Auxiliary manipulator for artificial wetland dredging and dredging method

Abstract

The present invention provides an auxiliary manipulator for artificial wetland dredging and a dredging method. The auxiliary manipulator for artificial wetland dredging includes a floating plate, a guide cylinder, a rotating cylinder, a silt suction pipe pushing mechanism and a walking clamping mechanism; the guide cylinder is fixedly installed in the middle of the floating plate, the rotating cylinder is rotatably installed on the upper side of the guide cylinder, and the silt suction pipe pushing mechanism is installed at the entrance of the rotating cylinder; at least two walking clamping mechanisms are distributed and installed on the lower surface of the floating plate. The auxiliary manipulator for artificial wetland dredging provided by the present invention can quickly and conveniently move the end of the silt suction pipe to a suitable position, facilitate rapid dredging, and improve dredging efficiency; at the same time, the pneumatic telescopic arm can be used as a walking mechanism to drive the silt suction pipe to move to the shallows to achieve dredging operations in the shallows.

Description

Technical Field

[0001] The invention belongs to the technical field of wetland dredging devices, and in particular relates to an auxiliary manipulator for artificial wetland dredging and a dredging method. Background Art

[0002] In artificial wetlands, due to the slow flow of water and the accumulation of plant residues, sediments will gradually accumulate at the bottom of the wetland. These sediments include silt, organic matter and nutrients, which will reduce the capacity of the wetland and affect the water quality and ecological function of the wetland. At the same time, wetlands are natural purification systems that can remove suspended matter, nutrients and organic pollutants in wastewater through the action of wetland plants and microorganisms. However, over time, the accumulation of sediments in wetlands will lead to a decline in wetland water quality, and even eutrophication and turbidity, which will have a negative impact on the ecological environment. At this time, the ecological function of artificial wetlands is damaged. The ecological function of wetlands can be restored by dredging the wetlands, and dredging can restore the hydrodynamic conditions of the wetlands, provide suitable habitats and nutrients, and be conducive to the healthy development of wetland ecosystems, while improving the flood control capacity of wetlands.

[0003] The existing dredging method is to use a dredging vehicle in conjunction with a silt suction device to extract the silt on the wet bottom of the water and then pile it up in a designated area for drying. During dredging, the suction head of the silt suction pump needs to be moved under the water, and usually the staff row a small boat to move the suction head of the silt suction pipe. The operation is time-consuming and laborious, and for some shallows, the small boat cannot reach them smoothly, affecting the efficiency of dredging. Summary of the invention

[0004] In view of the defects of the prior art, the present invention provides an auxiliary manipulator and a dredging method for artificial wetland dredging, which can quickly and conveniently move the end of the dredging pipe to a suitable position, facilitate rapid dredging, and improve dredging efficiency; at the same time, the pneumatic telescopic arm can be used as a walking mechanism to drive the dredging pipe to move to the shallows, thereby realizing dredging operations in the shallows, which can effectively solve the problems in the background technology.

[0005] To achieve the above-mentioned purpose, the present application provides the following technical solution: an auxiliary manipulator for artificial wetland dredging, comprising a floating plate (5), a guide cylinder (6), a rotating cylinder (7), a silt suction pipe pushing mechanism and a walking clamping mechanism;

[0006] The guide cylinder (6) is fixedly mounted in the middle of the floating plate (5), the rotating cylinder (7) is rotatably mounted on the upper surface of the guide cylinder (6), and the silt suction pipe pushing mechanism is mounted at the entrance of the rotating cylinder (7); at least two walking clamping mechanisms are distributedly mounted on the lower surface of the floating plate (5);

[0007] Each of the walking clamping mechanisms comprises a two-way air pump (19) and a pneumatic telescopic clamping arm (4); the pneumatic telescopic clamping arm (4) comprises a pneumatic telescopic arm and a mechanical clamp; wherein the top of the pneumatic telescopic arm is fixed to the lower surface of the floating plate (5), and the two-way air pump (19) is used to drive the pneumatic telescopic arm to perform telescopic and tilting movements; the mechanical clamp is installed at the bottom of the pneumatic telescopic arm; the mechanical clamp is used to clamp or release the silt suction pipe passing through the rotating cylinder (7) and the guide cylinder (6).

