A method for desilting a hydraulic structure

Abstract

The present invention belongs to the technical field of dredging, and specifically provides a dredging method for a hydraulic structure, comprising the following steps: obtaining the location information of an area to be cleaned and setting a cofferdam in the area to be cleaned to form a construction area, and maintaining the water level at a preset height in real time; controlling the dredging device to move to the construction area according to a moving route; after moving to the construction area, using a high-pressure cleaning mechanism to clean the side wall, and sucking and temporarily storing the cleaning sewage; controlling the dredging device to move in forward and reverse directions in sequence according to the construction route, using the dredging mechanism to dredge and discharge sewage from the ground during the movement, using the sewage suction mechanism to perform high-pressure cleaning on the ground, and sucking and temporarily storing the cleaning sewage; using the sewage discharge mechanism to treat and discharge the temporarily stored sewage. The cleaning work of the area to be cleaned is completed by the coordination of various mechanisms, and the sucked sewage is treated and discharged by the sewage discharge mechanism, thereby realizing the automatic cleaning of the hydraulic structure and improving the cleaning efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of dredging, and in particular relates to a dredging method for a hydraulic structure. Background Art

[0002] Hydraulic structures or hydraulic buildings refer to various engineering facilities and buildings built to regulate, utilize and manage water resources, mainly including reservoirs, sluice gates, dams, channels, water pipelines, pumping stations, etc. Hydraulic structures play an important role in water conservancy projects and can achieve the accumulation, regulation, distribution and utilization of water resources. Hydraulic structures need to be regularly inspected and maintained. Since there are many kinds of sewage discharged in hydraulic structures, including silt, sediment, waste, aquatic plants and other debris, it is necessary to clean the surface covering of the structure before inspection, such as silt and sediment deposited on the ground, silt, sediment, moss, algae, etc. covering the side walls.

[0003] At present, traditional cleaning work is mainly carried out by manual shovel after water blocking and pumping to form dry land conditions. Due to the complex and humid working environment, cleaning hydraulic structures requires a lot of manpower costs and the cleaning efficiency is low.

[0004] Based on this, the present invention provides a method for desilting a hydraulic structure to solve the above-mentioned problem. Summary of the invention

[0005] In order to overcome the deficiencies of the prior art, the present invention provides a method for desilting a hydraulic structure to solve the problem of low efficiency in cleaning work of the hydraulic structure in the prior art.

[0006] One embodiment of the present invention provides a method for desilting a hydraulic structure, comprising the following steps:

[0007] S1. The control terminal obtains the location information of the area to be cleaned, wherein the location information includes ground location information and side wall location information;

[0008] S2. Setting a cofferdam in the area to be cleaned according to the acquired position information to form a construction area;

[0009] S3, using a water level control mechanism to keep the water level inside the construction area at a preset height in real time;

[0010] S4, generating a moving route and a construction operation route based on the acquired ground position information, and controlling the dredging device to move to the construction area according to the generated moving route;

[0011] S5. After the silt removal device moves to the construction area, high-pressure cleaning is performed using the first high-pressure cleaning mechanism according to the acquired side wall position information, and the cleaning wastewater generated during high-pressure cleaning is absorbed and temporarily stored using the sewage discharge mechanism;

[0012] S6. Control the dredging device to move according to the generated construction route, and use the dredging mechanism to dredge and discharge sewage from the ground inside the construction area during the movement;

[0013] S7. After the silting device has completed silting and sewage discharge, the silting device is controlled to move in the opposite direction of the generated construction route, and during the movement, the sewage suction mechanism is used to perform high-pressure cleaning on the ground inside the construction area, and the sewage generated during the high-pressure cleaning is sucked and temporarily stored by the sewage discharge mechanism;

[0014] S8. Use the sewage discharge mechanism to separate the temporarily stored sewage into gas and liquid and discharge them separately.

[0015] In one embodiment, the step S2 further includes:

[0016] The construction area in the area to be cleaned is salvaged and drained so that the water level in the construction area is at a preset height.

[0017] In one embodiment, the dredging device includes a walking mechanism, and step S4 specifically includes the following steps:

[0018] The control terminal sends a movement control signal to the traveling mechanism based on the generated movement route;

[0019] The traveling mechanism receives the moving control signal and moves the dredging device to the area to be constructed according to the generated moving route.

[0020] In one embodiment, the silt removal device includes an electromagnetic control valve group, a hydraulic control mechanism, a front end telescopic mechanism and a side wall cleaning mechanism;

[0021] The electromagnetic control valve group is connected to the hydraulic control mechanism;

[0022] The hydraulic control mechanism is respectively connected to the front end telescopic mechanism, the side wall cleaning mechanism, the walking mechanism, the dredging mechanism, the first high-pressure cleaning mechanism, the sewage suction mechanism and the sewage discharge mechanism, and controls the front end telescopic mechanism, the side wall cleaning mechanism, the walking mechanism, the dredging mechanism, the first high-pressure cleaning mechanism, the sewage suction mechanism and the sewage discharge mechanism to perform related actions.

[0023] In one embodiment, the step S5 specifically includes:

[0024] The control terminal sends a control signal to the electromagnetic control valve group according to the acquired side wall position information, and the electromagnetic control valve group receives the control signal and drives the hydraulic control mechanism;

[0025] The side wall cleaning mechanism is controlled and driven by the hydraulic control mechanism, and the side wall cleaning mechanism drives the first high-pressure cleaning mechanism to move and fit to the construction surface in the side wall position information according to the side wall position information, so as to perform high-pressure cleaning on the side wall;

[0026] The sewage discharge mechanism is used to absorb and temporarily store the cleaning sewage generated by the first high-pressure cleaning mechanism during high-pressure cleaning.

[0027] In one of the embodiments, the side wall cleaning mechanism is provided with a pressure feedback module;

[0028] Using the pressure feedback module to detect the bonding force between the first high-pressure cleaning mechanism and the construction surface, and obtaining a pressure detection result;

[0029] When the pressure detection result is higher or lower than the preset value, the pressure feedback module sends a feedback signal to the control terminal;

[0030] The control terminal receives the feedback signal and sends a control signal to the electromagnetic control valve group;

[0031] The electromagnetic control valve group receives the control signal and drives the hydraulic control mechanism, and the hydraulic control mechanism is used to control the side wall cleaning mechanism to adjust the contact force between the first high-pressure cleaning mechanism and the construction surface in real time.

[0032] In one embodiment, the step S6 specifically includes:

[0033] The control terminal sends a control signal to the electromagnetic control valve group according to the generated construction operation route, and the electromagnetic control valve group receives the control signal and drives the hydraulic control mechanism;

[0034] The hydraulic control mechanism is used to control and drive the traveling mechanism to drive the dredging device to move according to the generated construction route;

[0035] When the dredging device moves along the construction route, the hydraulic control mechanism is used to control and drive the front telescopic mechanism, and the front telescopic mechanism drives the dredging mechanism to dredge the ground inside the construction area and discharge the silt outside the construction area.

[0036] In one embodiment, the dredging mechanism includes a dredging part, a sewage discharge part and an anti-blocking part. The step of driving the dredging mechanism to dredge the ground inside the construction area through the front telescopic mechanism and discharging the sludge outside the construction area specifically includes:

[0037] The silt is silted from the ground inside the construction area by the silt removal unit, so that the silt is stirred and mixed with water to form a flowable slurry and enter the silt removal unit;

[0038] The sewage discharge part generates suction to absorb the mud in the dredging part and drive the anti-blocking part to rotate. The rotating anti-blocking part drives the mud to flow in a spiral shape into the sewage discharge part, and the mud is discharged outside the construction area through the sewage discharge part.

[0039] In one embodiment, the step S7 specifically includes:

[0040] After the dredging device has completed dredging and sewage discharge, the dredging mechanism on the front telescopic mechanism is disassembled, and a sewage suction mechanism is installed at the same position;

[0041] The control terminal sends a control signal to the electromagnetic control valve group according to the reverse direction of the generated construction operation route, and the electromagnetic control valve group receives the control signal and drives the hydraulic control mechanism;

[0042] The hydraulic control mechanism is used to control and drive the traveling mechanism to drive the dredging device to move in the opposite direction of the generated construction route;

[0043] When the dredging device moves in the opposite direction of the construction route, the hydraulic control mechanism is used to control and drive the front telescopic mechanism, and the front telescopic mechanism drives the sewage suction mechanism to perform high-pressure cleaning on the ground inside the construction area, and the sewage discharge mechanism is used to absorb and temporarily store the cleaning wastewater generated during the high-pressure cleaning.

