Adaptive drainage and water supply device, robot and working method

Abstract

The present invention belongs to the technical field of drainage equipment, and relates to an adaptive drainage and water supply device, a robot and a working method, including a drainage device for drainage or water supply; a pipeline assembly for diversion and connection; a flow transmission device, including a flow transmission fixed cavity, a flow transmission transition cavity and a flow transmission active cavity connected in sequence; a variable pitch module, used to adjust the height of the water inlet assembly from the ground, one end of the variable pitch module is fixedly connected to the flow transmission fixed cavity, and the other end is connected to the flow transmission active cavity, driving the flow transmission active cavity to rise and fall. The variable pitch module and the flow transmission device ensure the normal transmission of the fluid in the rigid pipe during the horizontal height adjustment of the water inlet assembly, and improve the obstacle crossing and passing performance of the chassis during drainage and water supply operations. The horizontal offset swing angle of the water inlet assembly can be automatically adjusted according to the needs of the operation site to realize the flexible cascade linkage operation of multiple robots, and improve the use scope of drainage and water supply and delivery and the efficiency of formation operations.

Description

Technical Field

[0001] The present invention belongs to the technical field of waterlogging drainage equipment, and in particular relates to an adaptive waterlogging drainage and water supply device, a robot and a working method. Background Art

[0002] Traditional drainage methods are inefficient and difficult to cope with sudden rainstorms and waterlogging problems, so drainage robots came into being. They drive water pumps to pump water and change positions to keep the pump body in the waterlogged area to achieve drainage, greatly improving the efficiency and safety of drainage operations.

[0003] Most existing drainage robots are equipped with water pumps at the bottom or inside of the carrier, and the water pump inlet pipe is arranged at the rear end of the chassis of the vehicle body. The height of the pump body and the water inlet pipe is fixed from the ground, such as the amphibious fire-fighting water supply and drainage robot disclosed in the invention patent with application publication number CN110886380 A and the large-flow fire-fighting water supply and drainage robot disclosed in the invention patent with application publication number CN118182663 A. Since the distance between the water inlet pipe and the ground is fixed, in order to improve the thoroughness of the drainage of accumulated water, the water inlet pipe of the pump body needs to be lowered as much as possible. However, since the height of the water inlet pipe from the ground is small and the height cannot be changed, the vehicle body will run aground when moving on non-structural ground and entering and exiting the ground with a slope, which brings higher requirements to the ground working conditions when draining water. Therefore, a technical solution with the ability to adjust the angle of the water inlet pipe has emerged, and typical ones include a device for a hydraulic submersible pump that can be raised and lowered disclosed in the utility model patent with authorization announcement number CN216638802U, and a drainage robot and its chassis structure disclosed in the invention patent with application publication number CN116575553 A. However, this type of technology is an articulated solution, which requires fixing one end of the inside of the water inlet pipe. Although the height of the water inlet pipe can be reduced to a certain extent by unidirectionally changing the lifting of the outer end of the water inlet pipe, it is necessary to sacrifice the direction angle of the water inlet pipe and require the pump body connecting fittings to be hinged or flexible, which increases the sealing requirements and pressure resistance of the pump body fittings; and when the water inlet pipe is cascaded to the outside of the pipe or a robot is formed in formation, the water inlet pipe cannot be placed horizontally or adjusted to the left and right swing angles, making it difficult or even impossible to achieve linkage or series position adjustment during operation when multiple robots are cascaded or formed in a system. Summary of the invention

[0004] The purpose of the present invention is to provide an adaptive drainage and water supply device which can not only adjust the horizontal height of the water inlet component, but also ensure the normal transmission of the fluid in the rigid pipe, and can also adjust the horizontal offset angle of the water inlet component.

[0005] The technical solution adopted by the present invention to solve the technical problem is: an adaptive flood drainage and water supply device, comprising:

[0006] Drainage devices, used for drainage or water supply;

[0007] Pipeline components, used for diversion and connection, including water inlet components and water outlet components;

[0008] A flow transmission device, used to adjust the height of the water inlet assembly while realizing the transmission of the fluid in the rigid pipe, comprises a flow transmission fixed chamber, a flow transmission transition chamber and a flow transmission movable chamber which are connected in sequence, one end of the flow transmission movable chamber is connected to the water inlet assembly, the flow transmission movable chamber drives the water inlet assembly to swing horizontally, the other end of the flow transmission movable chamber is rotatably connected to one end of the flow transmission transition chamber, the flow transmission transition chamber can be extended and retracted, the other end of the flow transmission transition chamber is rotatably connected to one end of the flow transmission fixed chamber, and the other end of the flow transmission fixed chamber is connected to the water outlet assembly through a drainage device;

[0009] The variable pitch module is used to adjust the height of the water inlet assembly from the ground. One end of the variable pitch module is fixedly connected to the fixed flow transmission cavity, and the other end is connected to the movable flow transmission cavity to drive the movable flow transmission cavity to rise and fall.

