A desilting device for hydraulic structure

Abstract

The present invention belongs to the technical field of dredging, and specifically provides a dredging device for a hydraulic structure, including: a traveling mechanism and a hydraulic control mechanism, a sewage discharge mechanism, a front-end mechanical arm and a side wall cleaning mechanism installed on the traveling mechanism; a dredging mechanism and a sewage suction mechanism, when dredging and sewage discharge are performed, the dredging mechanism is installed on the front-end mechanical arm, and when high-pressure cleaning is performed, the sewage suction mechanism is installed on the front-end mechanical arm; the sewage suction mechanism and the side wall cleaning mechanism are both installed with high-pressure cleaning components; wherein the traveling mechanism is installed with a distance measuring mechanism. The traveling mechanism is used to carry the entire equipment to a designated position of the area to be cleaned for construction work, the dredging mechanism, the side wall cleaning mechanism and the sewage suction mechanism are used to complete the cleaning work of the area to be cleaned, and the sewage sucked is processed 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 device 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 dredging device for 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 dredging device for 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 dredging device for a hydraulic structure, comprising:

[0007] Traveling mechanism and hydraulic control mechanism, sewage discharge mechanism, front telescopic mechanism and side wall cleaning mechanism installed on the traveling mechanism;

[0008] A dredging mechanism and a sewage suction mechanism. When dredging and sewage discharge are performed, the dredging mechanism is installed on the front telescopic mechanism. When high-pressure cleaning is performed, the sewage suction mechanism is installed on the front telescopic mechanism.

[0009] The dirt suction mechanism and the side wall cleaning mechanism are both equipped with high-pressure cleaning components;

[0010] Wherein, the walking mechanism is equipped with a distance measuring mechanism.

[0011] In one of the embodiments, the side wall cleaning mechanism includes a bearing component, a first side wall mechanical arm, a second side wall mechanical arm, a second mounting frame, and a side end hydraulic cylinder group for driving the first side wall mechanical arm and the second side wall mechanical arm to swing;

[0012] The bearing component is installed on the surface of the walking mechanism, one end of the first side wall mechanical arm is connected to the bearing component, the other end of the first side wall mechanical arm is connected to one end of the second side wall mechanical arm, and the other end of the second side wall mechanical arm is connected to one end surface of the second mounting frame;

[0013] A plurality of high-pressure cleaning components are installed on the other end surface of the second installation frame.

[0014] In one embodiment, the single high-pressure cleaning assembly mounted on the end surface of the second mounting frame includes a cleaning disc, a brush and a high-pressure water spray rod;

[0015] The top surface of the cleaning disc is connected to the end surface of the second mounting frame;

[0016] The brush is arranged on the outer edge of the cleaning disc;

[0017] A connecting shaft is arranged in the middle of the cleaning disc, and the high-pressure water spraying rod is connected to the cleaning disc via the connecting shaft. Both ends of the high-pressure water spraying rod have water spraying heads arranged toward the ground.

[0018] The water outlet surfaces of the water spray heads arranged at the two ends of the high-pressure water spray rod are arranged in an inclined manner. When the water spray heads spray high-pressure water, the high-pressure water spray rod is driven to rotate around the connecting shaft.

[0019] Wherein, the outer edge of the cleaning disc is also provided with a soft rubber, and the soft rubber is located on the outer side of the brush to surround the brush;

[0020] Wherein, the top surface of the cleaning disc is also provided with a water suction port, and the water suction port of the cleaning disc is connected with the sewage suction mechanism through a pipeline;

[0021] Wherein, a pressure sensor is arranged on the second mounting frame.

[0022] In one embodiment, the front-end telescopic mechanism includes a first front-end mechanical arm, a second front-end mechanical arm, and a front-end hydraulic cylinder group for driving the first front-end mechanical arm and the second front-end mechanical arm to swing;

[0023] One end of the first front end mechanical arm is connected to the end of the walking mechanism, and one end of the first front end mechanical arm away from the walking mechanism is connected to the side wall of the second front end mechanical arm;

[0024] When dredging is performed, the dredging mechanism is connected to an end of the second front end mechanical arm away from the first front end mechanical arm;

[0025] When high-pressure cleaning is performed, the dirt suction mechanism is connected to an end of the second front-end mechanical arm away from the first front-end mechanical arm.

[0026] In one embodiment, the dredging mechanism includes a dredging component and a slurry pump, wherein the slurry pump is installed on the dredging component and is connected to a sewage pipe;

[0027] When desilting and sewage discharge is performed, the desilting assembly is installed at one end of the second front-end mechanical arm, and the desilting assembly is driven by the second front-end mechanical arm to complete desilting, and the sewage discharge is completed by the slurry pump.

[0028] In one embodiment, the dredging assembly includes a dredging housing, a drive assembly, and a spiral blade;

[0029] The dredging shell has an open surface, and the driving assembly is installed on one of the adjacent surfaces of the dredging shell opening surface;

[0030] The spiral blade is installed inside the dredging shell, and the spiral blade part extends out of the opening surface of the dredging shell. The spiral blade is connected to the driving component and is driven by the driving component to perform dredging.

[0031] The opening surface of the dredging shell is provided with an inclined shielding plate;

[0032] A sewage suction port is provided on the opposite side of the dredging shell opening, and the slurry pump is installed on the opposite side of the dredging shell opening, and the slurry pump is connected to the sewage suction port;

[0033] One end of the second front-end mechanical arm is connected and fixed to the outer side surface of the dredging shell.