[0008] Preferably, the pneumatic telescopic arm comprises a flow guide tube (41), a corrugated airbag (42), a partition (43) and a solenoid valve (44);

[0009] The corrugated airbags (42) are distributed in strips, and the upper and lower sections of the corrugated airbags (42) are connected in series via a partition (43); a shunt pipe is arranged inside each section of the corrugated airbag (42), and the shunt pipe is provided with the solenoid valve (44);

[0010] The air delivery end of the bidirectional air pump (19) is connected to one end of the guide tube (41); the other end of the guide tube (41) is connected to each of the branch tubes, and the corrugated airbags (42) of each section are inflated or evacuated through the branch tubes, thereby controlling the expansion or contraction of the corrugated airbags (42) of each section, thereby controlling the extension and retraction and tilting of the pneumatic telescopic arm.

[0011] Preferably, the partition (43) is provided with a threading hole for allowing the wires and the flow guide tube (41) to pass through.

[0012] Preferably, the mechanical clamp comprises a positioning motor (45) and an electric-controlled clamp (46); the electric-controlled clamp (46) is installed on the output shaft of the positioning motor (45), and the positioning motor (45) is used to drive the electric-controlled clamp (46) to rotate, thereby adjusting the clamping angle of the electric-controlled clamp (46).

[0013] Preferably, the silt suction pipe pushing mechanism comprises two silt suction pipe pushing units arranged opposite to each other; each of the silt suction pipe pushing units comprises a slider (8), a slide rod (9), a pneumatic telescopic rod (12), a support frame (13), a waterproof motor (14) and a rotating wheel (15);

[0014] The sliding rod (9) is horizontally arranged on the outer side surface of the rotating drum (7), and the sliding rod (9) is slidably connected to the sliding block (8); the supporting frame (13) is installed on the upper surface of the sliding block (8), and the waterproof motor (14) is installed on the upper surface of the supporting frame (13); the output shaft of the waterproof motor (14) is installed with the rotating wheel (15); the waterproof motor (14) drives the rotating wheel (15) to rotate;

[0015] The pneumatic telescopic rod (12) is horizontally arranged on the outer side surface of the rotating drum (7), and the telescopic end of the pneumatic telescopic rod (12) is connected to the slider (8) to drive the slider (8) to move along the slide bar (9), thereby adjusting the position of the rotating wheel (15) and finally adjusting the distance between the two rotating wheels (15).

[0016] Preferably, it further comprises a rotating plate (3); a plurality of the rotating plates (3) are evenly distributed in an annular pattern on the outer periphery of the floating plate (5), and the ends of the rotating plates (3) are rotatable relative to the floating plate (5).

[0017] Preferably, a waterproof box (10) is provided on the outer side edge of the floating plate (5), and a stepper motor (16) is provided inside the waterproof box (10). The output shaft of the stepper motor (16) is connected to a pin shaft (18), and the pin shaft (18) is connected to the end of the rotating plate (3). The stepper motor (16) drives the end of the rotating plate (3) to rotate relative to the floating plate (5) through the pin shaft (18), thereby adjusting the angle between the rotating plate (3) and the floating plate (5).

[0018] Preferably, grooves are respectively provided on the left and right sides of the end of the rotating plate (3), and a rotation motor (17) is provided in each of the grooves; the output shaft of the rotation motor (17) is connected to a rotating rod (1), and an umbrella-shaped waterproof cloth (2) is provided on the rotating rod (1), and the other end of the umbrella-shaped waterproof cloth (2) is fixed in the groove; the rotation motor (17) drives the rotating rod (1) to rotate, thereby driving the umbrella-shaped waterproof cloth (2) to be opened or stored in the groove.

[0019] Preferably, a vertical pole (11) is installed on the edge of the outer surface of the rotating drum (7); and a cable for power supply is installed on the top of the vertical pole (11).