[0010] Furthermore, the flow-transmitting fixed cavity comprises a first fixed cavity and a second fixed cavity which are interconnected, two sides of the second fixed cavity are pivotally connected to a group of flow-transmitting transition cavities, and an end of the first fixed cavity is connected to the water outlet assembly;

[0011] The flow-transmitting active chamber comprises a first active chamber, a second active chamber and a swing angle pivot mechanism, the first active chamber is rotatably connected to the top and bottom of the second active chamber through the swing angle pivot mechanism, and the tops of the first active chamber and the second active chamber are communicated with each other, the end of the first active chamber is connected to the water inlet assembly, and both sides of the second active chamber are pivotally connected to a group of flow-transmitting transition chambers;

[0012] There are two groups of flow-transmitting transition cavities, which are arranged symmetrically on the left and right. Each group of flow-transmitting transition cavities includes a first transition tube cavity and a second transition tube cavity slidably sleeved in one end of the first transition tube cavity. The other ends of the two groups of first transition tube cavities are rotatably connected to the two sides of the second fixed cavity through tube cavity bearings, and the other ends of the two groups of second transition tube cavities are rotatably connected to the two sides of the second movable cavity through tube cavity bearings.

[0013] As a preferred scheme, the swing angle pivot mechanism includes a pivot base, a pivot tensioning flange, a second pivot bearing and a pivot sealing ring. The top of the second active cavity is connected to the upper part of the first active cavity, and the top of the second active cavity is rotatably connected to the first active cavity through the second pivot bearing. A pivot sealing ring is provided between the second active cavity and the first active cavity. The pivot base is fixedly connected to the bottom of the first active cavity and the pivot base is located below the second active cavity. A pivot flange is provided between the pivot base and the second active cavity. A first pivot bearing is provided between the pivot flange and the second active cavity. The second active cavity rotates relative to the pivot flange. A pivot tensioning flange is provided at the center of the pivot flange. The pivot tensioning flange is located between the second active cavity and the pivot base, and the pivot tensioning flange is fixedly installed on the bottom of the second active cavity by bolts. The pivot tensioning flange is used to limit the upper and lower positions of the second active cavity.

[0014] Furthermore, the variable pitch module includes a base, a driving module, a flip-translation mechanism, a parallel guide mechanism and a connecting rod mechanism. The base is fixedly installed on the top of the flow transmission fixed cavity, one end of the base is hingedly connected to the driving module, the output end of the driving module is fixedly connected to the flip-translation mechanism, the flip-translation mechanism is installed at the other end of the base, and a parallel guide mechanism is connected between the flip-translation mechanism and the base. The bottom of the flip-translation mechanism is fixedly connected to the flow transmission active cavity through a connecting rod mechanism. The driving module moves to drive the flip-translation mechanism to move up and down along the parallel guide mechanism, and then drives the flow transmission active cavity to rise and fall through the connecting rod mechanism to achieve the height adjustment of the water inlet assembly. When the water inlet assembly is in a low position, the pumping function of the lower water level can be realized; when the rear end of the water inlet assembly is connected to other water inlet pipes or drainage robots, the center of mass height of the overall fluid in the rear pipeline can be reduced to ensure the stability of the robot; in addition, when the robot is draining or delivering water, the lowering of the water inlet assembly can also ensure the stability of the rear pipeline when dragging.

[0015] Furthermore, the flipping and translation mechanism includes a ball head, a flip frame, and a flip base. The flip base is fixedly installed on the base, and the bottom of the flip frame is hingedly connected to the flip base. The top of the flip frame at one end away from the driving module is hingedly connected to one end of the ball head, and the other end of the ball head is fixedly connected to the output end of the driving module. Two groups of translation guide seats are symmetrically arranged on both sides of the flip frame, and the bottom of each group of translation guide seats is fixedly connected to the corresponding flow transmission activity cavity below through a group of connecting rod mechanisms. A track seat base is installed on each group of translation guide seats, and a guide track seat is installed on the track seat base. A guide wheel system that cooperates with sliding is provided on the guide track seat. The two groups of guide wheel systems are symmetrically installed on the top of one end of the flip frame close to the driving module. When the driving module moves, it drives the flip frame to rotate with the hinge point at the bottom of the flip frame as the center, thereby driving the translation guide seat to rise and fall, and driving the flow transmission activity cavity to rise and fall through the connecting rod mechanism.