[0044] In one embodiment, the sewage discharge mechanism includes a water storage part and a separation part, and the water storage part is provided with a liquid level sensor and a submersible pump. The step S8 specifically includes:

[0045] The cleaning wastewater generated during high-pressure cleaning is absorbed and temporarily stored through the water storage part;

[0046] The separation part is used to separate the gas and liquid in the water storage part, and the separated gas is discharged;

[0047] Using a liquid level sensor to detect the water level inside the water storage part;

[0048] When the temporarily stored cleaning sewage reaches a preset water level, the liquid level sensor sends a start signal to the submersible pump, and the submersible pump automatically starts after receiving the start signal to discharge the cleaning sewage in the water storage part.

[0049] In summary, the dredging method for a hydraulic structure provided in the present application includes at least one of the following beneficial technical effects:

[0050] 1. The walking mechanism is used to carry the whole equipment to the designated position of the area to be cleaned for construction work. The dredging mechanism is used to complete the dredging operation of the ground in the area to be cleaned. The side wall cleaning mechanism is used to complete the cleaning operation of the side wall in the area to be cleaned. The sewage suction mechanism is used to complete the cleaning and sewage suction operation of the ground in the area to be cleaned. The sewage sucked is treated and discharged by the sewage discharge mechanism, thereby realizing the automatic cleaning of hydraulic structures and improving the cleaning efficiency.

[0051] 2. By using high-pressure water jets as the surface cleaning medium. Compared with other surface cleaning methods, high-pressure water jet cleaning has the advantages of high efficiency, environmental protection, and energy saving. It adopts a flexible contact method to avoid the possibility of physical wear and damage to the surface being cleaned, and can adapt to the cleaning needs of surfaces with different roughness.

[0052] 3. When cleaning the wall, use the pressure sensor to provide real-time feedback and adjust the fit between the high-pressure cleaning mechanism and the construction surface. By using pressure feedback for adjustment, the high-pressure cleaning mechanism can fit well on the construction surface, which can improve the cleaning effect of the construction surface during high-pressure cleaning and maintain the closedness of the inside of the cleaning disc.

[0053] 4. A water suction port is provided on the cleaning disc, which is connected to the sewage discharge mechanism through a pipeline. The waste water generated during the high-pressure jet cleaning process is sucked and stored by the sewage discharge mechanism through the pipeline using negative pressure.

[0054] 5. The spraying surface of the water spray head is set at an angle, so that the high-pressure water is sprayed at an angle, so that the high-pressure water spray rod is subjected to deflection force to rotate in a circle, and the high-pressure water spray rod that rotates in a circle sprays high-pressure water to complete the high-pressure cleaning of the construction surface. By adopting this design method, compared with the fixed high-pressure water flow spray method, this design method can make the high-pressure water flow cleaning area larger and the cleaning efficiency better. At the same time, the circular rotation of the high-pressure water spray rod does not require the intervention of other equipment to provide power. The high-pressure water jet causes it to be subjected to deflection force and rotate automatically. Through the clever setting, the cost and energy consumption are reduced.

[0055] 6. During the sewage suction process, the slurry pump provides suction, so that the mud entering the inner part of the dredging shell is sucked into the slurry pump through the sewage suction port. In this process, the spiral rod is rotated under the push of the flowing mud and the suction of the slurry pump. If the mud contains some slightly larger lumps of mud, they are broken up by the action of the rotating spiral rod, so that the mud entering the slurry pump is first broken up by the rotating spiral rod, and the broken up mud is driven by the rotating spiral rod to flow into the slurry pump in a spiral shape, thereby avoiding the problem of lumps of mud blocking the sewage suction port and causing blockage; at the same time, the rotation of the spiral rod does not require the application of an additional driving mechanism, but is driven by the suction generated by the slurry pump and the flowing mud, which can reduce energy consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0057] Figure 1 A flow chart of a method for desilting a hydraulic structure provided by an embodiment of the present invention;

[0058] Figure 2 A schematic diagram of a path for a dredging device to move along a construction route in a dredging method for a hydraulic structure provided in an embodiment of the present invention;

[0059] Figure 3 A schematic diagram of the overall structure of a dredging device installed in a dredging method for a hydraulic structure provided in an embodiment of the present invention;

[0060] Figure 4 A schematic diagram of the overall structure of a dredging device equipped with a sewage suction mechanism in a dredging method for a hydraulic structure provided in an embodiment of the present invention;

[0061] Figure 5 A schematic top view of a dredging mechanism installed in a dredging device in a dredging method for a hydraulic structure provided in an embodiment of the present invention;

[0062] Figure 6 A schematic diagram of the structure of a hydraulic control mechanism of a silt removal device in a silt removal method for a hydraulic structure provided in an embodiment of the present invention;

[0063] Figure 7 A schematic diagram of the structure of a sewage discharge mechanism of a silt removal device in a silt removal method for a hydraulic structure provided in an embodiment of the present invention;

[0064] Figure 8A schematic diagram of the structure of a sewage discharge mechanism of a silt removal device in a silt removal method for a hydraulic structure provided in an embodiment of the present invention;

[0065] Fig. 9 A schematic diagram of the front-end telescopic mechanism structure of a dredging device in a dredging method for a hydraulic structure provided in an embodiment of the present invention;

[0066] Fig.10 A schematic diagram of the structure of a side wall cleaning mechanism of a silt removal device in a silt removal method for a hydraulic structure provided in an embodiment of the present invention;

[0067] Fig.11 A schematic diagram of the structure of a dredging mechanism of a dredging device for a hydraulic structure provided by an embodiment of the present invention;

[0068] Fig.12 A schematic diagram of the structure of a dredging mechanism of a dredging device for a hydraulic structure provided by an embodiment of the present invention;

[0069] Fig.13 A schematic diagram of the positions of the sewage suction port and the spiral rod in the silt removal mechanism of the silt removal device for the hydraulic structure provided by the embodiment of the present invention;

[0070] Fig.14 A schematic diagram of the structure of a dredging mechanism of a dredging device for a hydraulic structure provided by an embodiment of the present invention;

[0071] Fig.15 A schematic diagram of the structure of a sewage suction mechanism of a silt removal device for a hydraulic structure provided by an embodiment of the present invention;

[0072] Fig.16 A schematic diagram of the structure of a sewage suction mechanism of a silt removal device for a hydraulic structure provided by an embodiment of the present invention;

[0073] Fig.17 A schematic diagram of a first high-pressure cleaning mechanism of a silt removal device in a silt removal method for a hydraulic structure provided by an embodiment of the present invention being installed on a second installation frame;

[0074] Fig.18 A schematic diagram of the top structure of a high-pressure cleaning disc installed on a second mounting frame of a silt removal device for a hydraulic structure provided by an embodiment of the present invention;

[0075] Fig.19 A schematic diagram of the internal structure of a high-pressure cleaning disc installed on a second installation frame of a silt removal device for a hydraulic structure provided by an embodiment of the present invention;

[0076] Fig. 20 A schematic structural diagram of a high-pressure water spraying rod of a silt removal device for a hydraulic structure provided in an embodiment of the present invention;

[0077] Fig.21A schematic diagram of the state of the silt removal device for a hydraulic structure provided in an embodiment of the present invention during high-pressure cleaning of a side wall.

[0078] Figure Number:

[0079] 100, walking mechanism; 200, hydraulic control mechanism; 210, electromagnetic control valve group; 300, sewage discharge mechanism; 310, third installation frame; 320, sewage storage barrel; 321, water inlet; 322, drainage outlet; 323, slag discharge outlet; 324, gas-liquid separation outlet; 330, vortex fan; 340, cyclone dust collector; 400, front end telescopic mechanism; 410, first front end mechanical arm; 420, second front end mechanical arm; 430, front end hydraulic cylinder group; 500, side wall cleaning mechanism; 510, bearing component; 520, first side wall mechanical arm; 530, second side wall mechanical arm; 540, second installation frame; 550, side end hydraulic cylinder group; 56 0. pressure sensor; 600. dredging mechanism; 610. dredging assembly; 611. dredging housing; 6111. inclined shielding plate; 6112. sewage suction port; 6113. spiral rod; 6114. connecting seat; 612. driving assembly; 613. spiral blade; 620. slurry pump; 630. sewage pipe; 700. sewage suction mechanism; 710. first mounting frame; 720. water absorption assembly; 730. spring floating assembly; 800. high-pressure cleaning mechanism; 810. cleaning disc; 820. brush; 830. high-pressure water spraying rod; 840. connecting shaft; 850. water spraying head; 860. soft rubber; 870. water suction port; 900. distance measuring mechanism. DETAILED DESCRIPTION

[0080] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0081] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0082] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0083] Reference Figure 3-Figure 21 The present invention also provides a dredging device for a hydraulic structure, which is used for the dredging device to complete the dredging work for the hydraulic structure according to a dredging method for the hydraulic structure; the dredging device comprises:

[0084] Walking mechanism 100, hydraulic control mechanism 200, sewage discharge mechanism 300, front end telescopic mechanism 400, side wall cleaning mechanism 500, dredging mechanism 600, sewage suction mechanism 700, high pressure cleaning mechanism 800, distance measuring mechanism 900 and peripheral control terminal (not shown in the figure).

