Quick hoist and discharge device and method

Abstract

The application discloses a quick lifting and unloading device and method, which comprises a hopper, a lifting frame, a crane for controlling the lifting of the hopper through a lifting device, and a mud vehicle for unloading the hopper. The upper end of the hopper is provided with a hanging plate, and the lifting frame corresponding to the side of the hopper is designed with a swing arm capable of matching the hanging plate to form a closed hole. The lifting device comprises a lifting frame and a lifting rotating shaft connected with the lifting frame through a lifting rope. The hanging plate is arranged on the left and right parts of the upper end of the hopper respectively, and the lifting frame corresponding to the two sides of the hopper is designed with a swing arm capable of matching the hanging plate to form a closed long-waisted hole, so that the installation and dismounting of the lifting rotating shaft are facilitated, the lifting efficiency of the hopper is improved, and the rotation of the left and right swing arms is controlled in combination with the lifting frame, so that the swing arm can be adjusted without increasing the power of the equipment. The application has the advantages of simple structure, convenient operation, and effective improvement of the lifting and unloading efficiency of the hopper and the dredging efficiency.

Description

Technical Field

[0001] This invention relates to the field of culvert dredging technology, and in particular to a rapid lifting and unloading device and method. Background Technology

[0002] With the acceleration of urbanization in my country, the scale of urban drainage systems has gradually expanded. Due to long-term silt deposition, urban drainage pipes and culverts have become blocked and sewage overflows have occurred. Currently, sludge cleaning robots are generally used to clean silt. The hopper and sludge cleaning equipment are designed to be separate, and two hoppers are set up for alternating use to improve sludge cleaning efficiency. When the hopper is full of silt and needs to be treated, the hopper needs to be lifted and unloaded. However, the existing hopper lifting and unloading process has the following problems: (1) When lifting the fully loaded hopper on the sludge cleaning robot parked at the entrance of the hole, the staff needs to hang the four hooks on the four rings of the fully loaded hopper at the entrance of the hole using an auxiliary rod. On the one hand, this process requires four people to work together on the shore at the same time, which requires a high level of coordination and skill from the operators and is inconvenient to operate. On the other hand, when the ring is high above the ground, the hook cannot be hooked into the ring, and when the ring is low above the ground, the hook is easy to automatically detach from the ring after being hooked into the ring. (1) The tension of the wire rope is difficult to control, which makes it take a lot of time to lift the full load hopper, affecting the replacement of the hopper. At the same time, the waiting time of the dredging robot is long, affecting the dredging efficiency. (2) When unloading the full load hopper, the full load hopper is placed on the unloading rack at a high height. The bottom of the hopper has a rotating door switch hook in the middle of the hopper. The staff needs to operate it through the auxiliary rod. This operation is difficult. At the same time, the blocking pin of the switch hook is easy to fall into the hopper after being pulled out, affecting the subsequent closing operation. In addition, the pouring process will cause silt to accumulate on the rotating door and in the pin hole, affecting the subsequent closing of the hopper door.

[0003] In the prior art, patent CN216865302U discloses a hopper for a rapid-discharging underwater dredging robot, including a hopper, a hopper movably connected to the top of the hopper, and a hanger movably connected to the top of the hopper. Two positioning shafts are movably connected to the top of the hopper, and four positioning steel plates are correspondingly arranged on the outer bottom of the hopper. A rotating door is opened at the rear of the hopper, a nylon plate is installed at the bottom, four lifting lugs are arranged at the top of the hopper, and four lifting holes are matched at the bottom of the hanger. Utilizing the rotating door at the rear of the hopper and the nylon plate installed at the bottom, the hopper allows waste to slide smoothly out of the hopper even at a small tilt angle. Simultaneously, the openings below the positioning steel plates are respectively designed in a figure-eight shape and an inverted U shape according to actual needs, which not only facilitates the falling and detaching of the steel plates but also facilitates the rotation of the hopper around the shafts, preventing the hopper from sliding or shaking during the discharging process. However, this technical solution uses hooks and wire ropes to lift the hopper, a process that is complex and time-consuming, affecting the overall dredging efficiency.

[0004] In view of this, it is necessary to design a rapid lifting and unloading device and method to solve the above problems. Summary of the Invention

[0005] The purpose of this invention is to provide a rapid lifting and unloading device and method that can avoid the connection between the lifting device and the hopper being affected by the slack of the lifting rope, quickly transfer the hopper, facilitate the disassembly of the lifting device and the hopper, and quickly unload the hopper.