[0020] The present invention also provides a dredging method using the auxiliary manipulator for artificial wetland dredging, comprising the following steps:

[0021] Step S1, initially, the silt removal vehicle is equipped with a silt suction pump; one end of the silt suction pipe is connected to the silt suction pump, and the other end of the silt suction pipe passes through the rotating drum (7) and the guide drum (6) in sequence, and extends to the bottom of the floating plate (5);

[0022] The pneumatic telescopic rods (12) of two oppositely arranged silt suction pipe pushing units are then controlled to adjust the distance between two oppositely arranged rotating wheels (15) so that the two rotating wheels (15) clamp the silt suction pipe;

[0023] Step S2, when the dredging vehicle moves in the artificial wetland, the auxiliary manipulator for artificial wetland dredging walks in the artificial wetland until it reaches the dredging position; the specific walking method is:

[0024] The pneumatic telescopic arm is inflated and deflated by a bidirectional air pump (19), thereby controlling the pneumatic telescopic arm to perform telescopic and tilting movements, simulating human walking, thereby driving the floating plate (5) floating on the liquid surface to move to a designated position;

[0025] Step S3, when walking to the dredging location, dredging operation is performed, and the specific method is as follows:

[0026] Step S3.1, controlling the pneumatic telescopic arm and the mechanical clamp of a pneumatic telescopic clamping arm (4) so ​​that the pneumatic telescopic arm is extended, and then the mechanical clamp at the end of the pneumatic telescopic arm is inserted into the soil, so as to achieve stable and fixed position of the equipment;

[0027] The pneumatic telescopic arm and the mechanical clamp of the other pneumatic telescopic clamping arm (4) are controlled, the position and height of the mechanical clamp are adjusted by the pneumatic telescopic arm, and the clamping angle of the electric-controlled clamping hand (46) is adjusted by the position adjustment motor (45), so that the electric-controlled clamping hand (46) clamps the bottom of the sludge suction pipe; then, the two rotating wheels (15) arranged opposite to each other are controlled to move the two rotating wheels (15) towards each other, and the sludge suction pipe is moved downward. At the same time, the pneumatic telescopic arm is controlled to adjust its length, thereby driving the electric-controlled clamping hand (46) to move downward, so that the bottom of the sludge suction pipe is inserted into the sludge;

[0028] Step S3.2, after the bottom of the sludge suction pipe is inserted into the sludge, dredging is performed, the sludge suction pump is started, and the sludge in the wetland is pumped to the dredging vehicle through the sludge suction pipe;

[0029] Step S3.3, when the dredging operation is completed at the dredging position, the two relatively arranged wheels (15) are controlled to make the two wheels (15) move in opposite directions, thereby driving the silt suction pipe to move upward, and pulling the bottom of the silt suction pipe out of the sludge; then, the electric control clamp (46) holding the silt suction pipe is released; all pneumatic telescopic arms are extended and tilted, thereby driving the floating plate (5) floating on the liquid surface to move to the next designated position for dredging operations.

[0030] The auxiliary manipulator for artificial wetland dredging and the dredging method provided by the present invention have the following advantages:

[0031] 1. The auxiliary manipulator for artificial wetland dredging provided by the present invention can quickly and conveniently move the end of the silt suction pipe to a suitable position, facilitate rapid dredging, and improve dredging efficiency; at the same time, the pneumatic telescopic arm can be used as a walking mechanism to drive the silt suction pipe to move to the shallows to achieve dredging operations in the shallows;

[0032] 2. Placing the rotating plate on the water surface can increase the buoyancy of the floating plate and improve the stability of the device during dredging operations at designated locations. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A schematic diagram of the structure of an auxiliary manipulator for artificial wetland dredging provided by the present invention;

[0034] Figure 2 A front view of the auxiliary manipulator for artificial wetland dredging provided by the present invention;

[0035] Figure 3 A top view of the auxiliary manipulator for artificial wetland dredging provided by the present invention;

[0036] Figure 4 A schematic diagram of the structure of the pneumatic telescopic arm provided by the present invention;

[0037] Figure 5 A schematic diagram of the structure of the corrugated airbag provided by the present invention;

[0038] Figure 6 This is a schematic structural diagram of the partition provided by the present invention.