[0034] In one embodiment, the dirt suction mechanism includes a first mounting frame and a plurality of water suction components, wherein the plurality of water suction components are mounted on one end surface of the first mounting frame, and a high-pressure cleaning area is formed around the end surface of the first mounting frame;

[0035] The high-pressure cleaning components are provided in a plurality in the high-pressure cleaning area;

[0036] When high-pressure cleaning is performed, the other end surface of the first mounting frame is connected to one end of the second front-end mechanical arm;

[0037] Wherein, several of the water absorbing components are connected to the sewage discharge mechanism through pipelines;

[0038] Wherein, a spring floating assembly is provided between the water absorption assembly and the first mounting frame and between the high-pressure cleaning assembly and the first mounting frame, and the water absorption assembly and the high-pressure cleaning assembly are connected to the first mounting frame via the spring floating assembly.

[0039] In one embodiment, a single high-pressure cleaning assembly installed in a high-pressure cleaning area includes a cleaning disc, a brush, and a high-pressure water spray rod;

[0040] The top surface of the cleaning disc is connected to the first mounting frame via a spring floating assembly;

[0041] The brush is arranged on the outer edge of the cleaning disc;

[0042] A connecting shaft is arranged in the middle of the cleaning disc, and the high-pressure water spraying rod is connected to the cleaning disc via the connecting shaft. Both ends of the high-pressure water spraying rod have water spraying heads arranged toward the ground.

[0043] Wherein, the water outlet surfaces of the water spray heads arranged at the two ends of the high-pressure water spray rod are arranged inclined, and when the water spray heads spray high-pressure water, the high-pressure water spray rod is driven to rotate around the connecting shaft.

[0044] In one embodiment, the sewage discharge mechanism includes a third mounting frame and a sewage storage bucket, a vortex fan and a cyclone dust collector mounted on the third mounting frame, and the third mounting frame is mounted on the surface of the walking mechanism;

[0045] The dirt storage barrel has a water inlet, a water outlet, a slag outlet and a gas-liquid separation outlet, and the dirt suction mechanism and the high-pressure cleaning assembly are both connected to the water inlet of the dirt storage barrel through a pipeline;

[0046] The vortex fan is connected to the cyclone dust collector through a pipeline, and the cyclone dust collector is connected to the gas-liquid separation port of the sewage storage tank through a pipeline;

[0047] Among them, a liquid level sensor and a submersible pump are arranged inside the sewage storage barrel, and the liquid level sensor is electrically connected to the submersible pump. When the liquid level sensor senses that the water level in the sewage storage barrel has reached a preset height, a start signal is sent to the submersible pump, and the water in the sewage storage barrel is discharged from the drain outlet through the submersible pump.

[0048] In one embodiment, the distance measuring mechanism includes a plurality of laser distance measuring sensors installed at the front end of the traveling direction of the walking mechanism.

[0049] In summary, 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 component and the construction surface. By using pressure feedback for adjustment, the high-pressure cleaning component can fit well on the construction surface, which can improve the cleaning effect of high-pressure cleaning on the construction surface 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 schematic diagram of the overall structure of a silt removal device for a hydraulic structure provided by an embodiment of the present invention, in which a silt removal mechanism is installed;

[0058] Figure 2 A schematic diagram of the overall structure of a sewage suction mechanism installed in a silt removal device for a hydraulic structure provided by an embodiment of the present invention;

[0059] Figure 3 A schematic top view of a silt removal device for a hydraulic structure provided by an embodiment of the present invention installed with a silt removal mechanism;

[0060] Figure 4 A schematic diagram of the front-end telescopic mechanism structure of a silt removal device for a hydraulic structure provided by an embodiment of the present invention;

[0061] Figure 5 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;

[0062] Figure 6 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;

[0063] Figure 7 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;

[0064] Figure 8A 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;

[0065] Fig. 9 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;

[0066] Fig.10 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;

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

[0068] Fig.12 A schematic diagram of a high-pressure cleaning assembly of a hydraulic structure desilting device provided by an embodiment of the present invention being installed on a second installation frame;

[0069] Fig.13 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;

[0070] Fig.14 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;

[0071] Fig.15 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;

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

[0074] Fig.18 A schematic diagram of the state of the silt removal device for a hydraulic structure provided by an embodiment of the present invention during high pressure cleaning of a side wall;

[0075] Fig.19 A schematic diagram of the process path of a dredging device for a hydraulic structure provided in an embodiment of the present invention performing automatic cleaning construction according to a preset mode.

[0076] Figure Number:

[0077] 100, walking mechanism; 200, hydraulic control mechanism; 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; 560, pressure sensor 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 assembly; 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

[0078] 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.

[0079] 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.

[0080] 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.

[0081] Reference Figure 1-Figure 19 One embodiment of the present invention provides a dredging device for a hydraulic structure, comprising:

[0082] A traveling mechanism 100 and a hydraulic control mechanism 200, a sewage discharge mechanism 300, a front telescopic mechanism 400 and a side wall cleaning mechanism 500 installed on the traveling mechanism 100;

[0083] The dredging mechanism 600 and the sewage suction mechanism 700 are installed on the front telescopic mechanism 400 when dredging and sewage discharge are performed, and the sewage suction mechanism 700 is installed on the front telescopic mechanism 400 when high-pressure cleaning is performed;

[0084] The dirt suction mechanism 700 and the side wall cleaning mechanism 500 are both equipped with a high-pressure cleaning assembly 800;

[0085] The walking mechanism 100 is equipped with a distance measuring mechanism 900 .