[0006] To achieve the above-mentioned objectives, the present invention provides a rapid lifting and unloading device, comprising a hopper, a lifting frame for controlling the lifting and lowering of the hopper, a crane for controlling the lifting of the hopper via a lifting device, and a mud truck for unloading the hopper. The upper end of the hopper is provided with a hanging plate, and the lifting frame corresponding to the side of the hopper is designed with a swing arm that can match the hanging plate to form a sealed hole. The lifting device includes a lifting frame and a lifting rotating shaft connected to the lifting frame via a lifting rope.

[0007] As a further improvement of the present invention, the hanging plate is disposed on the left and right sides of the upper end of the hopper, and two of them are disposed on the left and right sides respectively. The hanging plate is provided with an n-shaped groove inside.

[0008] As a further improvement of the present invention, the swing arm part includes a swing arm, a swing arm shaft for controlling the rotation of the swing arm, and a swing arm support structure for connecting the swing arm to the lifting frame.

[0009] As a further improvement of the present invention, two swing arms are respectively provided on both sides of the hopper, and the swing arms are provided with U-shaped grooves inside. The number of swing arms is equal to the number of hanging plates, and the swing arms are respectively provided below the hanging plates.

[0010] As a further improvement of the present invention, the uppermost side of the lifting frame is provided with a waist-shaped hole, the side rotating shaft is located in the waist-shaped hole, and the bushing of the side rotating shaft is connected to the corresponding side swing arm shaft through a connecting rope; the other side rotating shaft of the uppermost layer of the lifting frame is connected to the corresponding side swing arm shaft through a connecting rope.

[0011] As a further improvement of the present invention, the mud truck is provided with a support frame on its bucket, and a positioning block is provided on the support frame, the upper part of which is designed with a V-shaped notch.

[0012] As a further improvement of the present invention, one side of the hopper is designed as a rotating door, the upper end of the rotating door is connected to the hopper by a hinge, and the lower end of the rotating door is provided with latches on both sides.

[0013] As a further improvement of the present invention, at both ends of the lifting rotating shaft, corresponding to the two sides of the hopper hanging plate, a ring and a lifting plate are respectively matched and arranged along the direction away from the end point of the lifting rotating shaft. The distance between the ring and the lifting plate is greater than the width of the hanging plate, and the distance from the ring to the end point of the lifting rotating shaft is greater than the width of the positioning block. The upper end of the lifting plate is provided with a lifting hole that matches the hook on the lifting frame, and the lower end of the lifting plate is provided with a shaft hole that facilitates the passage of the lifting rotating shaft and is fixedly connected to the lifting rotating shaft.

[0014] As a further improvement of the present invention, the lifting rotation shaft is provided with two shafts.

[0015] To achieve the above objectives, the present invention also provides a rapid lifting and unloading method, which employs the rapid lifting and unloading device described in any of the above technical solutions, and includes the following steps:

[0016] S1. When the hopper is full, control the dredging robot to retreat to the opening. Control the crane to lower the lifting frame and adjust the lifting frame to rise, so that the lifting rotation shaft falls into the limiting space formed by the left and right swing arms of the hopper and the hopper. By adjusting the height of the lifting rotation shaft, and making the left and right swing arms continue to rotate towards the hopper, the lifting rotation shaft falls into the U-shaped groove of the swing arm. The lifting frame continues to rise to the highest point, driving the left and right swing arms of the hopper to rotate towards the hopper until the swing arms are in a vertical state, restricting the lifting rotation shaft in the sealed hole formed by the hanging plate and the swing arm.

[0017] S2. The hopper is lifted by a crane and placed on the open ground next to the opening. The empty hopper is then placed on the lifting frame of the dredging robot by the crane.

[0018] S3. Control the lifting frame to descend, and the lifting rotation shaft falls into the U-shaped groove on the swing arm. Control the lifting frame to descend, and drive the left and right swing arms to rotate away from the empty hopper until the side of the U-shaped groove of the swing arm near the empty hopper is basically aligned with the side of the hanging plate away from the empty hopper. Control the lifting frame to rise, and drive the lifting rotation shaft to rise, thus completing the separation of the empty hopper from the lifting device.