[0039] In the figure:

[0040] 1 rotating rod, 2 umbrella-shaped waterproof cloth, 3 rotating plate, 4 pneumatic telescopic clamping arm, 41 guide tube, 42 corrugated airbag, 43 partition, 44 solenoid valve, 45 adjustment motor, 46 electric control clamp, 5 floating plate, 6 guide cylinder, 7 rotating cylinder, 8 slider, 9 sliding rod, 10 waterproof box, 11 vertical pole, 12 pneumatic telescopic rod, 13 supporting frame, 14 waterproof motor, 15 rotating wheel, 16 stepping motor, 17 rotation motor, 18 pin shaft, 19 two-way air pump. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0042] In the description of this application, if the orientation description is involved, for example, the orientation or position relationship indicated by "upper", "lower", "front", "back", "left", "right", etc. is based on the attached Figure 2 The orientation or position relationship shown is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation of the present application. When a feature is referred to as being "set", "fixed", or "connected" to another feature, it can be directly set, fixed, or connected to the other feature, or it can be indirectly set, fixed, or connected to the other feature.

[0043] See also Figure 1-Figure 6 , the present application provides the following technical solutions: an auxiliary manipulator for artificial wetland dredging, comprising a floating plate 5, a guide cylinder 6, a rotating cylinder 7, a silt suction pipe pushing mechanism and a walking clamping mechanism;

[0044] A guide cylinder 6 is fixedly installed in the middle of the floating plate 5, a rotating cylinder 7 is rotatably installed on the upper side of the guide cylinder 6, and a silt suction pipe pushing mechanism is installed at the inlet position of the rotating cylinder 7; at least two walking clamping mechanisms are distributed and installed on the lower surface of the floating plate 5;

[0045] Each walking clamping mechanism includes a two-way air pump 19 and a pneumatic telescopic clamping arm 4; the pneumatic telescopic clamping arm 4 includes a pneumatic telescopic arm and a mechanical clamp; wherein, the top of the pneumatic telescopic arm is fixed to the lower surface of the floating plate 5, and the two-way air pump 19 can be installed on the outside of the floating plate 5 to drive the pneumatic telescopic arm to perform telescopic and tilting actions, and the two-way air pump 19 is used to inflate and deflate the corresponding corrugated airbag 42 to achieve walking actions. A mechanical clamp is installed at the bottom of the pneumatic telescopic arm; the mechanical clamp is used to clamp or release the silt suction pipe passing through the rotating drum 7 and the guide drum 6.

[0046] See also Figure 4 , Figure 5 and Figure 6 As a specific structure, the pneumatic telescopic arm includes a guide tube 41, a corrugated airbag 42, a partition 43 and a solenoid valve 44; the corrugated airbag 42 is distributed in a strip shape, and each section of the corrugated airbag 42 connected in series is connected by a partition 43; a shunt pipe is arranged inside each section of the corrugated airbag 42, and the shunt pipe is provided with a solenoid valve 44; the air delivery end of the two-way air pump 19 is connected to one end of the guide tube 41; the other end of the guide tube 41 is connected to each shunt pipe, and each section of the corrugated airbag 42 is inflated or evacuated through the shunt pipe, thereby controlling the expansion or contraction of each section of the corrugated airbag 42, thereby controlling the telescopic and tilting of the pneumatic telescopic arm. By adjusting the opening of the solenoid valve 44 of each corrugated airbag 42, the inflation amount of the corrugated airbag 42 can be controlled.

[0047] Furthermore, the partition plate 43 is provided with a threading hole for allowing the wires and the flow guide tube 41 to pass through.

[0048] As a specific structure, see Figure 4 The mechanical clamp adopts the following structure: the mechanical clamp includes a positioning motor 45 and an electric-controlled clamping hand 46; the electric-controlled clamping hand 46 is installed on the output shaft of the positioning motor 45, and the positioning motor 45 is used to drive the electric-controlled clamping hand 46 to rotate, thereby adjusting the clamping angle of the electric-controlled clamping hand 46.