[0085] The walking mechanism 100 adopts a crawler chassis, and the top of the crawler chassis has a bearing surface for installing and carrying a hydraulic control mechanism 200, a sewage discharge mechanism 300, a front telescopic mechanism 400, a side wall cleaning mechanism 500, a dredging mechanism 600, a sewage suction mechanism 700 and a distance measuring mechanism 900.

[0086] Since the crawler chassis needs to cooperate with the front telescopic mechanism 400 and other mechanisms to achieve operations such as suction and dredging when moving, there are very high requirements for the walking straightness of the crawler chassis. An encoder is installed inside the crawler chassis, which is used to measure the movement of the crawler to ensure the straightness of the overall movement. The hydraulic control mechanism 200 is used to control the walking mechanism 100, the sewage discharge mechanism 300, the front telescopic mechanism 400, the side wall cleaning mechanism 500, the dredging mechanism 600, the sewage suction mechanism 700 and the high-pressure cleaning mechanism 800 to perform related construction actions. The sewage discharge mechanism 300 is used to absorb sewage during the construction process for storage, regular pumping, etc. The front telescopic mechanism 400 is used to install and drive the dredging mechanism 600 or the sewage suction mechanism 700 to clean the ground in the area to be cleaned. The side wall cleaning mechanism 500 is used to perform high-pressure cleaning on the wall surface in the area to be cleaned. The dredging mechanism 600 is used to clean the silt on the ground in the area to be cleaned. The sewage suction mechanism 700 is used to clean the ground in the area to be cleaned and absorb sewage. The high-pressure cleaning mechanism 800 is used to provide a high-pressure water jet to perform high-pressure cleaning on the ground and walls in the cleaning area. The high-pressure cleaning mechanism 800 provides high-pressure water flow through an external high-pressure water machine; there are two high-pressure cleaning mechanisms 800, the first high-pressure cleaning mechanism 800 is connected to the side wall cleaning mechanism 500, and the second high-pressure cleaning mechanism 800 is connected to the dirt suction mechanism 700. The distance measuring mechanism 900 is used to detect the distance between the overall equipment and obstacles when moving during construction, so as to avoid obstacles. The control terminal of the peripheral device can remotely control the overall equipment to perform cleaning construction or control the overall equipment to perform cleaning construction according to a pre-set mode.

[0087] Reference Figure 6 The hydraulic control mechanism 200 includes an electromagnetic control valve group 210. The hydraulic control mechanism 200 is used to control the walking mechanism 100, the sewage discharge mechanism 300, the front telescopic mechanism 400, the side wall cleaning mechanism 500, the dredging mechanism 600, the sewage suction mechanism 700 and the high-pressure cleaning mechanism 800 to perform related construction actions. The electromagnetic control valve group 210 is used to receive control signals and adjust the opening and closing of each component in the hydraulic control mechanism 200.

[0088] Reference Figure 7-Figure 8The sewage discharge mechanism 300 is composed of a third mounting frame 310, a water storage part and a separation part; the water storage part is composed of a sewage storage barrel 320, a liquid level sensor and a submersible pump, and the separation part is composed of a vortex fan 330 and a cyclone dust collector 340; the third mounting frame 310 is used as a supporting member for installing the sewage storage barrel 320, the vortex fan 330 and the cyclone dust collector 340; the sewage storage barrel 320 is used to store sewage generated during high-pressure cleaning, and the cyclone dust collector 340 is used to discharge water in the sewage storage barrel 320. Mist and dust are sucked in for gas-liquid dust separation, the vortex fan 330 is used to discharge the gas separated in the cyclone dust collector 340, the liquid level sensor (not shown in the figure) is used to sense the sewage level in the sewage storage tank 320 so that the sewage in the sewage storage tank 320 can be discharged when the sewage reaches a certain water level, and the submersible pump (not shown in the figure) is used to discharge the sewage when the sewage in the sewage storage tank 320 reaches a certain water level, so that the sewage storage tank 320 can continue to store sewage without the need for constant pumping.

[0089] The sewage storage barrel 320 has a water inlet 321, a water outlet 322, a slag outlet 323 and a gas-liquid separation port 324. The water inlet 321 is connected to the sewage suction mechanism 700 through a pipeline, and is also connected to the first high-pressure cleaning mechanism 800 installed on the side wall cleaning mechanism 500 through a pipeline; the sewage sucked by the sewage suction mechanism 700 and the sewage generated by the high-pressure cleaning of the first high-pressure cleaning mechanism 800 on the side wall cleaning mechanism 500 flow into the sewage storage barrel 320 from the water inlet 321 through the pipeline; because the sewage storage barrel 320 contains water mist, dust, etc. in addition to sewage, the gas-liquid separation port 324 of the sewage storage barrel 320 is connected to the cyclone dust collector 340 through a pipeline, and the water mist and dust in the sewage storage barrel 320 are sucked into the cyclone dust collector 340 through the pipeline for gas-liquid dust separation, and the cyclone dust collector 340 0 is connected with the vortex fan 330 through a pipeline, and the gas separated by gas-liquid dust removal is sucked and discharged by the vortex fan 330; the liquid level sensor is installed on the inner wall of the sewage storage barrel 320, and the submersible pump is installed on the inner bottom of the sewage storage barrel 320, and the two are electrically connected. When the liquid level sensor detects that the sewage water level in the sewage storage barrel 320 reaches a preset height, it sends a start signal to the submersible pump, and the water in the sewage storage barrel 320 is discharged from the drain port 322 through the submersible pump until the sewage water level drops to the preset height; during the long-term storage of sewage in the sewage storage barrel 320, some fine particles contained in the sewage will settle at the bottom of the sewage storage barrel 320. In order to avoid excessive sedimentation of materials and cause a reduction in the sewage storage capacity, the submersible pump can be used to regularly discharge the sediment from the slag discharge port 323 to maintain the capacity in the sewage storage barrel 320.

[0090] Reference Fig. 9The front-end telescopic mechanism 400 is composed of a first front-end mechanical arm 410, a second front-end mechanical arm 420 and a front-end hydraulic cylinder group 430 formed by a plurality of hydraulic cylinders; the front end of the first front-end mechanical arm 410 is installed on the surface of the crawler chassis, and a hydraulic cylinder is arranged between the first front-end mechanical arm 410 and the crawler chassis, and the swing of the first front-end mechanical arm 410 is controlled by the hydraulic cylinder; the front end of the second front-end mechanical arm 420 is connected to the end of the first front-end mechanical arm 410, and a hydraulic cylinder is also arranged between the two, and the swing of the second front-end mechanical arm 420 is controlled by the hydraulic cylinder; the end of the second front-end mechanical arm 420 A hydraulic cylinder is also provided, and this end is used to install a dredging mechanism 600 or a sewage suction mechanism 700. When the overall equipment is performing dredging work, the dredging mechanism 600 is connected to the end of the second front-end mechanical arm 420 and the hydraulic cylinder installed thereon, and the hydraulic cylinder on the end of the second front-end mechanical arm 420 is used to control the angular swing of the dredging mechanism 600; when the overall equipment is performing high-pressure cleaning and sewage suction work, the sewage suction mechanism 700 is connected to the end of the second front-end mechanical arm 420 and the hydraulic cylinder installed thereon, and the hydraulic cylinder on the end of the second front-end mechanical arm 420 is used to control the angular swing of the sewage suction mechanism 700.

[0091] Reference Fig.10 The side wall cleaning mechanism 500 is composed of a bearing component 510, a first side wall mechanical arm 520, a second side wall mechanical arm 530, a second mounting frame 540, a first high-pressure cleaning mechanism 800, and a side end hydraulic cylinder group 550 formed by a plurality of hydraulic cylinders; since the side wall cleaning mechanism 500 is aimed at cleaning operations on the side walls and high walls of hydraulic structures, it is particularly important to support the mechanical arm. The bearing component 510 is installed on the surface of the crawler chassis to support the first side wall mechanical arm 520. At the same time, a hydraulic cylinder is arranged on the bearing component 510, and the hydraulic cylinder is used to control the bearing component 510 Swing; the front end of the first side wall robotic arm 520 is connected to the supporting component 510, and a hydraulic cylinder is arranged between the two, and the swing of the first side wall robotic arm 520 is controlled by the hydraulic cylinder; the front end of the second side wall robotic arm 530 is connected to the end of the first side wall robotic arm 520, and the front end of the second side wall robotic arm 530 is connected to the supporting component 510 through a pull rod, and the pull rod is used to improve the stability of the overall structure; the end of the second side wall robotic arm 530 is connected to the end face of the second mounting frame 540, and a hydraulic cylinder is arranged between the two, and the angular swing of the second mounting frame 540 is controlled by the hydraulic cylinder.