[0019] S4. The hopper on the open ground is lifted again by the lifting frame and transferred to the support frame of the mud truck hopper. The positioning block on the support frame is used to quickly lower the hopper into place. The operator opens the latches on both sides of the hopper rotating door, releases the hook in the lifting hole at the top of the hopper rotating door, controls the lifting frame to rise, and the hopper rotates along the lifting rotation axis on one side of the rotating door to complete the unloading.

[0020] S5. Place the unloaded hopper on the open ground next to the opening, and wait for the next hopper replacement.

[0021] The beneficial effects of this invention are:

[0022] 1. This invention features hanging plates on the left and right sides of the upper end of the hopper, and swing arms with matching elongated slots on the corresponding lifting frames on both sides of the hopper. This facilitates the installation and disassembly of the lifting and rotating shaft, improving the lifting efficiency of the hopper. Furthermore, by controlling the rotation of the left and right swing arms using the lifting frames, the swing arms can be adjusted without increasing the equipment's power. The structure is simple, the operation is convenient, and it effectively improves the lifting and unloading efficiency of the hopper, thereby increasing dredging efficiency.

[0023] 2. The present invention features a matching structure between a hanging plate with an internal n-shaped groove and a swing arm with an internal U-shaped groove. Firstly, when the lifting frame is lowered, the limiting space formed by the swing arm and the hopper quickly positions the lifting rotating shaft. By adjusting the height of the lifting rotating shaft and the rotation of the swing arm, the shaft falls into the U-shaped groove of the swing arm, facilitating operation. Secondly, when the swing arm is rotated to a vertical position using the lifting frame, the matching structure forms a sealed elongated hole, confining the lifting rotating shaft within this hole. When the lifting frame is raised, the lifting rotating shaft automatically engages with the hanging plate for hopper transfer. The entire process is simple, time-saving, and labor-saving. Compared to using a hook and ring structure, the process of lowering the lifting shaft into the U-shaped groove of the swing arm is simpler and more convenient. Furthermore, when the hopper needs to be replaced and the lifting frame and hopper need to be separated, the lifting frame is lowered, allowing the lifting shaft to fall into the U-shaped groove of the swing arm. Simultaneously, the lowering of the lifting frame drives the left and right swing arms to rotate away from the hopper until the side of the U-shaped groove of the swing arm closest to the hopper roughly overlaps with the side of the hanging plate furthest from the hopper. This prevents the lifting shaft from getting caught in the n-shaped groove of the hanging plate during the lifting process due to swaying, which would affect the disassembly of the lifting shaft. The locking structure allows for quick installation and disassembly of the lifting shaft. It also effectively prevents the lifting shaft from falling off due to slack in the lifting ropes when transferring the hopper, quickly completing the hopper transfer work, saving manpower and resources, and enabling rapid separation of the lifting device from the hopper, thus improving dredging efficiency.

[0024] 3. This invention designs the left rotating shaft of the uppermost part of the lifting frame to move within a waist-shaped hole, and connects the left shaft sleeve to the left swing arm shaft via a rope. When the left rotating shaft moves within the waist-shaped hole, the left shaft sleeve drives the connecting rope to move, thereby adjusting the rotation of the left swing arm shaft and controlling the rotation of the left swing arm. At the same time, the right rotating shaft is connected to the right swing arm shaft via a connecting rope, and the rotation of the right rotating shaft controls the rotation of the right swing arm shaft, thereby controlling the rotation of the right swing arm. By combining the lifting and lowering of the lifting frame, the swing arm can be adjusted without increasing the power of the equipment. The structure is simple and the control is convenient.

[0025] 4. The lifting and rotating shaft designed in this invention can be used to transfer the hopper in conjunction with the locking structure, which is simple to operate. In addition, it can match the positioning block on the support frame during the unloading process for positioning the hopper. At the same time, combined with the rotating door design of the hopper, the hopper can be rotated along the lifting and rotating shaft on one side to quickly complete the dumping of the sludge. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the hopper lifting process of the present invention.

[0027] Figure 2 This is a schematic diagram showing the separation of the empty hopper and the lifting rotating shaft of the present invention.

[0028] Figure 3 This is an enlarged schematic diagram of point I.

[0029] Figure 4 This is a schematic diagram of the hopper transfer function of the present invention.

[0030] Figure 5 This is a top view of the hopper and the hopper during the hopper transfer process of the present invention.

[0031] Figure 6 This is an enlarged schematic diagram of point II.

[0032] Figure 7 This is a schematic diagram of the unloading process of the present invention.