[0086] In this embodiment, the whole equipment is connected with a remote control system, and the whole equipment can be remotely controlled by the remote control system to perform cleaning construction or control the whole equipment to perform cleaning construction according to a pre-set mode; the whole equipment is composed of a walking mechanism 100, 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. The walking mechanism 100 adopts a crawler chassis, and the top of the crawler chassis has a bearing surface for installing and carrying the hydraulic control mechanism 200, 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 distance measuring mechanism 900; because the crawler chassis needs to cooperate with the front telescopic mechanism 400 and other mechanisms to realize the operations such as sewage 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, and the encoder is used to measure the movement of the crawler to ensure the straightness of the whole when moving. 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 assembly 800 to perform related construction actions. The sewage discharge mechanism 300 is used to absorb sewage during the construction process for storage, regular pumping and discharge, 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 of 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 assembly 800 is used to provide a high-pressure water jet to perform high-pressure cleaning on the ground and wall surfaces in the area to be cleaned. The high-pressure cleaning assembly 800 provides high-pressure water flow through an external high-pressure water machine. The distance measuring mechanism 900 is used to detect the distance between the entire equipment and obstacles when the equipment is moving during construction, so as to avoid the obstacles.

[0087] Specifically, when cleaning underwater hydraulic structures, a cofferdam is set up in advance in the area to be cleaned to block water to form a closed construction area. After the cofferdam is set up, water is pumped out of the cofferdam. Since there is a certain amount of sedimentary silt underwater, the water depth in the cofferdam is controlled at a certain depth to facilitate the subsequent cleaning of the silt.

[0088] The remote control system is used to remotely control the entire device to be moved to the area to be cleaned in the cofferdam. After the entire device is moved to the area to be cleaned, the remote control system can be used to remotely control the entire device to perform cleaning operations or control the entire device to perform cleaning operations according to a pre-set mode, such as Fig.19As shown, it is a process path diagram of the overall equipment performing automatic cleaning construction according to a preset mode; when the overall equipment is moving, the distance measuring mechanism 900 is used to detect the distance data between the overall equipment and the obstacle when the overall equipment is moving during construction, so as to avoid the obstacle.

[0089] During the movement of the overall equipment, the silt deposited on the ground and the coverings on the sides / side walls in the area to be cleaned are first cleaned simultaneously by using the silt removal mechanism 600 and the side wall cleaning mechanism 500.

[0090] When the dredging mechanism 600 is used to clean the ground, the dredging mechanism 600 is installed on one end of the front telescopic mechanism 400, and the hydraulic control mechanism 200 controls the extension and contraction of the front telescopic mechanism 400, and the dredging mechanism 600 is moved to the construction surface, and the dredging mechanism 600 is used to stir and mix the silt and water to form a flowable muddy state, and the dredging mechanism 600 is used to pump the muddy mixture out of the cofferdam; in order to ensure that the dredging mechanism 600 can normally carry out the silt mixing and pumping operation, it is necessary to control the water level depth in the cofferdam within a certain range to avoid the water being too deep to threaten the safety of the equipment, and also to avoid the water being too shallow, the mixing process lacks water, and the dry pumping situation occurs. For the control of the water level, a water level sensor is set inside the crawler chassis. When the water level sensor detects that the water level is lower than the preset depth, it is necessary to add water to the cofferdam. When the water level sensor detects that the water level is higher than the preset depth, it is necessary to pump and drain water.

[0091] When the side / side wall is cleaned by the side wall cleaning mechanism 500, the hydraulic control mechanism 200 controls the extension and retraction of the side wall cleaning mechanism 500, and the side wall cleaning mechanism 500 drives the high-pressure cleaning component 800 installed on its end surface to extend to the construction surface. The side wall cleaning mechanism 500 is provided with a pressure feedback device. When the high-pressure cleaning component 800 extends to the construction surface, the pressure feedback device is used to feedback and adjust the fitting force between the high-pressure cleaning component 800 and the construction surface in real time. By using pressure feedback for adjustment, the high-pressure cleaning component 800 can be well fitted on the construction surface, which can improve the cleaning effect of high-pressure cleaning of the construction surface; after the high-pressure cleaning component 800 is fitted on the construction surface, a high-pressure water jet is used to perform high-pressure spray cleaning on the construction surface. Compared with other surface cleaning methods, the high-pressure water jet cleaning method has the advantages of high efficiency, environmental protection, and energy saving, 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. Since the high-pressure cleaning component 800 is attached to the construction surface, the cleaning waste water generated during high-pressure jet cleaning will remain in the high-pressure cleaning component 800; the high-pressure cleaning component 800 installed on the side wall cleaning mechanism 500 is connected to the sewage discharge mechanism 300 through a pipeline. The cleaning waste water generated by the high-pressure cleaning component 800 during high-pressure jet cleaning can be sucked into the sewage discharge mechanism 300 through the pipeline for treatment, 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.

[0092] After the silt deposited on the ground and the coverings on the side / side walls in the area to be cleaned are cleaned by using the silt removal mechanism 600 and the side wall cleaning mechanism 500, the silt removal mechanism 600 is disassembled from one end of the front telescopic mechanism 400 and replaced with the dirt suction mechanism 700, and the whole equipment is controlled according to Fig.19 The front telescopic mechanism 400 is moved in the opposite direction of the travel process path in the process of moving. During the movement, the hydraulic control mechanism 200 controls the extension and contraction of the front telescopic mechanism 400, and the front telescopic mechanism 400 is used to attach the dirt suction mechanism 700 and the high-pressure cleaning assembly 800 installed on the end face of the dirt suction mechanism 700 to the construction surface (ground). After the dirt suction mechanism 700 and the high-pressure cleaning assembly 800 are attached to the construction surface, the construction surface is high-pressure sprayed and cleaned by a high-pressure water jet to clean the covering on the ground, and the dirt suction mechanism 700 is used to scrape up and absorb the cleaning waste water generated when the high-pressure cleaning assembly 800 is cleaned. The dirt suction mechanism 700 is connected to the sewage discharge mechanism 300 through a pipeline, and the sewage sucked by the dirt suction mechanism 700 is transported to the sewage discharge mechanism 300 through a pipeline. During the movement of the overall equipment according to the travel path, the dirt suction mechanism 700 and the high-pressure cleaning assembly 800 are used to clean and absorb at the same time, thereby completing the cleaning process of the construction surface.