[0092] Reference Figure 11-Figure 14The dredging mechanism 600 is composed of a dredging part, a sewage discharge part and an anti-blocking part; the dredging part adopts a dredging component 610, the sewage discharge part adopts a slurry pump 620, and the anti-blocking part adopts a screw rod 6113. The slurry pump 620 and the screw rod 6113 are both installed on the dredging component 610; the dredging component 610 is used to stir and mix the silt and water to form a flowable mud, and is used to transport the mud to the slurry pump 620. The slurry pump 620 is connected to a sewage discharge pipe 630. The slurry pump 620 is used to absorb the mud mixture and discharge the mud mixture to the outside of the cofferdam through the sewage discharge pipe 630. The screw rod 6113 is used to break up the mud, so that the mud entering the slurry pump 620 is first broken up by the rotating screw rod 6113, and the broken up mud is driven by the rotating screw rod 6113 to flow into the slurry pump 620 in a spiral shape.

[0093] The dredging assembly 610 is composed of a dredging housing 611, a driving assembly 612 and a spiral blade 613. The dredging housing 611 is used to provide protection, the driving assembly 612 adopts a worm gear reducer, and the spiral blade 613 is used to stir the deposited sludge and mix it with sewage to form a flowable sludge; the slurry pump 620 is installed on the back of the dredging housing 611 of the dredging assembly 610, and the spiral rod 6113 is installed inside the dredging housing 611.

[0094] The dredging shell 611 is in the shape of a rectangular box. When dredging and discharging sewage, the end of the second front-end mechanical arm 420 and the hydraulic cylinder on the end of the second front-end mechanical arm 420 are connected to the top surface of the dredging shell 611; the front end surface of the dredging shell 611 has an opening surface with an inclined design, which is used to install the spiral blade 613 and provide a stirring space for the spiral blade 613 when stirring the sludge, so that the stirred sludge can be driven by the spiral blade 613 into the interior of the dredging shell 611; an inclined baffle plate 6111 is arranged above the opening surface, and the inclined baffle plate 6111 is designed as an integral part of the dredging shell 611. When the spiral blade 613 stirs the mud and drives the mud to enter the interior of the dredging shell 611, since the spiral blade 613 rotates to drive the mud to enter the interior of the dredging shell 611, the inclined baffle plate 6111 can serve as a shield The blocking effect can prevent part of the mud from flowing out of the dredging housing 611 again in the rotation direction of the spiral blade 613, thereby improving the efficiency of mud suction; the worm gear reducer is installed on the side of the dredging housing 611, and the output end of the worm gear reducer is coaxially connected to one end of the spiral blade 613 for driving the spiral blade 613 to rotate, so as to drive the mud to enter the interior of the dredging housing 611; in order to improve the continuity of the dredging and sewage discharge work, the rear end face of the dredging housing 611 is provided with a sewage suction port 6112, and the slurry pump 620 arranged on the dredging housing 611 is connected with the sewage suction port 6112. When the spiral blade 613 drives the mud into the interior of the dredging housing 611, the slurry pump 620 sucks the mud from the sewage suction port 6112 and uses the sewage discharge pipe 630 to discharge the sewage, thereby completing the dredging and sewage discharge operation.

[0095] In order to avoid the situation that the mud entering the dredging shell 611 cannot be completely sucked out and discharged from the sewage suction port 6112 by the slurry pump 620, thereby reducing the sewage discharge efficiency, further, the dredging shell 611 is provided with an end face of the sewage suction port 6112 with an expansion design, and the end face expands from the sewage suction port 6112 toward the direction of the spiral blade 613, so that the end face is designed from large to small; by adopting this design, the mud entering the dredging shell 611 is moved toward the middle under the suction force of the slurry pump 620, and then enters the slurry pump 620 from the sewage suction port 6112 in the middle, thereby solving the problem that the mud entering the dredging shell 611 cannot be completely sucked out and discharged from the sewage suction port 6112 by the slurry pump 620, and improving the sewage discharge efficiency.

[0096] During the sewage suction and discharge process, if the sewage suction port 6112 is blocked, it will affect the normal sewage suction and discharge work, thereby reducing the sewage discharge efficiency. The reasons for the blockage of the sewage suction port 6112 may be: a large amount of mud enters the sewage suction port 6112 at the same time, and the mud may contain some lumps of mud. Due to its large volume, the sewage suction port 6112 may be blocked. In order to avoid the situation where the sewage suction port 6112 is blocked during the sewage suction and discharge process and the sewage discharge efficiency is reduced, a spiral rod 6113 is further provided on the side of the sewage suction port 6112 close to the spiral blade 613. The upper and lower ends of the spiral rod 6113 are connected to the side of the sewage suction port 6112 close to the spiral blade 613 through a connecting seat 6114. The spiral rod 6113 is driven to rotate by the suction force generated by the slurry pump 620 and the flowing mud. Fig.13 As shown; during the sewage suction process, the slurry pump 620 provides suction, so that the mud entering the interior of the dredging housing 611 is sucked into the slurry pump 620 through the sewage suction port 6112. In this process, the provided spiral rod 6113 rotates under the push of the flowing mud and the suction of the slurry pump 620. If the mud contains some slightly larger lumps of mud, they are broken up by the action of the rotating spiral rod 6113, so that the mud entering the slurry pump 620 is first broken up by the rotating spiral rod 6113, and the broken up mud is driven by the rotating spiral rod 6113 to flow into the slurry pump 620 in a spiral shape, thereby avoiding the problem of lumps of mud blocking the sewage suction port 6112 and causing blockage; at the same time, the rotation of the spiral rod 6113 does not require the application of an additional driving mechanism, but is driven by the suction generated by the slurry pump 620 and the flowing mud, which can reduce energy consumption.

[0097] Reference Figure 15-16 The dirt suction mechanism 700 is composed of a first mounting frame 710, a plurality of water suction components 720, a spring floating component 730 and a second high-pressure cleaning mechanism 800; the first mounting frame 710 is used as a supporting component to be connected to the second front-end mechanical arm 420 and the hydraulic cylinder, and at the same time is used as a supporting component for the water suction component 720, the spring floating component 730 and the second high-pressure cleaning mechanism 800; the second high-pressure cleaning mechanism 800 is used to perform high-pressure cleaning on the construction surface by means of a high-pressure water jet, and the plurality of water suction components 720 are used to scrape up and absorb the cleaning waste water generated during high-pressure cleaning, and the spring floating component 730 is used to adaptively adjust when the water suction component 720 and the second high-pressure cleaning mechanism 800 encounter a bumpy road surface, so that the water suction component 720 and the second high-pressure cleaning mechanism 800 can not only perform high-pressure cleaning on the uneven road surface, but also avoid rigid contact scratching, and also have a certain degree of protection for the equipment itself, thereby extending the service life of the equipment and reducing the cost of repairing the equipment.

[0098] When performing high-pressure cleaning, the end of the second front robotic arm 420 and the hydraulic cylinder on the end of the second front robotic arm 420 are connected to the top of the first mounting frame 710. The water suction assembly 720 and the second high-pressure cleaning mechanism 800 are installed on the bottom surface of the first mounting frame 710. Three water suction assemblies 720 are arranged adjacent to each other along the outer edge of the first mounting frame 710 and enclose a high-pressure cleaning area with one side open, as Fig.15 shown. Three second high-pressure cleaning mechanisms 800 are arranged in a "pin" shape within the high-pressure cleaning area. When performing high-pressure cleaning on the construction surface, the sewage suction mechanism 700 is driven by the crawler chassis to move from the front end of the high-pressure cleaning area towards the open side, while performing high-pressure cleaning during the movement. During the moving high-pressure cleaning process, the water suction assembly 720 scrapes up the cleaning wastewater. The water suction assembly 720 is connected to the sewage discharge mechanism 300 through a pipeline. The sewage discharge mechanism 300 uses negative pressure and sucks and stores the wastewater scraped up by the water suction assembly 720 through the pipeline. The high-pressure cleaning area enclosed by the water suction assembly 720 can play the role of scraping up wastewater while performing high-pressure cleaning during this process, and can prevent the wastewater generated by high-pressure cleaning from flowing out. Each water suction assembly 720 and each second high-pressure cleaning mechanism 800 are connected to the first mounting frame 710 through a spring floating assembly 730, so that each water suction assembly 720 and the second high-pressure cleaning mechanism 800 can be adjusted adaptively when encountering rough roads.