[0033] Figure Labels

[0034] 10. Hopper; 11. Hanging plate; 12. Revolving door; 13. Hinge; 14. Lock; 20. Lifting frame; 221. Left swing arm; 222. Waist-shaped hole; 223. Left rotating shaft; 224. Left swing arm shaft; 231. Right swing arm; 232. Right rotating shaft; 233. Right connecting rope; 234. Right swing arm shaft; 235. Swing arm support structure; 31. Cargo bucket; 32. Support frame; 33. Positioning block; 41. Lifting frame; 42. Lifting rope; 43. Lifting rotating shaft; 44. Ring; 45. Lifting plate; 50. Empty hopper. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0036] It should also be noted that, in order to avoid obscuring the present invention with unnecessary details, only the structures and / or processing steps closely related to the present invention are shown in the accompanying drawings, while other details that are not closely related to the present invention are omitted.

[0037] Additionally, it should be noted that the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0038] like Figures 1-7As shown, the present invention provides a rapid lifting and unloading device, including a hopper 10, a lifting frame 20 for controlling the lifting and lowering of the hopper 10, a crane for controlling the lifting of the hopper 10 via a lifting device, and a mud truck for unloading the hopper 10. Hanging plates 11 are respectively provided at both ends of the left and right sides of the upper end of the hopper 10, and the hanging plates 11 have n-shaped grooves inside. The lifting frames 20 corresponding to the left and right sides of the hopper 10 are respectively designed with swing arms that can match the hanging plates 11 to form a closed elongated hole. The swing arms have U-shaped grooves inside. The number of swing arms is equal to the number of hanging plates 11, and the swing arms are respectively positioned below the hanging plates 11. The lifting device includes a lifting frame 41 and a lifting rotating shaft 43 connected to the lifting frame 41 via a lifting rope 42. When the lifting frame 20 rises to its highest point, the elongated hole formed by the swing arms and the hanging plates 11 fixes the lifting rotating shaft 43, preventing the lifting rotating shaft 43 from detaching from the hopper 10 during the lifting process.

[0039] Specifically, the swing arm part includes a swing arm, a swing arm shaft for controlling the rotation of the swing arm, and a swing arm support structure 235 for connecting the swing arm to the lifting frame 20.

[0040] Specifically, the uppermost left side of the lifting frame 20 has a waist-shaped hole 222, and the left rotating shaft 223 is located inside the waist-shaped hole 222. The bushing of the left rotating shaft 223 is connected to the left swing arm shaft 224 via a left connecting rope. The uppermost right rotating shaft 232 of the lifting frame 20 is connected to the right swing arm shaft 234 via a right connecting rope 233. The lifting of the lifting frame 20 drives the left rotating shaft 223 to move within the waist-shaped hole 222, thereby using the left bushing to drive the rope to move, thus adjusting the rotation of the left swing arm shaft 224, and thus controlling the rotation of the left swing arm 221. At the same time, the rotation of the right rotating shaft 232 during the lifting process controls the rotation of the right swing arm shaft 234, and thus controls the rotation of the right swing arm 231. By combining the lifting of the lifting frame 20, the swing arm can be adjusted without increasing the power of the equipment. The structure is simple and the control is convenient.

[0041] Specifically, two lifting rotating shafts 43 are provided. At both ends of the two lifting rotating shafts 43, corresponding to the two sides of the hanging plate 11 of the hopper 10, a ring 44 and a lifting plate 45 are respectively matched and provided in the direction away from the end point of the lifting rotating shaft 43. The distance between the ring 44 and the lifting plate 45 is greater than the width of the hanging plate 11, and the distance from the ring 44 to the end point of the lifting rotating shaft 43 is greater than the width of the positioning block 33. This is used to limit the lifting rotating shaft 43 during the lifting and unloading process, to prevent the lifting rotating shaft 43 from moving back and forth significantly or slipping, which would affect the lifting and unloading of the hopper 10. The upper end of the lifting plate 45 is provided with a lifting hole that matches the hook on the lifting frame 41, and the lower end of the lifting plate 45 is provided with a shaft hole that allows the lifting rotating shaft 43 to pass through and is fixedly connected to the lifting rotating shaft 43.

[0042] Specifically, the hopper 31 of the mud truck is equipped with a support frame 32, and the support frame 32 is equipped with a positioning block 33. The upper part of the positioning block 33 has a V-shaped notch design, which matches the lifting and rotating shaft 43 and is used for the rapid positioning of the hopper 10 during the unloading process.

