.

[0059] The first sliding support rod 2011 and the second sliding support rod 2019 are integral structures, which can be regarded as a V-shaped sliding bracket as a whole. The first guide rod 2012 and the second guide rod 2020 are integral structures, which can be regarded as a V-shaped guide bracket as a whole. During the reciprocating motion, the power rod 204 drives the V-shaped sliding bracket and the V-shaped guide bracket to slide along the first guide groove 2016 and the second guide groove 2018 respectively. On the other hand, after the movement is in place, it can drive the first fixed shaft 2015 to rotate, thereby driving the V-shaped sliding bracket to rotate relative to the linkage rod 2013. During the rotation of the V-shaped sliding bracket, the V-shaped guide bracket can rotate synchronously relative to the linkage rod 2013 through the linkage of the first synchronous rod 2014 and the second synchronous rod 2021, etc.

[0060] Fixed shafts are also provided between the first sliding support rod 2011 and the first synchronizing rod 2014, between the first guide rod 2012 and the first synchronizing rod 2014, between the second sliding support rod 2019 and the second synchronizing rod 2021, and between the second guide rod 2020 and the second synchronizing rod 2021.

[0061] like Figure 7-8As shown, the chassis 3 of the dredging robot includes a support frame, which includes a vertical support beam 301 and a horizontal support beam 302. The fixed main support 5 is elongated and arranged along the walking direction of the dredging robot. A fixing block 501 is provided on the back of the fixed main support 5. The fixing block 501 is connected to the vertical support beam 301, which can be done by welding or other connection methods.

[0062] The chassis of the dredging robot of the present invention adopts a support frame structure formed by vertical support beam 301 and horizontal support beam 302, and the guide slide is fixed on the fixed main support 5. The fixed main support 5 is connected to the support frame through the fixing block 501, which does not interfere with the operation of the drive device and the sludge scraping device, and the structure is relatively stable.

[0063] like Figure 9-12 As shown, a dredging device is also installed above the chassis of the dredging robot. The dredging device includes a bucket 6, a support arm 7, and a power telescopic rod. The bottom end of the support arm 7 is hinged to a fixed seat 8, which is mounted on the chassis 3. The bucket 6 is mounted on a movable seat 9, which is hinged to the top end of the support arm 7. The power telescopic rod includes a first telescopic rod 10 and a second telescopic rod 11. The main body end of the first telescopic rod 10 is hinged to the fixed seat 8, and the end end of the first telescopic rod 10 is hinged to the middle of the support arm 7. The main body end of the second telescopic rod 11 is hinged to the support arm 7, and the end end of the second telescopic rod 11 is hinged to the movable seat 9.

[0064] Furthermore, the support arm 7 is L-shaped, and a connecting seat 12 is provided at the corner of the support arm 7. The main body end of the second telescopic rod 11 is hinged to the connecting seat 12, and a connecting rod 13 is also provided between the connecting seat 12 and the fixed seat 8. The power telescopic rod can be an electric push rod or a hydraulic cylinder. If a hydraulic cylinder is used, the main body end of the telescopic rod refers to the end of the cylinder body of the hydraulic cylinder, and the end of the telescopic rod refers to the end of the cylinder rod of the hydraulic cylinder.

[0065] Furthermore, a stirring shaft 14 is also provided inside the bucket 6. The stirring shaft 14 is connected to the stirring motor 15. Spiral blades 16 are arranged on the stirring shaft 14.

[0066] Furthermore, a sludge suction port 17 is provided on the back of the bucket 6. The sludge suction port 17 is connected to the sludge suction pump 18 through a sludge suction pipe. The sludge suction pipe is laid out along the extension direction of the support arm. The sludge suction pump 18 is installed above the chassis 3 of the dredging robot. A protective bracket 19 is provided on the outside of the sludge suction pump 18.

[0067] The dredging device in this invention is connected by a bucket 6, a support arm 7 and a power telescopic rod. The power telescopic rod drives the support arm 7 to move, which in turn drives the bucket 6 to perform related actions. Furthermore, a spiral blade is arranged inside the bucket 6, which has a good crushing effect on the silt. Moreover, the crushed silt can be directly sucked out through the silt suction port 17 at the bucket, resulting in high silt removal efficiency.

[0068] The present invention also provides a method for automatic obstacle avoidance operation of a dredging robot platform, which employs the automatic obstacle avoidance device described above and includes the following steps:

[0069] When the dredging robot is performing dredging, the silt under the chassis 3 of the dredging robot is scraped to the rear of the dredging robot by the silt scraping device 1.