[0099] Refer to Fig.10 、 Figure 15-Figure 21 . Both the sewage suction mechanism and the side wall cleaning mechanism 500 are equipped with high-pressure cleaning mechanisms 800. The second high-pressure cleaning mechanism 800 is installed on the sewage suction mechanism 700, and the first high-pressure cleaning mechanism 800 is installed on the side wall cleaning mechanism 500.

[0100] The second high-pressure cleaning mechanism 800 installed on the sewage suction mechanism 700 is different from the first high-pressure cleaning mechanism 800 installed on the side wall cleaning mechanism 500.

[0101] (1) The first high-pressure cleaning mechanism 800 installed on the side wall cleaning mechanism 500 is composed of a cleaning disc 810, a brush 820, a high-pressure water spray rod 830, and a soft rubber 860. The cleaning disc 810 is used as a supporting component for installing the brush 820, the high-pressure water spray rod 830, the soft rubber 860, and for connecting with the second mounting frame 540. The brush 820 is used to cooperate with the high-pressure water spray rod 830 to clean the covering of the construction surface during the high-pressure cleaning operation. The high-pressure water spray rod 830 is used to provide a high-pressure water jet to clean the covering of the construction surface. The high-pressure water jet cleaning method is similar to that of the second mounting frame 540. It has the advantages of high efficiency, environmental protection and energy saving over other surface cleaning methods, and adopts a flexible contact method to avoid the possibility of physical wear and damage to the cleaned surface, and can adapt to the cleaning needs of surfaces with different roughness; the soft rubber 860 is used to maintain the closedness of the inside of the cleaning disc 810 when the cleaning disc is attached to the construction surface for high-pressure cleaning, so that the cleaning waste water generated during high-pressure jet cleaning will be retained in the cleaning disc 810, thereby avoiding the cleaning waste water generated during high-pressure cleaning from falling to the ground to increase the water level on the ground, thereby avoiding increasing the workload of other structures.

[0102] Reference Fig.21 Specifically, a pressure sensor 560 is provided on the second mounting frame 540, and the pressure sensor 560 is used as a pressure feedback module; when the hydraulic control mechanism 200 controls the corresponding hydraulic cylinder to extend the first side wall mechanical arm 520 and the second side wall mechanical arm 530, the first high-pressure cleaning mechanism 800 installed at the end of the second side wall mechanical arm 530 is driven to extend to the construction surface; when the first high-pressure cleaning mechanism 800 is attached to the construction surface, the pressure sensor 560 is used to provide real-time feedback and adjust the adhesion force between the first high-pressure cleaning mechanism 800 and the construction surface. By using pressure feedback for adjustment, the first high-pressure cleaning mechanism 800 can be well attached to the construction surface, which can improve the cleaning effect of high-pressure cleaning of the construction surface, and can well maintain the sealing of the inside of the cleaning disc 810.

[0103] The brush 820 is arranged along the circumference of the outer edge of the cleaning disc 810, and the soft rubber 860 is arranged on the outer side of the brush 820 to surround the brush 820, so that when the cleaning disc 810 is attached to the construction surface for high-pressure cleaning, the interior of the cleaning disc 810 is kept closed so that the cleaning waste water will remain in the cleaning disc 810; a water suction port 870 is provided on the cleaning disc 810, and the water suction port 870 is connected to the sewage discharge mechanism 300 through a pipeline. The waste water generated during the high-pressure jet cleaning process is sucked and stored by the sewage discharge mechanism 300 using negative pressure and through the pipeline.

[0104] A connecting shaft 840 is provided at the center position of the circle inside the cleaning disc 810, and the connecting shaft 840 is rotatably connected to the cleaning disc 810, and the connecting shaft 840 can rotate on the cleaning disc 810; the center position of the high-pressure water spraying rod 830 is connected to one end of the connecting shaft 840 located inside the cleaning disc 810, and the other end of the connecting shaft 840 is externally connected to a high-pressure water pipe and a high-pressure water machine, and high-pressure water is transported to the connecting shaft 840 through the high-pressure water machine and the high-pressure water pipe. Water spray heads 850 are provided at the left and right ends of the high-pressure water spraying rod 830. After the high-pressure water pipe transports high-pressure water to the connecting shaft 840, the high-pressure water flows from the connecting shaft 840 to the two sides of the high-pressure water spraying rod 830 and flows out from the water spray heads 850; the water spraying surface of the water spray head 850 is inclined toward the ground, and the water spraying surface of the water spray head 850 can drive the high-pressure water spraying rod 830 to rotate by being inclined.

[0105] When the first high-pressure cleaning mechanism 800 performs high-pressure cleaning on the construction surface, water is supplied by an external high-pressure water machine and flows to the connecting shaft 840 of the cleaning disc 810 through a high-pressure water pipe. Since the connecting shaft 840 is connected to the center position of the high-pressure water spraying rod 830, the high-pressure water entering the connecting shaft 840 will flow from the center of the high-pressure water spraying rod 830 to both sides, and then be sprayed out from the water spray heads 850 at both ends of the high-pressure water spraying rod 830. Since the water spraying surface of the water spray head 850 is inclined, the high-pressure water is sprayed out at an angle, so that the high-pressure water spraying rod 830 is subjected to a deflection force to rotate in a circle, and the high-pressure water spraying rod 830 that rotates in a circle sprays high-pressure water to complete the high-pressure cleaning of the construction surface. By adopting this design method, compared with the fixed high-pressure water jet method, this design method can make the cleaning area of ​​the high-pressure water flow larger and the cleaning efficiency better. At the same time, the circular rotation of the high-pressure water spray rod 830 does not require the intervention of other equipment to provide power. The high-pressure water jet causes it to be deflected and rotate automatically. Through clever settings, both costs and energy consumption are reduced.

[0106] The second high-pressure cleaning mechanism 800 installed on the dirt suction mechanism 700 is composed of a cleaning disc 810, a brush 820 and a high-pressure water spray rod 830. The cleaning disc 810 is used as a supporting component to install the brush 820 and the high-pressure water spray rod 830 and to be connected to the spring floating assembly 730. The brush 820 is used to cooperate with the high-pressure water spray rod 830 to clean the covering of the construction surface during high-pressure cleaning operations. The high-pressure water spray rod 830 is used to provide a high-pressure water jet to clean the covering of the construction surface. The high-pressure water jet cleaning method has the advantages of high efficiency, environmental protection and energy saving compared to other surface cleaning methods, and adopts a flexible contact method to avoid the possibility of physical wear and damage to the surface to be cleaned, and can adapt to the cleaning needs of surfaces with different roughness.

[0107] Reference Fig.19Specifically, the brush 820 is arranged along the outer edge circumference of the cleaning disc 810, and a connecting shaft 840 is arranged at the center position of the cleaning disc 810. The connecting shaft 840 is rotatably connected to the cleaning disc 810, and the connecting shaft 840 can rotate on the cleaning disc 810; the center position of the high-pressure water spraying rod 830 is connected to one end of the connecting shaft 840 located inside the cleaning disc 810, and the other end of the connecting shaft 840 is connected to the high-pressure water pipe and the high-pressure water pipe. The high-pressure water machine and the high-pressure water pipe are used to transport high-pressure water to the connecting shaft 840. The left and right ends of the high-pressure water spraying rod 830 are provided with water spraying heads 850. After the high-pressure water pipe transports high-pressure water to the connecting shaft 840, the high-pressure water flows from the connecting shaft 840 to the two sides of the high-pressure water spraying rod 830 and flows out from the water spraying heads 850. The water spraying surface of the water spraying head 850 is inclined toward the ground, and the water spraying surface of the water spraying head 850 can drive the high-pressure water spraying rod 830 to rotate by being inclined.