[0043] Specifically, one side of the hopper 10 is designed with a rotating door 12. The upper end of the rotating door 12 is connected to the hopper 10 via a hinge 13, and the lower end of the rotating door 12 is provided with latches 14 on both sides.

[0044] The present invention also provides a rapid lifting and unloading method, which, according to any one of the rapid lifting and unloading devices described in the above technical solutions, includes the following steps:

[0045] S1. When the hopper 10 is fully loaded, control the dredging robot to retreat to the opening. Control the lifting frame 41 to lower through the crane, and at the same time adjust the lifting frame 20 to rise, so that the two lifting rotating shafts 43 fall into the limiting space formed by the left and right swing arms of the hopper 10 and the hopper 10 respectively. By adjusting the height of the lifting rotating shafts 43, and making the left and right swing arms continue to rotate towards the hopper 10, the lifting rotating shafts 43 fall into the U-shaped grooves of the swing arms. The lifting frame 20 continues to rise, and during the rise, it drives the left and right swing arms of the hopper 10 to rotate towards the hopper 10 respectively. When the lifting frame 20 rises to the highest point, the swing arms are in a vertical state, restricting the lifting rotating shafts 43 in the sealed hole formed by the hanging plate 11 and the swing arms.

[0046] S2. Raise the lifting frame 41, and the lifting rotating shaft 43 is automatically hooked into the hanging plate 11. The hopper 10 is lifted by the crane and placed on the open ground next to the opening. Then, the empty hopper 50 is placed on the lifting frame 20 of the dredging robot by the crane.

[0047] S3. Control the lifting frame 41 to descend, and the lifting rotation shaft 43 falls into the U-shaped groove on the swing arm. Control the lifting frame 20 to descend, driving the left and right swing arms to rotate away from the empty hopper 10 until the side of the swing arm U-shaped groove near the empty hopper 50 is basically aligned with the side of the hanging plate 11 away from the empty hopper 50. Control the lifting frame 41 to rise, driving the lifting rotation shaft 43 to rise, and completing the separation of the empty hopper 50 from the lifting device.

[0048] S4. The hopper 10 on the open ground is lifted again by the lifting frame 41 and transferred to the support frame 32 of the sludge truck hopper 31. The hopper 10 is quickly lowered into position with the help of the positioning block 33 on the support frame 32. The operator opens the latches 14 on both sides of the rotating door 12 of the hopper 10, releases the hook in the lifting hole at the top of the rotating door 12 of the hopper 10, and controls the lifting frame 41 to rise. The hopper 10 rotates along the lifting rotation axis 43 on one side of the rotating door 12. The rotating door 12 opens automatically under the action of gravity, and the sludge falls into the hopper 31, completing the unloading.

[0049] S5. Place the unloaded hopper 10 on the open ground next to the opening, and wait for the next replacement of hopper 10.

[0050] In summary, the rapid lifting and unloading device and method disclosed in this invention, by setting hanging plates 11 on the left and right sides of the upper end of the hopper 10, and designing swing arms with matching elongated waist-shaped holes on the corresponding lifting frames 20 on both sides of the hopper 10, facilitates the installation and disassembly of the lifting rotation shaft 43, improving the lifting efficiency of the hopper 10. Simultaneously, by utilizing the lifting frames 20 to control the rotation of the left and right swing arms, the swing arms can be adjusted without increasing the power of the equipment. The structure is simple and easy to operate. Furthermore, the lifting rotation shaft 43 designed in this invention, on the one hand, cooperates with the locking structure for the transfer of the hopper 10, simplifying operation; on the other hand, during the unloading process, it matches with the positioning block 33 on the support frame 32 for positioning the hopper 10. Combined with the rotating door 12 design of the hopper 10, the hopper 10 rotates along the lifting rotation shaft 43 on one side, quickly completing the dumping of silt, effectively improving the lifting and unloading efficiency of the hopper 10, and thus improving the sludge removal efficiency.