[0049] The silt suction pipe pushing mechanism is used to drive the silt suction pipe to move upward or downward, so that the end of the silt suction pipe is inserted into or separated from the wetland soil. As a specific structure, the silt suction pipe pushing mechanism includes two silt suction pipe pushing units arranged opposite to each other; each silt suction pipe pushing unit includes a slider 8, a slide rod 9, a pneumatic telescopic rod 12, a support frame 13, a waterproof motor 14 and a rotating wheel 15;

[0050] A slide bar 9 is horizontally arranged on the outer side of the rotating drum 7, and the slide bar 9 is slidably connected to the slider 8; a support frame 13 is installed on the slider 8, a waterproof motor 14 is installed on the support frame 13, and a rotating wheel 15 is installed on the output shaft of the waterproof motor 14; the waterproof motor 14 drives the rotating wheel 15 to rotate;

[0051] A pneumatic telescopic rod 12 is horizontally arranged on the outer side of the rotating drum 7, and the telescopic end of the pneumatic telescopic rod 12 is connected to the slider 8, which is used to drive the slider 8 to move along the slide bar 9, thereby adjusting the position of the rotating wheel 15, and finally adjusting the distance between the two rotating wheels 15 so that the two rotating wheels 15 can move the silt suction pipe.

[0052] Furthermore, a rotating plate 3 may be provided; the number of the rotating plate 3 is not less than one, for example, Figure 3 In the embodiment, three rotating plates 3 are provided. Multiple rotating plates 3 are evenly distributed in an annular pattern on the outer periphery of the floating plate 5, and the ends of the rotating plates 3 can rotate relative to the floating plate 5. For example, a waterproof box 10 is provided on the outer side edge of the floating plate 5, and a stepper motor 16 is provided inside the waterproof box 10. The output shaft of the stepper motor 16 is connected to a pin 18, and the pin 18 is connected to the end of the rotating plate 3. The stepper motor 16 drives the end of the rotating plate 3 to rotate relative to the floating plate 5 through the pin 18, thereby adjusting the angle between the rotating plate 3 and the floating plate 5. By providing an angle-adjustable rotating plate 3 on the outer periphery of the floating plate 5, the buoyancy of the floating plate 5 can be increased, thereby improving the stability of the device at the operating point. In addition, as an embodiment, the rotating plate 3 can be rotated and switched between a vertical state and a horizontal state relative to the floating plate 5. When the rotating plate 3 rotates to a vertical state, the occupied space of the entire device can be effectively reduced, and the storage of the device when not in use can be facilitated. By adjusting the angle of the rotating plate 3 relative to the floating plate 5, the buoyancy of the entire device can be optimized. By providing the waterproof box 10 , the buoyancy can be increased and the stepper motor 16 can be protected.

[0053] In order to further increase the buoyancy of the rotating plate 3, grooves are respectively provided on the left and right sides of the end of the rotating plate 3, and a rotation motor 17 is provided in each groove. The output shaft of the rotation motor 17 is connected to the rotating rod 1, and an umbrella-shaped waterproof cloth 2 is provided on the rotating rod 1, and the other end of the umbrella-shaped waterproof cloth 2 is fixed in the groove; the rotation motor 17 drives the rotating rod 1 to rotate, thereby driving the umbrella-shaped waterproof cloth 2 to open or be stored in the groove. When the rotation motor 17 drives the umbrella-shaped waterproof cloth 2 to open, the end of the rotating plate 3 has an umbrella-shaped waterproof cloth, thereby improving the buoyancy of the rotating plate 3.

[0054] In the present invention, in order to facilitate wiring, a vertical pole 11 is installed on the outer surface edge of the rotating drum 7; and a cable for supplying power to the electrical equipment is installed on the top of the vertical pole 11.