[0093] Since the construction surface is cleaned by high-pressure water jets, cleaning waste water is generated during the cleaning process. The high-pressure cleaning component 800 installed on the side wall cleaning mechanism 500 is connected to the sewage discharge mechanism 300 through a pipeline, and the sewage suction mechanism 700 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 through negative pressure and through a pipeline. When the absorbed waste water is stored in the sewage discharge mechanism 300 to a certain water level, it is discharged to the outside of the cofferdam through a pipeline to ensure that the sewage discharge mechanism 300 can continuously absorb water. Since the absorbed water may contain water mist, dust, etc., the gas is separated and discharged in the sewage discharge mechanism 300 by a gas-liquid dust separation method.

[0094] The overall structure of the dredging device in this embodiment is modular in design, with reasonable splitting settings, and on-site disassembly and assembly is safe and convenient; it can be quickly assembled, and the support frame connection is reliable and effective; and the dredging device has automatic walking function, dredging function, high-pressure cleaning function, remote control function, etc. The dredging device can be used to automatically dredge hydraulic structures, thereby improving construction efficiency and reducing a large amount of labor costs.

[0095] In one embodiment, the side wall cleaning mechanism 500 includes a bearing component 510, a first side wall mechanical arm 520, a second side wall mechanical arm 530, a second mounting frame 540, and a side end hydraulic cylinder group 550 for driving the first side wall mechanical arm 520 and the second side wall mechanical arm 530 to swing;

[0096] The bearing component 510 is installed on the surface of the walking mechanism 100, one end of the first side wall mechanical arm 520 is connected to the bearing component 510, the other end of the first side wall mechanical arm 520 is connected to one end of the second side wall mechanical arm 530, and the other end of the second side wall mechanical arm 530 is connected to one end surface of the second mounting frame 540;

[0097] A plurality of high-pressure cleaning assemblies 800 are installed on the other end surface of the second installation frame 540 .

[0098] In this embodiment, the side wall cleaning mechanism 500 uses a multi-section robotic arm and corresponding hydraulic cylinders to control the extension and retraction, and is equipped with a high-pressure cleaning component 800 to clean the side wall. The use of a robotic arm is easy to operate, has a simple structure, stable performance, can flexibly adjust the corresponding height and angle, and has high flexibility.

[0099] Reference Fig.11Specifically, 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 high-pressure cleaning assembly 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 bearing component 510 is controlled by the hydraulic cylinder. The front end of the first side wall mechanical arm 520 is connected to the bearing component 510, and a hydraulic cylinder is arranged between the two, and the swing of the first side wall mechanical arm 520 is controlled by the hydraulic cylinder; the front end of the second side wall mechanical arm 530 is connected to the end of the first side wall mechanical arm 520, and the front end of the second side wall mechanical arm 530 is connected to the bearing 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 mechanical 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 swing of the second mounting frame 540 in angle is controlled by the hydraulic cylinder;

[0100] The high-pressure cleaning component 800 is installed on the other end face of the second installation frame 540. When the side wall cleaning mechanism 500 is used to clean the side / side wall, 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, thereby driving the high-pressure cleaning component 800 installed at the end of the second side wall mechanical arm 530 to extend to the construction surface. When the high-pressure cleaning component 800 is attached to the construction surface, the construction surface is high-pressure sprayed and cleaned by a high-pressure water jet, thereby completing the high-pressure cleaning operation on the high wall and the side wall. Fig.18 As shown. Compared with other surface cleaning methods, the high-pressure water jet cleaning method has the advantages of high efficiency, environmental protection, and energy saving, and 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. Since the high-pressure cleaning component 800 is attached to the construction surface, the cleaning wastewater generated during high-pressure jet cleaning will remain in the high-pressure cleaning component 800; the high-pressure cleaning component 800 installed on the side wall cleaning mechanism 500 is connected to the sewage discharge mechanism 300 through a pipeline, and the cleaning wastewater generated by the high-pressure cleaning component 800 during high-pressure jet cleaning can be sucked into the sewage discharge mechanism 300 through the pipeline for treatment, thereby avoiding the cleaning wastewater generated during high-pressure cleaning from falling to the ground to increase the water level on the ground, and avoiding increasing the workload of other structures.

[0101] In one embodiment, the single high-pressure cleaning assembly 800 mounted on the end surface of the second mounting frame 540 includes a cleaning disc 810, a brush 820 and a high-pressure water spray rod 830;

[0102] The top surface of the cleaning disc 810 is connected to the end surface of the second mounting frame 540;

[0103] The brush 820 is disposed on the outer edge of the cleaning disc 810;

[0104] A connecting shaft 840 is disposed in the middle of the cleaning disc 810, and the high-pressure water spraying rod 830 is connected to the cleaning disc 810 via the connecting shaft 840. Both ends of the high-pressure water spraying rod 830 have water spraying heads 850 disposed toward the ground.

[0105] The water outlet surfaces of the water spray heads 850 disposed at both ends of the high-pressure water spray rod 830 are inclined. When the water spray heads 850 spray high-pressure water, the high-pressure water spray rod 830 is driven to rotate around the connecting shaft 840.