[0108] When the second high-pressure cleaning mechanism 800 performs high-pressure cleaning on the construction surface, water is supplied by an external high-pressure water machine and flows to the connecting shaft 840 of the cleaning disc 810 through a high-pressure water pipe. Since the connecting shaft 840 is connected to the center position of the high-pressure water spraying rod 830, the high-pressure water entering the connecting shaft 840 will flow from the center of the high-pressure water spraying rod 830 to both sides, and then be sprayed out from the water spray heads 850 at both ends of the high-pressure water spraying rod 830. Since the water spraying surface of the water spray head 850 is inclined, the high-pressure water is sprayed out at an angle, so that the high-pressure water spraying rod 830 is subjected to a deflection force to rotate in a circle, and the high-pressure water flow is sprayed by the circularly rotating high-pressure water spraying rod 830 to complete the high-pressure cleaning of the construction surface. By adopting this design method, compared with the fixed high-pressure water jet method, this design method can make the cleaning area of ​​the high-pressure water flow larger and the cleaning efficiency better. At the same time, the circular rotation of the high-pressure water spray rod 830 does not require the intervention of other equipment to provide power. The high-pressure water jet causes it to be deflected and rotate automatically. Through clever settings, both costs and energy consumption are reduced.

[0109] As needed, the installation, setting, provision or connection methods of the above-mentioned dredging device include but are not limited to installation, setting or connection by screws, riveting, welding or socketing, fixing, etc., and the installation, setting or connection method is selected according to the needs of the working scenario.

[0110] Reference Figure 1 , Figure 2 One embodiment of the present invention provides a method for dredging a hydraulic structure, comprising the following steps:

[0111] S1. The control terminal obtains the position information of the area to be cleaned, wherein the position information includes ground position information and side wall position information.

[0112] In this embodiment, the control terminal is connected to the detection radar, and the detection radar is used to obtain the ground position information and the side wall position information in the area to be cleaned. The ground position information and the side wall position information are the ground and the wall that need to be cleaned in the area to be cleaned. The detection radar transmits the obtained position information to the control terminal.

[0113] S2. According to the acquired position information, a cofferdam is set in the area to be cleaned to form a construction area.

[0114] Wherein, step S2 also includes:

[0115] The construction area in the area to be cleaned is salvaged and drained so that the water level in the construction area is at a preset height.

[0116] In this embodiment, after the control terminal obtains the location information transmitted by the detection radar, the construction personnel set up a cofferdam in the area to be cleaned according to the location information, and use the cofferdam to isolate the area to be cleaned, so as to form a construction area. The purpose of this step is to block water through the cofferdam. After the construction area is formed by setting the cofferdam, the construction area is salvaged and drained. Salvage is to clean up floating objects and debris on the water surface in the construction area to avoid damage to the dredging device during subsequent construction operations. After salvaging, drainage is performed. The water level in the cofferdam can be discharged to a preset height by a pump. The preset height is 40 to 60 cm in water depth. The water level is discharged to the preset height to avoid the water being too deep to threaten the safety of the dredging device during the construction process, and also to avoid the water level being too shallow, so that the subsequent dredging device cannot perform dredging and sewage discharge normally.

[0117] S3. Use a water level control mechanism to keep the water level inside the construction area at a preset height in real time.

[0118] In this embodiment, the water level control mechanism is a plurality of water level sensors installed in the cofferdam. The water level sensors are used to obtain the water level height in the cofferdam in real time. If the water level is lower than the preset height, water is pumped from outside the cofferdam into the cofferdam through a water pump. If the water level is higher than the preset height, water is pumped out of the cofferdam through a water pump, so that the water level inside the construction area is maintained at the preset height in real time.

[0119] S4. Generate a moving route and a construction operation route based on the acquired ground position information, and control the dredging device to move to the construction area according to the generated moving route.

[0120] The specific method of step S4 is as follows:

[0121] S41, the control terminal sends a movement control signal to the traveling mechanism 100 based on the generated movement route;

[0122] S42: The traveling mechanism 100 receives the movement control signal and moves the dredging device to the area to be constructed according to the generated movement route.

[0123] In this embodiment, the control terminal pre-processes the acquired ground position information, and then builds a model of the surrounding environment based on the position information detected by the radar. Based on the environmental model, the path planning algorithm is applied to generate a moving route and a construction operation route; the control terminal controls the dredging device to move to the construction area according to the generated moving route. The dredging device moves to the construction area according to the generated moving route, specifically: the control terminal sends a moving control signal to the walking mechanism 100 of the dredging device according to the generated moving route, the walking mechanism 100 receives the moving control signal, and moves the entire dredging device to the construction area according to the generated moving route.

[0124] S5. After the silting device moves to the construction area, high-pressure cleaning is performed using the first high-pressure cleaning mechanism 800 according to the acquired side wall position information, and the cleaning wastewater generated during high-pressure cleaning is absorbed and temporarily stored using the sewage discharge mechanism 300.

[0125] The specific method of step S5 is as follows:

[0126] S51, the control terminal sends a control signal to the electromagnetic control valve group 210 according to the acquired side wall position information, and the electromagnetic control valve group 210 receives the control signal and drives the hydraulic control mechanism 200;

[0127] S52, using the hydraulic control mechanism 200 to control and drive the side wall cleaning mechanism 500, and the side wall cleaning mechanism 500 drives the first high-pressure cleaning mechanism 800 to move and adhere to the construction surface in the side wall position information according to the side wall position information, so as to perform high-pressure cleaning on the side wall;

[0128] S53, using the sewage discharge mechanism 300 to absorb and temporarily store the cleaning wastewater generated by the first high-pressure cleaning mechanism 800 during high-pressure cleaning.

[0129] In this embodiment, when the overall dredging device moves to the construction area, the control terminal sends a control signal to the electromagnetic control valve group 210 of the dredging device according to the side wall position information obtained by the detection radar. The electromagnetic control valve group 210 receives the control signal to drive the hydraulic control mechanism 200, and then the hydraulic control mechanism 200 transmits the hydraulic control signal to the side wall cleaning mechanism 500. The hydraulic control mechanism 200 drives the side wall cleaning mechanism 500 to drive the first high-pressure cleaning mechanism 800 to move and adhere to the construction surface in the side wall position information according to the side wall position information, and perform high-pressure cleaning on the side wall.

[0130] For the cleaning of the side wall, specifically: the hydraulic control mechanism 200 controls the side end hydraulic cylinder group 550 of the side wall cleaning mechanism 500 according to the side wall position information to extend the first side wall mechanical arm 520 and the second side wall mechanical arm 530, and drives the first high-pressure cleaning mechanism 800 installed at the end of the second side wall mechanical arm 530 to extend to the construction surface. When the first high-pressure cleaning mechanism 800 is attached to the construction surface, water is supplied by an external high-pressure water machine and flows to the connecting shaft 840 of the cleaning disc 810 through a high-pressure water pipe. Since the connecting shaft 840 is connected to the center position of the high-pressure water spraying rod 830, the high-pressure water entering the connecting shaft 840 will flow from the center of the high-pressure water spraying rod 830 to both sides, and then from the high-pressure water spraying rod 830. The high-pressure water is sprayed from the water spray heads 850 at both ends of the rod 830. Since the water spray surface of the water spray head 850 is inclined, the high-pressure water is sprayed at an angle, so that the high-pressure water spray rod 830 is subjected to the deflection force to rotate in a circle, and the high-pressure water flow is sprayed by the circularly rotating high-pressure water spray rod 830 to complete the high-pressure cleaning of the construction surface; in the process of high-pressure cleaning of the construction surface, the soft rubber 860 is used to maintain the closedness of the inside of the cleaning disc 810, so that the cleaning waste water will be retained in the cleaning disc 810, and the water suction port 870 is connected to the sewage discharge mechanism 300 through a pipeline. The waste water generated during the high-pressure jet cleaning process is sucked up and stored by the sewage discharge mechanism 300 using negative pressure and through the pipeline.

[0131] By using high-pressure water jets as the surface cleaning medium, high-pressure water jet cleaning has the advantages of high efficiency, environmental protection, and energy saving compared to other surface cleaning methods. It also uses a flexible contact method to avoid the possibility of physical wear and damage to the surface being cleaned, and can adapt to the cleaning needs of surfaces with different roughness.

[0132] Step S52 also includes the following steps:

[0133] S521, using a pressure feedback module to detect the bonding force between the first high-pressure cleaning mechanism 800 and the construction surface to obtain a pressure detection result;

[0134] S522, when the pressure detection result is higher or lower than the preset value, the pressure feedback module sends a feedback signal to the control terminal;

[0135] S523, the control terminal receives the feedback signal and sends a control signal to the electromagnetic control valve group 210;

[0136] S524 , the electromagnetic control valve group 210 receives the control signal and drives the hydraulic control mechanism 200 , and uses the hydraulic control mechanism 200 to control the side wall cleaning mechanism 500 to adjust the contact force between the first high-pressure cleaning mechanism 800 and the construction surface in real time.