[0055] In the present application, the input ends of the solenoid valve 44, the positioning motor 45, the electric-controlled gripper 46, the pneumatic telescopic rod 12, the waterproof motor 14, the stepping motor 16, the rotation motor 17 and the bidirectional air pump 19 are all electrically connected to the output end of the external power supply through an external control switch.

[0056] The present invention also provides a dredging method based on an auxiliary manipulator for dredging artificial wetlands, comprising the following steps:

[0057] Step S1, initially, the silt removal vehicle is equipped with a silt suction pump; one end of the silt suction pipe is connected to the silt suction pump, and the other end of the silt suction pipe passes through the rotating drum 7 and the guide drum 6 in sequence, and extends to the bottom of the floating plate 5;

[0058] The pneumatic telescopic rods 12 of the two oppositely arranged silt suction pipe pushing units are then controlled to adjust the distance between the two oppositely arranged rotating wheels 15 so that the two rotating wheels 15 clamp the silt suction pipe;

[0059] Step S2, when the dredging vehicle moves in the artificial wetland, the auxiliary manipulator for artificial wetland dredging walks in the artificial wetland until it reaches the dredging position; the specific walking method is:

[0060] The pneumatic telescopic arm is inflated and deflated by a bidirectional air pump 19, thereby controlling the pneumatic telescopic arm to perform telescopic and tilting actions, simulating human walking, thereby driving the floating plate 5 floating on the liquid surface to move to a specified position;

[0061] Step S3, when walking to the dredging location, dredging operation is performed, and the specific method is as follows:

[0062] Step S3.1, controlling the pneumatic telescopic arm and the mechanical clamp of a pneumatic telescopic clamping arm 4, so that the pneumatic telescopic arm is extended, and then the mechanical clamp at the end of the pneumatic telescopic arm is inserted into the soil, so as to achieve stable and fixed position of the equipment;

[0063] The pneumatic telescopic arm and the mechanical clamp of the other pneumatic telescopic clamping arm 4 are controlled, the position and height of the mechanical clamp are adjusted by the pneumatic telescopic arm, and the clamping angle of the electric-controlled clamping hand 46 is adjusted by the position adjustment motor 45, so that the electric-controlled clamping hand 46 clamps the bottom of the sludge suction pipe; then, the two relatively arranged rotating wheels 15 are controlled to move toward each other, and the sludge suction pipe is moved downward. At the same time, the pneumatic telescopic arm is controlled to adjust its length, thereby driving the electric-controlled clamping hand 46 to move downward, so that the bottom of the sludge suction pipe is inserted into the sludge;

[0064] Step S3.2, after the bottom of the sludge suction pipe is inserted into the sludge, dredging is performed, the sludge suction pump is started, and the sludge in the wetland is pumped to the dredging vehicle through the sludge suction pipe;

[0065] Step S3.3, when the dredging operation is completed at the dredging position, the two relatively arranged wheels 15 are controlled to make the two wheels 15 move in opposite directions, thereby driving the silt suction pipe to move upward, and pulling the bottom of the silt suction pipe out of the sludge; then, the electric-controlled clamp 46 that clamps the silt suction pipe is released; all pneumatic telescopic arms are extended and tilted, thereby driving the floating plate 5 floating on the liquid surface to move to the next designated position for dredging operations.

[0066] The auxiliary manipulator for artificial wetland dredging and the dredging method provided by the present invention have the following advantages:

[0067] 1. The auxiliary manipulator for artificial wetland dredging provided by the present invention can quickly and conveniently move the end of the silt suction pipe to a suitable position, facilitate rapid dredging, and improve dredging efficiency; at the same time, the pneumatic telescopic arm can be used as a walking mechanism to drive the silt suction pipe to move to the shallows to achieve dredging operations in the shallows;

[0068] 2. Placing the rotating plate on the water surface can increase the buoyancy of the floating plate and improve the stability of the device during dredging operations at designated locations.