[0106] The outer edge of the cleaning disc 810 is further provided with a soft rubber 860, and the soft rubber 860 is located on the outer side of the brush 820 to surround the brush 820;

[0107] The top surface of the cleaning disc 810 is also provided with a water suction port 870, and the water suction port 870 of the cleaning disc 810 is connected to the sewage suction mechanism 700 through a pipeline;

[0108] Wherein, a pressure sensor 560 is disposed on the second mounting frame 540 .

[0109] In this embodiment, the high-pressure cleaning assembly 800 installed on the dirt suction mechanism 700 is different from the high-pressure cleaning assembly 800 installed on the side wall cleaning mechanism 500. The high-pressure cleaning assembly 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 and 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 construction surface covering during the high-pressure cleaning operation. The high-pressure water spray rod 830 is used to provide high pressure. The water jet cleans the covering of the construction surface. Compared with other surface cleaning methods, the high-pressure water jet cleaning method has the advantages of high efficiency, environmental protection, and energy saving, 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 preventing 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.

[0110] Reference Figure 12-Figure 15 Specifically, a pressure sensor 560 is provided on the second mounting frame 540. 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 high-pressure cleaning component 800 installed at the end of the second side wall mechanical arm 530 is driven to extend to the construction surface; when the high-pressure cleaning component 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 high-pressure cleaning component 800 and the construction surface. By using pressure feedback for adjustment, the high-pressure cleaning component 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.

[0111] 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.

[0112] 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.

[0113] When the high-pressure cleaning component 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.

[0114] In one embodiment, the front-end telescopic mechanism 400 includes a first front-end mechanical arm 410, a second front-end mechanical arm 420, and a front-end hydraulic cylinder group 430 for driving the first front-end mechanical arm 410 and the second front-end mechanical arm 420 to swing;

[0115] One end of the first front-end mechanical arm 410 is connected to the end of the walking mechanism 100, and one end of the first front-end mechanical arm 410 away from the walking mechanism 100 is connected to the side wall of the second front-end mechanical arm 420;

[0116] When performing dredging work, the dredging mechanism 600 is connected to an end of the second front-end mechanical arm 420 away from the first front-end mechanical arm 410;

[0117] When high-pressure cleaning is performed, the dirt suction mechanism 700 is connected to an end of the second front-end robotic arm 420 away from the first front-end robotic arm 410 .

[0118] In this embodiment, the front-end telescopic mechanism 400 uses a multi-section mechanical arm and corresponding hydraulic cylinders to control the telescopic movement. The mechanical arm is easy to operate, has a simple structure, stable performance, can flexibly adjust the corresponding height and angle, and has high flexibility. It can connect to a variety of different equipment to perform corresponding construction operations.

[0119] Reference Figure 4 Specifically, the 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 A hydraulic cylinder is also provided at the end, which 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.

[0120] In one embodiment, the desilting mechanism 600 includes a desilting assembly 610 and a slurry pump 620. The slurry pump 620 is installed on the desilting assembly 610, and the slurry pump 620 is connected to a sewage pipe 630.

[0121] When dredging and sewage discharge is performed, the dredging component 610 is installed at one end of the second front-end mechanical arm 420 , and the dredging component 610 is driven by the second front-end mechanical arm 420 to complete dredging, and the slurry pump 620 completes sewage discharge.

[0122] In this embodiment, the dredging mechanism 600 is composed of a dredging component 610 and a slurry pump 620. The dredging component 610 is used to stir and mix the silt and water to form a flowable slurry, and is used to transport the slurry to the slurry pump 620. The slurry pump 620 is connected to a sewage 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 pipe 630.

[0123] Reference Figure 5-Figure 8 Specifically, when dredging and sewage discharge is performed, the dredging component 610 is connected to the end of the second front-end mechanical arm 420, and is connected to the hydraulic cylinder on the end of the second front-end mechanical arm 420, and the dredging component 610 is driven to swing by the second front-end mechanical arm 420, and the dredging component 610 is driven to adjust the angle by the hydraulic cylinder on the end of the second front-end mechanical arm 420; the dredging component 610 has a stirring surface and a conveying surface, and the slurry pump 620 is installed on the conveying surface of the dredging component. When dredging and sewage discharge is performed, the hydraulic control mechanism 200 sends a control signal to the front-end telescopic mechanism 400, and the front-end telescopic mechanism 400 (the first front The front end mechanical arm 410, the second front end mechanical arm 420 and the front end hydraulic cylinder group 430) control and drive the dredging component 610 to adjust the appropriate working position. When the position adjustment of the dredging component 610 is completed, the hydraulic control mechanism 200 sends a control signal to the dredging component 610 to control the dredging component 610 to start running, stir and mix the silt and water to form a flowable muddy state, and the stirred mud enters the conveying surface from the stirring surface of the dredging component 610, and the slurry pump 620 installed on the conveying surface of the dredging component 610 sucks the mud and discharges it through the sewage pipe 630 to complete the dredging and sewage discharge work. Figure 1 , Figure 3 As shown, this is a diagram of the installation status of the dredging mechanism 600 when performing dredging and sewage discharge operations.

[0124] In one embodiment, the dredging assembly 610 includes a dredging housing 611 , a driving assembly 612 , and a spiral blade 613 ;

[0125] The dredging housing 611 has an opening surface, and the driving assembly 612 is installed on one of the adjacent surfaces of the opening surface of the dredging housing 611;

[0126] The spiral blade 613 is installed inside the dredging shell 611, and the spiral blade 613 partially extends out of the opening surface of the dredging shell 611. The spiral blade 613 is connected to the driving component 612 and is driven by the driving component 612 to perform dredging.