[0070] The sludge scraping device 1 is driven by the drive device 2. The motor 202 of the drive device 2 drives the crank 203 to rotate. The crank 203 drives the power rod 204 to reciprocate. During the reciprocating motion, the power rod 204 drives the first fixed shaft 2015 to slide up and down along the first guide groove 2016. The first fixed shaft 2015 drives the second fixed shaft 2017 to slide up and down along the second guide groove 2018 synchronously through the linkage rod 2013.

[0071] When the first fixed shaft 2015 slides up and down along the first guide groove 2016, and the second fixed shaft 2017 slides up and down synchronously along the second guide groove 2018, the first fixed shaft 2015 drives the first sliding support rod 2011 and the second sliding support rod 2019 to move, causing the angle between the first sliding support rod 2011 and the second sliding support rod 2019 and the linkage rod 2013 to change. The second fixed shaft 2017 drives the first guide rod 2012 and the second guide rod 2020 to move, causing the angle between the first guide rod 2012 and the second guide rod 2020 and the linkage rod 2013 to change.

[0072] The first synchronizing rod 2014 causes the first sliding support rod 2011 and the first guide rod 2012 to move synchronously, and the second synchronizing rod 2021 causes the second sliding support rod 2019 and the second guide rod 2020 to move synchronously.

[0073] During the movement of the first sliding support rod 2011 and the first guide rod 2012, the support leg 103 drives the horizontal guide plate 101 and the vertical scraper 102 on it to perform a repeated backward-upward-backward motion, scraping away the silt under the chassis of the dredging robot and realizing the automatic extrication of the dredging robot platform.

[0074] The above-mentioned automatic obstacle-avoidance operation method of the dredging robot platform involves the dredging robot moving via its two side tracks 4, and using a power telescopic rod and support arm 7 to move the bucket 6. The sludge is crushed and dispersed by spiral blades 16 arranged on the mixing shaft 14 inside the bucket 6, which is driven by a mixing motor 15. The sludge is then removed through the sludge suction port 17, sludge suction pipe, and sludge suction pump 18.

[0075] For any parts not mentioned above, existing technologies can be adopted or referenced.

[0076] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An automatic obstacle-avoidance device for a dredging robot platform, characterized in that: Includes a sludge scraping device and a drive device for driving the sludge scraping device. The sludge scraping device is located below the chassis of the dredging robot, between the two side tracks of the dredging robot. The sludge scraping device includes a horizontal guide plate, which is arranged along the walking direction of the dredging robot. Several vertical scrapers are spaced apart at the bottom of the horizontal guide plate. The vertical scrapers are perpendicular to the horizontal guide plate and perpendicular to the walking direction of the dredging robot. The drive device is installed on the chassis of the dredging robot. The drive device includes a linkage mechanism and a power motor for driving the linkage mechanism. The rotating shaft of the power motor is connected to one end of the crank handle, the other end of the crank handle is rotatably connected to one end of the power rod, and the other end of the power rod is connected to the linkage mechanism. The linkage mechanism includes a first sliding support rod, a first guide rod, a linkage rod, and a first synchronizing rod. The top of the first sliding support rod is connected to one end of the linkage rod through a first fixed shaft, and the end of the first fixed shaft is slidably connected to a first guide groove. The top of the first guide rod is connected to the other end of the linkage rod through a second fixed shaft, and the end of the second fixed shaft is slidably connected to a second guide groove. The bottom of the first sliding support rod is rotatably connected to one end of the first synchronizing rod, and the bottom of the first guide rod is rotatably connected to the other end of the first synchronizing rod. The first sliding support rod and the first guide rod are arranged in parallel, and the first synchronizing rod and the linkage rod are both arranged horizontally. The first sliding support rod, the linkage rod, the first guide rod and the first synchronizing rod form a parallelogram structure. The two ends of the first synchronizing rod are respectively connected to one side of the top of the horizontal guide plate via support legs; The first fixed shaft is connected to the power rod; the first guide slide and the second guide slide are both arranged at an inclination and are parallel to each other; the first guide slide and the second guide slide are both installed on the fixed main support, and the fixed main support is fixedly connected to the chassis of the dredging robot. The horizontal guide plate is a flat cuboid with a hollow interior. It has strip-shaped hollow sludge guide holes on both sides and through holes spaced apart on the top and bottom surfaces.