[0069] Although the embodiments of the present application have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. An auxiliary manipulator for artificial wetland dredging, characterized in that: It comprises a floating plate (5), a guide cylinder (6), a rotating cylinder (7), a silt suction pipe pushing mechanism and a walking clamping mechanism; The guide cylinder (6) is fixedly mounted in the middle of the floating plate (5), the rotating cylinder (7) is rotatably mounted on the upper surface of the guide cylinder (6), and the silt suction pipe pushing mechanism is mounted at the entrance of the rotating cylinder (7); at least two of the walking clamping mechanisms are distributedly mounted on the lower surface of the floating plate (5); Each of the walking clamping mechanisms comprises a two-way air pump (19) and a pneumatic telescopic clamping arm (4); the pneumatic telescopic clamping arm (4) comprises a pneumatic telescopic arm and a mechanical clamp; wherein the top of the pneumatic telescopic arm is fixed to the lower surface of the floating plate (5), and the two-way air pump (19) is used to drive the pneumatic telescopic arm to perform telescopic and tilting actions; the mechanical clamp is installed at the bottom of the pneumatic telescopic arm; the mechanical clamp is used to clamp or release the silt suction pipe passing through the rotating cylinder (7) and the guide cylinder (6); Wherein: the mechanical clamp comprises a positioning motor (45) and an electric-controlled clamp (46); the electric-controlled clamp (46) is mounted on the output shaft of the positioning motor (45), and the positioning motor (45) is used to drive the electric-controlled clamp (46) to rotate, thereby adjusting the clamping angle of the electric-controlled clamp (46); The silt suction pipe pushing mechanism comprises two silt suction pipe pushing units arranged opposite to each other; each of the silt suction pipe pushing units comprises a slider (8), a slide rod (9), a pneumatic telescopic rod (12), a support frame (13), a waterproof motor (14) and a rotating wheel (15); The sliding rod (9) is horizontally arranged on the outer side surface of the rotating drum (7), and the sliding rod (9) is slidably connected to the sliding block (8); the supporting frame (13) is installed on the upper surface of the sliding block (8), and the waterproof motor (14) is installed on the upper surface of the supporting frame (13); the output shaft of the waterproof motor (14) is installed with the rotating wheel (15); the waterproof motor (14) drives the rotating wheel (15) to rotate; The pneumatic telescopic rod (12) is horizontally arranged on the outer side surface of the rotating drum (7), and the telescopic end of the pneumatic telescopic rod (12) is connected to the slider (8) for driving the slider (8) to move along the slide bar (9), thereby adjusting the position of the rotating wheel (15), and finally adjusting the distance between the two rotating wheels (15).

2. The auxiliary manipulator for artificial wetland dredging according to claim 1, characterized in that: The pneumatic telescopic arm comprises a flow guide tube (41), a corrugated airbag (42), a partition (43) and a solenoid valve (44); The corrugated airbags (42) are distributed in strips, and the upper and lower sections of the corrugated airbags (42) are connected in series via a partition (43); a shunt pipe is provided inside each section of the corrugated airbag (42), and the shunt pipe is provided with the solenoid valve (44); The air delivery end of the bidirectional air pump (19) is in communication with one end of the guide tube (41); the other end of the guide tube (41) is in communication with each of the flow diversion tubes, and air is inflated or exhausted into each section of the corrugated airbag (42) through the flow diversion tube, thereby controlling the expansion or contraction of each section of the corrugated airbag (42), thereby controlling the extension and retraction and tilting of the pneumatic telescopic arm.

3. The auxiliary manipulator for artificial wetland dredging according to claim 2 is characterized in that: The partition plate (43) is provided with a threading hole for allowing the wire and the flow guide tube (41) to pass through.

4. The auxiliary manipulator for artificial wetland dredging according to claim 1, characterized in that: It also comprises a rotating plate (3); a plurality of the rotating plates (3) are evenly distributed in an annular pattern on the outer periphery of the floating plate (5); and the ends of the rotating plates (3) are rotatable relative to the floating plate (5).