[0137] In this embodiment, after the first high-pressure cleaning mechanism 800 is attached to the construction surface, in order to maintain the closedness of the inside of the cleaning disc 810 and prevent the cleaning waste water generated during high-pressure cleaning from falling to the ground, the pressure sensor 560 is used to detect the adhesion force between the first high-pressure cleaning mechanism 800 and the construction surface in real time. When the pressure detection result is higher or lower than the preset value, the pressure detection result is fed back to the control terminal. The control terminal sends a control signal to the electromagnetic control valve group 210 according to the feedback signal, and the electromagnetic control valve group 210 drives the hydraulic control mechanism 200. The hydraulic control mechanism 200 transmits the hydraulic control signal to the side end hydraulic cylinder group 550 of the side wall cleaning mechanism 500, and the first side wall mechanical arm 520 and the second side wall mechanical arm 530 are driven by the side end hydraulic cylinder group 550 to adjust the adhesion force between the first high-pressure cleaning mechanism 800 and the construction surface in real time, so as to maintain the closedness of the inside of the cleaning disc 810.

[0138] S6. Control the dredging device to move according to the generated construction route, and use the dredging mechanism 600 to dredge and discharge sewage from the ground inside the construction area during the movement.

[0139] Step S6 is specifically as follows:

[0140] S61, the control terminal sends a control signal to the electromagnetic control valve group 210 according to the generated construction operation route, and the electromagnetic control valve group 210 receives the control signal and drives the hydraulic control mechanism 200;

[0141] S62, using the hydraulic control mechanism 200 to control and drive the traveling mechanism 100 to move the dredging device according to the generated construction route;

[0142] S63. When the dredging device moves along the construction route, the hydraulic control mechanism 200 is used to control and drive the front telescopic mechanism 400. The front telescopic mechanism 400 drives the dredging mechanism 600 to dredge the ground inside the construction area and discharge the silt outside the construction area.

[0143] In this embodiment, after the dredging of the side wall is completed, the control terminal sends a control signal to the electromagnetic control valve group 210 of the dredging device according to the generated construction route, and the electromagnetic control valve group 210 receives the control signal to drive the hydraulic control mechanism 200, and then the hydraulic control mechanism 200 transmits the hydraulic control signal to the walking mechanism 100, and the hydraulic control mechanism 200 drives the walking mechanism 100 to move the dredging device according to the generated construction route. Figure 2 As shown, this is a construction route, during which the dredging mechanism 600 is used to dredge and discharge sewage from the ground inside the construction area.

[0144] For ground dredging and sewage discharge, specifically: when the dredging device moves along the construction route, the hydraulic control mechanism 200 controls the front hydraulic cylinder group 430 of the front telescopic mechanism 400 to extend the first front mechanical arm 410 and the second front mechanical arm 420, and drives the dredging mechanism 600 installed on the second front mechanical arm 420 to extend to the construction surface. When the dredging mechanism 600 extends to the construction surface, the driving component 612 of the dredging component 610 drives the spiral blade 613 to stir the deposited silt and mix it with the sewage to form a flowable mud, and drives the mud into the dredging shell 611, and the slurry pump 620 installed on the conveying surface of the dredging shell 611 sucks the mud and discharges it through the sewage pipe 630 to complete the dredging and sewage discharge work.

[0145] Further, step S63 specifically includes:

[0146] S631, desilting the ground inside the construction area through the desilting unit, so that the silt and water are stirred and mixed to form a flowable mud and enter the desilting unit;

[0147] S632. The sewage discharge part generates suction to absorb the mud in the dredging part and drive the anti-blocking part to rotate. The rotating anti-blocking part drives the mud to flow into the sewage discharge part in a spiral shape, and the mud is discharged to the outside of the construction area through the sewage discharge part.

[0148] In this embodiment, the dredging part adopts the dredging component 610, which is composed of a dredging shell 611, a driving component 612 and a spiral blade 613. The sewage discharge part adopts a slurry pump 620, and the anti-blocking part adopts a spiral rod 6113. When dredging, the driving component 612 of the dredging component 610 drives the spiral blade 613 to stir the deposited sludge and mix it with the sewage to form a flowable mud, and drive the mud into the dredging shell 611; after the mud enters the dredging shell 611, the slurry pump 620 provides suction, so that the mud entering the dredging shell 611 is sucked into the slurry pump 620 through the sewage suction port 6112. In this process, the spiral rod 6113 is pushed by the flowing mud and the suction of the slurry pump 620. The rotating screw 6113 is used to rotate downward, so that some larger lumps of mud contained in the mud are broken up by the rotating screw 6113, so that the mud entering the slurry pump 620 is first broken up by the rotating screw 6113, and the broken up mud is driven by the rotating screw 6113 to flow into the slurry pump 620 in a spiral shape, thereby preventing the lumps of mud from clogging the suction port 6112 and causing blockage. After the mud is sucked into the slurry pump 620, it is discharged through the sewage pipe 630 to complete the dredging and sewage discharge work.

[0149] S7. After the dredging device completes dredging and sewage discharge, the dredging device is controlled to move in the opposite direction of the generated construction route. During the movement, the sewage suction mechanism 700 is used to perform high-pressure cleaning on the ground inside the construction area, and the sewage discharge mechanism 300 is used to absorb and temporarily store the cleaning wastewater generated during the high-pressure cleaning.

[0150] Step S7 is specifically as follows:

[0151] S71, when the silting device completes silting and sewage discharge, the silting mechanism 600 on the front telescopic mechanism 400 is disassembled, and the sewage suction mechanism 700 is installed at the same position;

[0152] S72, the control terminal sends a control signal to the electromagnetic control valve group 210 in the opposite direction of the generated construction operation route, and the electromagnetic control valve group 210 receives the control signal and drives the hydraulic control mechanism 200;

[0153] S73, using the hydraulic control mechanism 200 to control and drive the traveling mechanism 100 to move the silt removal device in the opposite direction of the generated construction route;

[0154] S74. When the dredging device moves in the opposite direction of the construction route, the hydraulic control mechanism 200 is used to control and drive the front telescopic mechanism 400, and the front telescopic mechanism 400 drives the sewage suction mechanism 700 to perform high-pressure cleaning on the ground inside the construction area, and the sewage discharge mechanism 300 is used to absorb and temporarily store the cleaning wastewater generated during the high-pressure cleaning.

[0155] In this embodiment, after the dredging mechanism 600 completes dredging and sewage discharge on the ground, the dredging mechanism 600 on the second front-end mechanical arm 420 of the front-end telescopic mechanism 400 is disassembled, and the sewage suction mechanism 700 is installed at the same position. After the installation is completed, the control terminal sends a control signal to the electromagnetic control valve group 210 of the dredging device according to the opposite direction of the generated construction route. The electromagnetic control valve group 210 receives the control signal to drive the hydraulic control mechanism 200, and then the hydraulic control mechanism 200 transmits the hydraulic control signal to the walking mechanism 100. The hydraulic control mechanism 200 drives the walking mechanism 100 to move the dredging device in the opposite direction of the generated construction route. During the movement, the sewage suction mechanism 700 is used to perform high-pressure cleaning on the ground inside the construction area.

[0156] For high-pressure cleaning of the ground, specifically: when the dredging device moves in the opposite direction of the construction route, the hydraulic control mechanism 200 controls the front hydraulic cylinder group 430 of the front telescopic mechanism 400 to extend the first front mechanical arm 410 and the second front mechanical arm 420, driving the sewage suction mechanism 700 installed on the second front mechanical arm 420 to extend to the construction surface. After the sewage suction mechanism 700 extends to the construction surface, the second high-pressure cleaning mechanism 800 performs high-pressure cleaning on the ground inside the construction area, and a number of water suction components 720 scrape up the cleaning waste water generated during the high-pressure cleaning, and the sewage discharge mechanism 300 uses negative pressure to absorb and store the waste water scraped by the water suction component 720 through a pipeline.

[0157] The second high-pressure cleaning mechanism 800 performs high-pressure cleaning on the ground inside the construction area, specifically: water is supplied by an external high-pressure water machine and flows to the connecting shaft 840 of the cleaning disc 810 through a high-pressure water pipe. Since the connecting shaft 840 is connected to the center position of the high-pressure water spraying rod 830, the high-pressure water entering the connecting shaft 840 will flow from the center of the high-pressure water spraying rod 830 to both sides, and then sprayed out from the water spray heads 850 at both ends of the high-pressure water spraying rod 830. Since the water spraying surface of the water spray head 850 is inclined, the high-pressure water is sprayed out at an angle, so that the high-pressure water spraying rod 830 is subjected to a deflection force to rotate in a circle, and the high-pressure water flow is sprayed by the circularly rotating high-pressure water spraying rod 830 to complete the high-pressure cleaning of the construction surface.