[0127] The opening surface of the desilting shell 611 is provided with an inclined shielding plate 6111;

[0128] The surface opposite to the opening of the desilting shell 611 is provided with a sewage suction port 6112, and the slurry pump 620 is installed on the surface opposite to the opening of the desilting shell 611, and the slurry pump 620 is connected to the sewage suction port 6112;

[0129] One end of the second front-end robot arm 420 is connected and fixed to the outer side surface of the dredging housing 611 .

[0130] In this embodiment, 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 silt and mix it with sewage to form a flowable slurry.

[0131] Reference Figure 5-Figure 8 Specifically, 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 to enter 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, because the spiral blade 613 rotates to drive the mud to enter the interior of the dredging shell 611, the inclined baffle plate 6111 can It plays a shielding role, which can prevent part of the mud from flowing out of the dredging housing 611 again following 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 to 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 pipe 630 to discharge the sewage, thereby completing the dredging and sewage discharge operation.

[0132] 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.

[0133] 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. Figure 7 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.

[0134] In one embodiment, the dirt suction mechanism 700 includes a first mounting frame 710 and a plurality of water suction components 720, wherein the plurality of water suction components 720 are mounted on one end surface of the first mounting frame 710, and a high-pressure cleaning area is formed around the end surface of the first mounting frame 710;

[0135] The high pressure cleaning components 800 are provided in a plurality in the high pressure cleaning area;

[0136] When high-pressure cleaning is performed, the other end surface of the first mounting frame 710 is connected to one end of the second front-end mechanical arm 420;

[0137] Among them, several of the water absorption components 720 are connected to the sewage discharge mechanism 300 through pipelines;

[0138] Among them, a spring floating assembly 730 is arranged between the water absorption assembly 720 and the first mounting frame 710 and between the high-pressure cleaning assembly 800 and the first mounting frame 710, and the water absorption assembly 720 and the high-pressure cleaning assembly 800 are connected to the first mounting frame 710 through the spring floating assembly 730.

[0139] In this embodiment, 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 high-pressure cleaning component 800; the first mounting frame 710 is used as a supporting component for being connected to the second front-end mechanical arm 420 and the hydraulic cylinder, and is also used as a supporting component for the water suction component 720, the spring floating component 730 and the high-pressure cleaning component 800; the high-pressure cleaning component 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 high-pressure cleaning component 800 encounter a bumpy road surface, so that the water suction component 720 and the high-pressure cleaning component 800 can not only perform high-pressure cleaning on the uneven road surface, but also avoid rigid contact scratches, 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.

[0140] Reference Fig. 9 , Fig.10 Specifically, when high-pressure cleaning is performed, 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 of the first mounting frame 710, and the water absorption component 720 and the high-pressure cleaning component 800 are installed on the bottom surface of the first mounting frame 710. Three water absorption components 720 are adjacently arranged along the outer edge of the first mounting frame 710, and are surrounded to form a high-pressure cleaning area with one side being open, such as Fig.10As shown, three high-pressure cleaning components 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 opening side, while performing high-pressure cleaning during the movement. During the movement of high-pressure cleaning, the water absorption component 720 scrapes up the cleaning wastewater. The water absorption component 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 absorption component 720 through the pipeline. The high-pressure cleaning area surrounded by the water absorption component 720 plays a role of scraping up wastewater while performing high-pressure cleaning, which can prevent the wastewater generated by high-pressure cleaning from flowing out. Each water absorption component 720 and each high-pressure cleaning component 800 are connected to the first mounting frame 710 through a spring floating component 730, so that each water absorption component 720 and high-pressure cleaning component 800 can be adaptively adjusted when encountering uneven roads.

[0141] In one embodiment, a single high-pressure cleaning component 800 installed within the high-pressure cleaning area includes a cleaning disc 810, a brush 820, and a high-pressure water spray rod 830;

[0142] The top surface of the cleaning disc 810 is connected to the first mounting frame 710 through a spring floating component 730;

[0143] The brush 820 is arranged on the outer edge of the cleaning disc 810;

[0144] A connecting through shaft 840 is arranged in the middle of the cleaning disc 810. The high-pressure water spray rod 830 is connected to the cleaning disc 810 through the connecting through shaft 840. Both ends of the high-pressure water spray rod 830 are provided with water spray heads 850 facing the ground;

[0145] Among them, the water outlet surfaces of the water spray heads 850 arranged at both ends of the high-pressure water spray rod 830 are inclined. When the water spray heads 850 spray high-pressure water, the high-pressure water spray rod 830 is driven to rotate around the connecting through shaft 840.

[0146] In this embodiment, the high-pressure cleaning assembly 800 installed on the dirt suction mechanism 700 is different from the high-pressure cleaning assembly 800 installed on the side wall cleaning mechanism 500. The high-pressure cleaning assembly 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 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 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 cleaned surface, and can adapt to the cleaning needs of surfaces with different roughness.

[0147] Reference Fig.10 , Fig.15 Specifically, 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.

[0148] When the high-pressure cleaning component 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.

[0149] In one embodiment, the sewage discharge mechanism 300 includes a third mounting frame 310 and a sewage storage bucket 320, a vortex fan 330 and a cyclone dust collector 340 mounted on the third mounting frame 310, and the third mounting frame 310 is mounted on the surface of the walking mechanism 100;

[0150] The dirt storage barrel 320 has a water inlet 321, a water outlet 322, a slag outlet 323 and a gas-liquid separation port 324. The dirt suction mechanism 700 and the high-pressure cleaning assembly 800 are both connected to the water inlet 321 of the dirt storage barrel 320 through a pipeline.