5. The auxiliary manipulator for artificial wetland dredging according to claim 4, characterized in that: A waterproof box (10) is provided at the outer side edge of the floating plate (5), and a stepper motor (16) is provided inside the waterproof box (10). The output shaft of the stepper motor (16) is connected to a pin shaft (18), and the pin shaft (18) is connected to the end of the rotating plate (3). The stepper motor (16) drives the end of the rotating plate (3) to rotate relative to the floating plate (5) through the pin shaft (18), thereby adjusting the angle between the rotating plate (3) and the floating plate (5).

6. The auxiliary manipulator for artificial wetland dredging according to claim 4, characterized in that: A groove is provided on the left and right sides of the end of the rotating plate (3), each of the grooves being provided with a rotation motor (17), the output shaft of the rotation motor (17) being connected to a rotating rod (1), an umbrella-shaped waterproof cloth (2) being provided on the rotating rod (1), and the other end of the umbrella-shaped waterproof cloth (2) being fixed in the groove; the rotation motor (17) drives the rotating rod (1) to rotate, thereby driving the umbrella-shaped waterproof cloth (2) to be opened or stored in the groove.

7. The auxiliary manipulator for artificial wetland dredging according to claim 1, characterized in that: A vertical pole (11) is installed on the edge of the outer surface of the rotating drum (7); and a cable for power supply is installed on the top of the vertical pole (11).

8. A dredging method using an auxiliary manipulator for dredging artificial wetlands according to any one of claims 1 to 7, characterized in that: The following steps are involved: Step S1, initially, the silt removal vehicle is equipped with a silt suction pump; one end of the silt suction pipe is connected to the silt suction pump, and the other end of the silt suction pipe passes through the rotating drum (7) and the guide drum (6) in sequence and extends to the bottom of the floating plate (5); The pneumatic telescopic rods (12) of the two oppositely arranged silt suction pipe pushing units are then controlled to adjust the distance between the two oppositely arranged rotating wheels (15) so that the two rotating wheels (15) clamp the silt suction pipe; Step S2, when the dredging vehicle moves in the artificial wetland, the auxiliary manipulator for artificial wetland dredging walks in the artificial wetland until it reaches the dredging position; the specific walking method is: The pneumatic telescopic arm is inflated and deflated by a bidirectional air pump (19), thereby controlling the pneumatic telescopic arm to perform telescopic and tilting movements, simulating human walking, thereby driving the floating plate (5) floating on the liquid surface to move to a designated position; Step S3, when walking to the dredging location, dredging operation is performed, and the specific method is as follows: Step S3.1, controlling the pneumatic telescopic arm and the mechanical clamp of a pneumatic telescopic clamping arm (4) so ​​that the pneumatic telescopic arm is extended, and then the mechanical clamp at the end of the pneumatic telescopic arm is inserted into the soil, so as to achieve stable fixing of the position of the equipment; The pneumatic telescopic arm and the mechanical clamp of the other pneumatic telescopic clamping arm (4) are controlled, the position and height of the mechanical clamp are adjusted by the pneumatic telescopic arm, and the clamping angle of the electric-controlled clamping hand (46) is adjusted by the position adjustment motor (45), so that the electric-controlled clamping hand (46) clamps the bottom of the sludge suction pipe; then, the two rotating wheels (15) arranged opposite to each other are controlled to move the two rotating wheels (15) towards each other, thereby pushing the sludge suction pipe to move downward, and at the same time, the pneumatic telescopic arm is controlled to adjust its length, thereby driving the electric-controlled clamping hand (46) to move downward, so that the bottom of the sludge suction pipe is inserted into the sludge; Step S3.2, after the bottom of the sludge suction pipe is inserted into the sludge, dredging is performed, the sludge suction pump is started, and the sludge in the wetland is pumped to the dredging vehicle through the sludge suction pipe; Step S3.3, when the dredging operation is completed at the dredging position, the two rotating wheels (15) arranged opposite to each other are controlled to move in opposite directions, thereby driving the silt suction pipe to move upward, and pulling the bottom of the silt suction pipe out of the sludge; then, the electric-controlled clamp (46) holding the silt suction pipe is released; all pneumatic telescopic arms are extended and tilted, thereby driving the floating plate (5) floating on the liquid surface to move to the next designated position for dredging operations.

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