[0158] By using high-pressure water jets as the surface cleaning medium, high-pressure water jet cleaning has the advantages of high efficiency, environmental protection, and energy saving compared to other surface cleaning methods. It also uses a flexible contact method to avoid the possibility of physical wear and damage to the surface being cleaned, and can adapt to the cleaning needs of surfaces with different roughness.

[0159] S8. Use the sewage discharge mechanism 300 to separate the temporarily stored sewage into gas and liquid and discharge them separately.

[0160] Step S8 is specifically as follows:

[0161] S81, absorbing and temporarily storing the cleaning wastewater generated during high-pressure cleaning through the water storage unit;

[0162] S82, using the separation unit to separate gas and liquid in the water storage unit, and discharging the separated gas;

[0163] S83, using a liquid level sensor to detect the water level inside the water storage unit;

[0164] S84. When the temporarily stored cleaning sewage reaches a preset water level, the liquid level sensor sends a start signal to the submersible pump. After receiving the start signal, the submersible pump automatically starts to discharge the cleaning sewage in the water storage part.

[0165] In this embodiment, the water storage part is composed of a dirt storage barrel 320, a liquid level sensor and a submersible pump, and the separation part is composed of a vortex fan 330 and a cyclone dust collector 340. The cleaning wastewater generated by the first high-pressure cleaning mechanism 800 and the second high-pressure cleaning mechanism 800 during high-pressure cleaning is absorbed and temporarily stored through the dirt storage barrel 320; since the dirt storage barrel 320 contains water mist, dust, etc. in addition to sewage, the water mist and dust in the dirt storage barrel 320 are absorbed by the cyclone dust collector 340 to perform gas-liquid dust separation, and the gas after gas-liquid dust separation is absorbed and discharged by the vortex fan 330; in the process of storing sewage, the water level inside the dirt storage barrel 320 is detected by the liquid level sensor. When the liquid level sensor detects that the sewage water level in the dirt storage barrel 320 reaches a preset height, a start signal is sent to the submersible pump, and the water in the dirt storage barrel 320 is discharged by the submersible pump until the sewage water level drops to a preset height.

[0166] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A method for desilting a hydraulic structure, characterized in that: The steps include: S1. The control terminal obtains the position information of the area to be cleaned, wherein the position information includes the ground position information and the side wall position information; S2. Setting a cofferdam in the area to be cleaned according to the acquired position information to form a construction area; S3, using a water level control mechanism to keep the water level inside the construction area at a preset height in real time; S4, generating a moving route and a construction operation route based on the acquired ground position information, and controlling the dredging device to move to the construction area according to the generated moving route; Specifically, the control terminal sends a movement control signal to the traveling mechanism based on the generated movement route; The traveling mechanism receives the moving control signal and moves the dredging device to the area to be constructed according to the generated moving route; The desilting device includes an electromagnetic control valve group, a hydraulic control mechanism, a front telescopic mechanism and a side wall cleaning mechanism; The electromagnetic control valve group is connected to the hydraulic control mechanism; The hydraulic control mechanism is respectively connected to the front telescopic mechanism, the side wall cleaning mechanism, the walking mechanism, the dredging mechanism, the first high-pressure cleaning mechanism, the dirt suction mechanism and the dirt discharge mechanism, and controls the front telescopic mechanism, the side wall cleaning mechanism, the walking mechanism, the dredging mechanism, the first high-pressure cleaning mechanism, the dirt suction mechanism and the dirt discharge mechanism to perform related actions; S5. After the silt removal device moves to the construction area, high-pressure cleaning is performed using the first high-pressure cleaning mechanism according to the acquired side wall position information, and the cleaning wastewater generated during high-pressure cleaning is absorbed and temporarily stored using the sewage discharge mechanism; Specifically, the control terminal sends a control signal to the electromagnetic control valve group according to the acquired side wall position information, and the electromagnetic control valve group receives the control signal and drives the hydraulic control mechanism; The side wall cleaning mechanism is controlled and driven by the hydraulic control mechanism, and the side wall cleaning mechanism drives the first high-pressure cleaning mechanism to move and fit to the construction surface in the side wall position information according to the side wall position information, so as to perform high-pressure cleaning on the side wall; The sewage generated by the first high-pressure cleaning mechanism during high-pressure cleaning is sucked and temporarily stored by the sewage discharge mechanism; Wherein, the side wall cleaning mechanism is provided with a pressure feedback module; Using the pressure feedback module to detect the bonding force between the first high-pressure cleaning mechanism and the construction surface, and obtaining a pressure detection result; When the pressure detection result is higher or lower than the preset value, the pressure feedback module sends a feedback signal to the control terminal; The control terminal receives the feedback signal and sends a control signal to the electromagnetic control valve group; The electromagnetic control valve group receives the control signal and drives the hydraulic control mechanism, and uses the hydraulic control mechanism to control the side wall cleaning mechanism to adjust the contact force between the first high-pressure cleaning mechanism and the construction surface in real time; S6. Control the dredging device to move according to the generated construction route, and use the dredging mechanism to dredge and discharge sewage from the ground inside the construction area during the movement; S7. After the silting device has completed silting and sewage discharge, the silting device is controlled to move in the opposite direction of the generated construction route, and during the movement, the sewage suction mechanism is used to perform high-pressure cleaning on the ground inside the construction area, and the sewage generated during the high-pressure cleaning is sucked and temporarily stored by the sewage discharge mechanism; S8. Use the sewage discharge mechanism to separate the temporarily stored sewage into gas and liquid and discharge them separately.

2. The method for desilting a hydraulic structure according to claim 1, characterized in that: The step S2 further comprises: The construction area in the area to be cleaned is salvaged and drained so that the water level in the construction area is at a preset height.

3. The method for desilting a hydraulic structure according to claim 1, characterized in that: The step S6 specifically includes: The control terminal sends a control signal to the electromagnetic control valve group according to the generated construction operation route, and the electromagnetic control valve group receives the control signal and drives the hydraulic control mechanism; The hydraulic control mechanism is used to control and drive the traveling mechanism to drive the dredging device to move according to the generated construction route; When the dredging device moves along the construction route, the hydraulic control mechanism is used to control and drive the front telescopic mechanism, and the front telescopic mechanism drives the dredging mechanism to dredge the ground inside the construction area and discharge the silt outside the construction area.

4. The method for desilting a hydraulic structure according to claim 3, characterized in that: The dredging mechanism includes a dredging part, a sewage discharge part and an anti-blocking part. The dredging mechanism is driven by the front telescopic mechanism to dredge the ground inside the construction area and discharge the sludge outside the construction area, which specifically includes: The silt is silted from the ground inside the construction area by the silt removal unit, so that the silt is stirred and mixed with water to form a flowable slurry and enter the silt removal unit; The sewage discharge part generates suction to absorb the mud in the dredging part and drive the anti-blocking part to rotate. The rotating anti-blocking part drives the mud to flow into the sewage discharge part in a spiral shape, and the mud is discharged outside the construction area through the sewage discharge part.

5. The method for desilting a hydraulic structure according to claim 1, characterized in that: The step S7 specifically includes: After the dredging device has completed dredging and sewage discharge, the dredging mechanism on the front telescopic mechanism is disassembled, and a sewage suction mechanism is installed at the same position; The control terminal sends a control signal to the electromagnetic control valve group according to the reverse direction of the generated construction operation route, and the electromagnetic control valve group receives the control signal and drives the hydraulic control mechanism; The hydraulic control mechanism is used to control and drive the traveling mechanism to drive the dredging device to move in the opposite direction of the generated construction route; When the dredging device moves in the opposite direction of the construction route, the hydraulic control mechanism is used to control and drive the front telescopic mechanism, and the front telescopic mechanism drives the sewage suction mechanism to perform high-pressure cleaning on the ground inside the construction area, and the sewage discharge mechanism is used to absorb and temporarily store the cleaning wastewater generated during the high-pressure cleaning.

6. The method for desilting a hydraulic structure according to claim 1, characterized in that: The sewage discharge mechanism includes a water storage part and a separation part, and the water storage part is provided with a liquid level sensor and a submersible pump. The step S8 specifically includes: The cleaning wastewater generated during high-pressure cleaning is absorbed and temporarily stored through the water storage part; The separation part is used to separate the gas and liquid in the water storage part, and the separated gas is discharged; Using a liquid level sensor to detect the water level inside the water storage part; When the temporarily stored cleaning sewage reaches a preset water level, the liquid level sensor sends a start signal to the submersible pump, and the submersible pump automatically starts after receiving the start signal to discharge the cleaning sewage in the water storage part.

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