[0151] The vortex fan 330 is connected to the cyclone dust collector 340 through a pipeline, and the cyclone dust collector 340 is connected to the gas-liquid separation port 324 of the waste storage tank 320 through a pipeline;

[0152] Among them, a liquid level sensor and a submersible pump are arranged inside the sewage storage barrel 320, and the liquid level sensor is electrically connected to the submersible pump. When the liquid level sensor senses that the water level in the sewage storage barrel 320 has reached a preset height, a start signal is sent to the submersible pump, and the water in the sewage storage barrel 320 is discharged from the drain outlet 322 through the submersible pump.

[0153] In this embodiment, the sewage discharge mechanism 300 is composed of a third mounting frame 310, a sewage storage barrel 320, a vortex fan 330, a cyclone dust collector 340, a liquid level sensor and a submersible pump; the third mounting frame 310 is used as a supporting member for mounting 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, the cyclone dust collector 340 is used to suck water mist and dust in the sewage storage barrel 320 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 barrel 320, so that the sewage in the sewage storage barrel 320 is discharged when it 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 barrel 320 reaches a certain water level, so that the sewage storage barrel 320 can continuously store sewage without the need for constant pumping.

[0154] Reference Fig.16 , Fig.17 Specifically, the dirt 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 water suction component 720 of the dirt suction mechanism 700 through a pipeline, and is connected to the water suction port 870 of the cleaning disc 810 in the high-pressure cleaning component 800 installed on the side wall cleaning mechanism 500 through a pipeline. The sewage sucked by the water suction component 720 and the sewage generated by the high-pressure cleaning in the cleaning disc 810 on the side wall cleaning mechanism 500 both flow into the dirt storage barrel 320 from the water inlet 321 through the pipeline; because the dirt storage barrel 320 contains water mist, dust, etc. in addition to sewage, the gas-liquid separation port 324 of the dirt storage barrel 320 is connected to the cyclone dust collector 340 through a pipeline, and the water mist and dust in the dirt storage barrel 320 are sucked into the cyclone dust collector 340 through the pipeline for gas-liquid dust removal. The cyclone dust collector 340 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, a start signal is sent 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 particulate matter contained in the sewage will settle to the bottom of the sewage storage barrel 320. In order to avoid excessive sedimentation of matter and cause a reduction in the sewage storage capacity, a submersible pump can be used to regularly discharge the sediment from the slag discharge port 323 to maintain the capacity of the sewage storage barrel 320.

[0155] In one embodiment, the distance measuring mechanism 900 includes a plurality of laser distance measuring sensors installed at the front end of the traveling direction of the walking mechanism 100 .

[0156] In this embodiment, a plurality of laser distance measuring sensors are arranged at the front end of the traveling direction of the walking mechanism 100, and are used to detect the distance data between the equipment and obstacles when the whole equipment is moving during construction, so as to avoid obstacles.

[0157] As required, the distance measuring mechanism 900 can also be a camera and an anti-collision radar for capturing images and distance data of the surrounding environment and performing all-round monitoring and obstacle avoidance of the entire device.

[0158] As needed, the above-mentioned installation, setting, provision or connection methods 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.

[0159] 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 dredging device for a hydraulic structure, characterized in that: include: A traveling mechanism (100), and a hydraulic control mechanism (200), a sewage discharge mechanism (300), a front telescopic mechanism (400), and a side wall cleaning mechanism (500) installed on the traveling mechanism (100); The front-end telescopic mechanism (400) comprises a first front-end mechanical arm (410), a second front-end mechanical arm (420), and a front-end hydraulic cylinder group (430) for driving the first front-end mechanical arm (410) and the second front-end mechanical arm (420) to swing; one end of the first front-end mechanical arm (410) is connected to the end of the walking mechanism (100), and one end of the first front-end mechanical arm (410) away from the walking mechanism (100) is connected to the side wall of the second front-end mechanical arm (420); A dredging mechanism (600) and a sewage suction mechanism (700). When dredging and sewage discharge are performed, the dredging mechanism (600) is installed on the front telescopic mechanism (400). The sewage suction mechanism (700) comprises a first mounting frame (710) and a plurality of water suction components (720). The plurality of water suction components (720) are installed on one end surface of the first mounting frame (710), and a high-pressure cleaning area is formed on the end surface of the first mounting frame (710). When high-pressure cleaning is performed, the other end surface of the first mounting frame (710) is connected to one end of the second front mechanical arm (420). The dirt suction mechanism (700) and the side wall cleaning mechanism (500) are both equipped with a high-pressure cleaning component (800); a plurality of the high-pressure cleaning components (800) are arranged in the high-pressure cleaning area; The sewage discharge mechanism (300) comprises a third mounting frame (310) and a sewage storage bucket (320), a vortex fan (330) and a cyclone dust collector (340) mounted on the third mounting frame (310); the third mounting frame (310) is mounted on the surface of the walking mechanism (100); the sewage storage bucket (320) has a water inlet (321), a water outlet (322), a slag outlet (323) and a gas-liquid separation outlet (324); the sewage suction mechanism (700) and the high-pressure cleaning assembly (800) are both connected to the water inlet (321) of the sewage storage bucket (320) through a pipeline. 1) connected; the vortex fan (330) is connected to the cyclone dust collector (340) through a pipeline, and the cyclone dust collector (340) is connected to the gas-liquid separation port (324) of the sewage storage barrel (320) through a pipeline; wherein a liquid level sensor and a submersible pump are provided inside the sewage storage barrel (320), and the liquid level sensor is electrically connected to the submersible pump. When the liquid level sensor senses that the water level in the sewage storage barrel (320) reaches a preset height, a start signal is sent to the submersible pump, and the water in the sewage storage barrel (320) is discharged from the drain port (322) through the submersible pump; Wherein, the walking mechanism (100) is equipped with a distance measuring mechanism (900).