2. The automatic escape device for a dredging robot platform according to claim 1, characterized in that: A synchronization stabilizing mechanism is also provided above the linkage mechanism. The synchronization stabilizing mechanism includes a second sliding support rod, a second guide rod, and a second synchronization rod. The bottom end of the second sliding support rod is connected to one end of the linkage rod, and the top end of the second sliding support rod is connected to one end of the second synchronization rod. The bottom end of the second guide rod is connected to the other end of the linkage rod, and the top end of the second guide rod is connected to the other end of the second synchronization rod. The second sliding support rod and the second guide rod are arranged in parallel, and the second synchronization rod is arranged horizontally. The second sliding support rod, the second synchronization rod, the second guide rod, and the linkage rod form a parallelogram structure.

3. The automatic obstacle-avoidance device for a dredging robot platform according to claim 2, characterized in that: The first sliding support rod and the second sliding support rod are integral structures, and the first guide rod and the second guide rod are integral structures.

4. The automatic obstacle-avoidance device for a dredging robot platform according to claim 1, characterized in that: The chassis of the dredging robot includes a support frame, which includes a vertical support beam and a horizontal support beam. The fixed main support is elongated and arranged along the walking direction of the dredging robot. A fixing block is provided on the back of the fixed main support, and the fixing block is connected to the vertical support beam.

5. The automatic escape device for a dredging robot platform according to claim 1, characterized in that: A dredging device is also installed above the chassis of the dredging robot. The dredging device includes a bucket, a support arm and a power telescopic rod. The bottom end of the support arm is hinged to a fixed seat, which is installed on the chassis. The bucket is installed on a movable seat, which is hinged to the top end of the support arm. The power telescopic rod includes a first telescopic rod and a second telescopic rod. The main body end of the first telescopic rod is hinged to the fixed seat, and the end of the first telescopic rod is hinged to the middle of the support arm. The main body of the second telescopic rod is hinged to the support arm, and the end of the second telescopic rod is hinged to the movable seat.

6. The automatic escape device for a dredging robot platform according to claim 5, characterized in that: The support arm is L-shaped, with a connecting seat at the corner of the support arm. The main body end of the second telescopic rod is hinged to the connecting seat, and a connecting rod is also provided between the connecting seat and the fixed seat. The power telescopic rod is an electric push rod or a hydraulic cylinder.

7. The automatic escape device for a dredging robot platform according to claim 5, characterized in that: Inside the bucket is a mixing shaft, which is connected to a mixing motor. Spiral blades are arranged on the mixing shaft. The bucket is also equipped with a sludge suction port, which is connected to a sludge suction pump through a sludge suction pipe. The sludge suction pipe is laid out along the extension direction of the support arm. The sludge suction pump is installed above the chassis of the dredging robot, and a protective bracket is installed on the outside of the sludge suction pump.

8. A method for automatic obstacle avoidance operation of a dredging robot platform, comprising the automatic obstacle avoidance device as described in any one of claims 1-7, characterized in that... Includes the following steps: When the dredging robot is dredging, the silt under the chassis of the dredging robot is scraped to the rear of the robot by the silt scraping device; The sludge scraping device is driven by a drive unit. The motor of the drive unit drives the crank to rotate, and the crank drives the power rod to reciprocate. When the power rod reciprocates, it drives the first fixed shaft to slide up and down along the first guide groove. The first fixed shaft drives the second fixed shaft to slide up and down along the second guide groove simultaneously through the linkage rod. When the first fixed shaft slides up and down along the first guide groove, and the second fixed shaft slides up and down synchronously along the second guide groove, the first fixed shaft drives the first sliding support rod and the second sliding support rod to move, and causes the included angle between the first sliding support rod and the second sliding support rod and the linkage rod to change; the second fixed shaft drives the first guide rod and the second guide rod to move, and causes the included angle between the first guide rod and the second guide rod and the linkage rod to change. The first synchronizing rod causes the first sliding support rod and the first guide rod to move synchronously, and the second synchronizing rod causes the second sliding support rod and the second guide rod to move synchronously. During the movement of the first sliding support rod and the first guide rod, the support legs drive the horizontal guide plate and the vertical scraper on it to perform a repeated backward-upward-backward motion, scraping away the silt under the chassis of the dredging robot and enabling the dredging robot platform to automatically get out of trouble.

9. The automatic obstacle-avoidance operation method for a dredging robot platform according to claim 8, characterized in that: When the dredging robot is dredging, it moves by means of tracks on both sides, and moves the bucket by means of power telescopic rods and support arms. The spiral blades arranged on the mixing shaft inside the bucket crush and disperse the sludge, and then remove the sludge through the sludge suction port, sludge suction pipe and sludge suction pump.

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