[0051] The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A quick hoist and discharge apparatus, characterized by: The device comprises a hopper, a lifting frame for controlling the lifting of the hopper, a crane for controlling the lifting of the hopper through a lifting device, and a mud truck for unloading the hopper, wherein the upper end of the hopper is provided with a hanging plate, the side of the hopper is designed with a swing arm capable of matching the hanging plate to form a closed hole on the corresponding lifting frame, and the lifting device comprises a lifting frame and a lifting rotating shaft connected with the lifting frame through a lifting rope. The hanging plate is arranged on the left and right side of the upper end of the hopper, and two are arranged on the left and right sides respectively, and the inside of the hanging plate is provided with an n-shaped groove. Two swing arms are arranged on the two sides of the hopper respectively, and a U-shaped groove is arranged in the swing arm, the number of the swing arms is equal to the number of the hanging plates, and the swing arms are arranged below the hanging plates respectively. The swing arm part comprises a swing arm, a swing arm shaft for controlling the rotation of the swing arm, and a swing arm support structure for connecting the swing arm with the lifting frame. The uppermost layer of the lifting frame is provided with a waist-shaped hole, and a one-side rotating shaft is arranged in the waist-shaped hole, and the shaft sleeve of the one-side rotating shaft is connected with the corresponding side swing arm shaft through a connecting rope. The one-side rotating shaft is moved in the waist-shaped hole through the lifting of the lifting frame, so as to drive the rope through the shaft sleeve to move, so as to adjust the rotation of the corresponding side swing arm shaft, and then control the rotation of the corresponding side swing arm, and at the same time, the rotation of the other-side rotating shaft in the lifting process is used to control the rotation of the corresponding side swing arm shaft, and then control the rotation of the corresponding side swing arm.

2. The quick lift and discharge apparatus according to claim 1, wherein: The mud truck is provided with a support frame on the car hopper, and the support frame is provided with a positioning block, and the upper part of the positioning block is designed as a V-shaped notch.

3. The quick lift and discharge apparatus according to claim 2, wherein: The side of the hopper is designed as a rotating door, the upper end of the rotating door is connected with the hopper through a hinge, and the lower end of the rotating door is provided with a lock catch.

4. The quick lift and discharge apparatus according to claim 2, wherein: The two ends of the lifting rotating shaft correspond to the two sides of the hopper hanging plate, and are respectively matched with a circular ring and a lifting plate in the direction away from the end point of the lifting rotating shaft, the distance between the circular ring and the lifting plate is greater than the width of the hanging plate, the distance from the circular ring to the end point of the lifting rotating shaft is greater than the width of the positioning block, the upper end of the lifting plate is provided with a lifting hole matched with the lifting hook on the lifting frame, and the lower end of the lifting plate is provided with a shaft hole through which the lifting rotating shaft passes and is fixedly connected with the lifting rotating shaft.

5. The quick lift and discharge apparatus according to claim 4, wherein: The lifting rotating shaft is provided with two.

6. A method of quick hoisting and unloading, characterized by, The quick lifting and unloading device of claim 4 is used for processing, comprising the following steps: S1, when the hopper is full, the dredging robot is controlled to retreat to the hole, the lifting frame is lowered through the crane, and the lifting frame is adjusted to rise, so that the lifting rotating shaft falls into the limiting space formed by the left and right swing arms and the hopper, the height of the lifting rotating shaft is adjusted, the left and right swing arms continue to rotate towards the hopper, the lifting rotating shaft falls into the U-shaped groove of the swing arm, the lifting frame continues to rise to the highest position, and the left and right swing arms are driven to rotate towards the hopper to the vertical state, so that the lifting rotating shaft is limited in the closed hole formed by the hanging plate and the swing arm. S2, the empty hopper is placed on the ground beside the hole by hoisting the hopper with a crane, and then the empty hopper is placed on the lifting frame of the dredging robot by the crane; S3, the lifting frame is controlled to descend, the hoisting rotating shaft falls into the U-shaped groove on the swing arm, the lifting frame is controlled to descend to drive the left and right swing arms to rotate away from the empty hopper until the U-shaped groove on the swing arm is substantially coincident with the hanging plate away from the empty hopper, the lifting frame is controlled to ascend to drive the hoisting rotating shaft to ascend, and the separation of the empty hopper and the hoisting device is completed; S4, the empty hopper on the ground is hoisted again by the lifting frame and transferred to the support frame of the mud truck hopper, the empty hopper is quickly positioned by the positioning block on the support frame, the operator opens the lock buckle on both sides of the hopper rotating door, unfastens the lifting hook in the hoisting hole on the upper part of the hopper rotating door, the lifting frame is controlled to ascend, the hopper rotates as a whole along the hoisting rotating shaft on one side of the rotating door, and the unloading is completed; S5, the hopper after unloading is placed on the ground beside the hole, and the next hopper replacement is waited.

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