2. The dredging device for hydraulic structures according to claim 1, characterized in that: The side wall cleaning mechanism (500) comprises a bearing component (510), a first side wall mechanical arm (520), a second side wall mechanical arm (530), a second mounting frame (540), and a side end hydraulic cylinder group (550) for driving the first side wall mechanical arm (520) and the second side wall mechanical arm (530) to swing; The bearing component (510) is mounted on the surface of the walking mechanism (100); one end of the first side wall mechanical arm (520) is connected to the bearing component (510); the other end of the first side wall mechanical arm (520) is connected to one end of the second side wall mechanical arm (530); and the other end of the second side wall mechanical arm (530) is connected to one end surface of the second mounting frame (540); A plurality of the high-pressure cleaning components (800) are installed on the other end surface of the second installation frame (540).

3. The dredging device for hydraulic structures according to claim 2, characterized in that: The single high-pressure cleaning assembly (800) mounted on the end surface of the second mounting frame (540) comprises a cleaning disc (810), a brush (820) and a high-pressure water spray rod (830); The top surface of the cleaning disc (810) is connected to the end surface of the second mounting frame (540); The brush (820) is arranged on the outer edge of the cleaning disc (810); A connecting shaft (840) is arranged in the middle of the cleaning disc (810), and the high-pressure water spraying rod (830) is connected to the cleaning disc (810) via the connecting shaft (840). Both ends of the high-pressure water spraying rod (830) have water spraying heads (850) arranged toward the ground. The water outlet surfaces of the water spray heads (850) arranged at the two ends of the high-pressure water spray rod (830) are arranged in an inclined manner, and when the water spray heads (850) spray high-pressure water, the high-pressure water spray rod (830) is driven to rotate around the connecting shaft (840); The outer edge of the cleaning disc (810) is further provided with a soft rubber sheet (860), and the soft rubber sheet (860) is located on the outer side of the brush (820) and surrounds the brush (820); The top surface of the cleaning disc (810) is also provided with a water suction port (870), and the water suction port (870) of the cleaning disc (810) is connected to the sewage suction mechanism (700) through a pipeline; Wherein, a pressure sensor (560) is provided on the second mounting frame (540).

4. The dredging device for hydraulic structures according to claim 1, characterized in that: When dredging is performed, the dredging mechanism (600) is connected to an end of the second front-end mechanical arm (420) that is away from the first front-end mechanical arm (410).

5. The dredging device for hydraulic structures according to claim 4, characterized in that: The dredging mechanism (600) comprises a dredging component (610) and a slurry pump (620); the slurry pump (620) is installed on the dredging component (610), and the slurry pump (620) is connected to a sewage discharge pipe (630); When desilting and sewage discharge is performed, the desilting assembly (610) is installed at one end of the second front-end mechanical arm (420), the second front-end mechanical arm (420) drives the desilting assembly (610) to complete desilting, and the slurry pump (620) completes sewage discharge.

6. The dredging device for hydraulic structures according to claim 5, characterized in that: The dredging assembly (610) comprises a dredging housing (611), a driving assembly (612) and a spiral blade (613); The dredging shell (611) has an open surface, and the driving assembly (612) is installed on one of the adjacent surfaces of the open surface of the dredging shell (611); The spiral blade (613) is installed inside the dredging shell (611), and a portion of the spiral blade (613) extends out of the opening surface of the dredging shell (611). The spiral blade (613) is connected to the driving component (612) and is driven by the driving component (612) to perform dredging. The opening surface of the dredging shell (611) is provided with an inclined shielding plate (6111); A sewage suction port (6112) is provided on the surface opposite to the opening surface of the dredging shell (611), and the slurry pump (620) is installed on the surface opposite to the opening surface of the dredging shell (611), and the slurry pump (620) is in communication with the sewage suction port (6112); One end of the second front-end mechanical arm (420) is connected and fixed to the outer side surface of the dredging housing (611).

7. The dredging device for hydraulic structures according to claim 4, characterized in that: A plurality of the water absorption components (720) are connected to the sewage discharge mechanism (300) via pipelines; A spring floating assembly (730) is provided between the water absorption assembly (720) and the first installation frame (710), and between the high-pressure cleaning assembly (800) and the first installation frame (710); the water absorption assembly (720) and the high-pressure cleaning assembly (800) are connected to the first installation frame (710) via the spring floating assembly (730).

8. The dredging device for hydraulic structures according to claim 7, characterized in that: A single high-pressure cleaning assembly (800) installed in a high-pressure cleaning area comprises a cleaning disc (810), a brush (820) and a high-pressure water spray rod (830); The top surface of the cleaning disc (810) is connected to the first mounting frame (710) via a spring floating assembly (730); The brush (820) is arranged on the outer edge of the cleaning disc (810); A connecting shaft (840) is arranged in the middle of the cleaning disc (810), and the high-pressure water spraying rod (830) is connected to the cleaning disc (810) via the connecting shaft (840). Both ends of the high-pressure water spraying rod (830) have water spraying heads (850) arranged toward the ground. The water outlet surfaces of the water spray heads (850) arranged at both ends of the high-pressure water spray rod (830) are arranged in an inclined manner, and when the water spray heads (850) spray high-pressure water, the high-pressure water spray rod (830) is driven to rotate around the connecting shaft (840).

9. The dredging device for a hydraulic structure according to claim 1, characterized in that: The distance measuring mechanism (900) comprises a plurality of laser distance measuring sensors installed at the front end of the traveling direction of the walking mechanism (100).

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