[0016] Furthermore, the parallel guide mechanism is provided with two groups, which are arranged symmetrically on the left and right. Each group of parallel guide mechanisms includes a guide base, a guide movable seat, a guide shaft and a cross synchronization rod. The guide base is fixedly mounted on the base, and two groups of guide shafts are installed on the guide base. The guide movable seat is located above the guide base, and the guide movable seat is fixedly mounted on the bottom of the translation guide seat. The guide movable seat and the translation guide seat are sleeved on the guide shaft and can slide up and down along the guide shaft. A cross synchronization rod is connected between the guide movable seat and the guide base. When the translation guide seat is raised or lowered, the guide movable seat is driven to rise or fall along the guide shaft, and the cross synchronization rod slides and retracts synchronously.

[0017] Furthermore, the base includes a horizontally arranged first base, the bottom of the first base is fixedly installed on the top of the flow transfer fixed cavity, a second stopper is fixedly installed on one end of the first base, a third hinge seat is fixedly installed on the side wall of the second stopper, the driving module includes a cylinder body and a connecting rod, the output end of the cylinder body is fixedly connected to the ball head through the connecting rod, a cylinder seat is installed at the rear end of the cylinder body, the cylinder seat is hingedly connected to the third hinge seat, the flip base and the guide base are fixedly installed on the other end of the first base, and the two groups of guide bases are placed on both sides of the flip base.

[0018] Furthermore, the water inlet assembly is provided with two sets, each set of water inlet assembly comprises a water inlet pipe, a water inlet joint, a water inlet flange and a water inlet faucet. One end of the water inlet pipe is connected to the first active cavity through the water inlet joint and the water inlet flange, and the other end is connected to the water inlet faucet. The water inlet faucet is used for drainage or cascading with other drainage and water supply devices.

[0019] There are two sets of water outlet components, each set of water outlet components includes a water outlet pipe, a first water outlet joint, a water outlet flange and a second water outlet joint. There are two sets of drainage devices, and the input end of each set of drainage devices is connected to the first fixed cavity through the first water outlet joint and the water outlet flange, and the output end of the drainage device is connected to the external pipeline through the water outlet pipe and the second water outlet joint or cascaded with other drainage and water supply devices.

[0020] The present invention also provides a flood drainage and water supply robot, comprising: the above-mentioned adaptive flood drainage and water supply device, and a carrier;

[0021] The carrier includes a robot body, a power component installed inside the robot body, and a wheel train component installed on both sides of the robot body; the adaptive drainage and water supply device is installed at the bottom of the robot body, and the power component is used to drive the wheel train component to drive the robot body to move, thereby realizing the spatial orientation change of the adaptive drainage and water supply device.

[0022] The drainage and water supply robot of the present invention can realize the absorption, transmission and discharge of water or other fluid substances, and can also realize the transfer function, and supply and deliver flow to the front-end equipment or target point.

[0023] The present invention also provides a working method of the robot, comprising the following steps:

[0024] (1) Drainage and water supply operation methods:

[0025] The carrier is equipped with the adaptive flood drainage and water supply device and moves to the working area. The drainage device is started, and the water flows from the water inlet component through the flow transfer active cavity in the flow transfer device into the flow transfer transition cavity, reaches the flow transfer fixed cavity, and is finally discharged from the water outlet component;

[0026] (2) Horizontal lifting and lowering adjustment of water inlet components:

[0027] a. The carrier carrying the adaptive flood drainage and water supply device moves to the working area, the cylinder body moves, the output end of the cylinder body drives the connecting rod to extend, and pushes the flip frame to rotate around the hinge point between the bottom of the flip frame and the flip base through the ball head, and the end of the top of the flip frame away from the driving module rotates forward and downward, thereby driving the end of the top of the flip frame close to the driving module to rotate forward and upward, and then drives the translation guide seat and the guide movable seat to slide upward along the guide axis. At the same time, the guide wheel system slides in the guide track seat in the direction away from the driving module and plays a limiting support role. The translation guide seat drives the flow transmission active cavity to rise through the connecting rod mechanism, thereby driving the water inlet assembly to rise horizontally and raise the gap height between the water inlet assembly and the ground; during the rising process of the flow transmission active cavity, the second transition tube cavity and the second active cavity rotate with the movement, the first transition tube cavity and the second fixed cavity rotate with the movement, and the second transition tube cavity slides and retracts with the movement in the first transition tube cavity;

[0028] b. The cylinder body moves in the reverse direction, and the output end of the cylinder body drives the connecting rod to retract, and pulls the flip frame to rotate around the hinge point between the bottom of the flip frame and the flip base through the ball head, and the end of the top of the flip frame away from the driving module rotates backward and upward, thereby driving the end of the top of the flip frame close to the driving module to rotate backward and downward, and then drives the translation guide seat and the guide movable seat to slide downward along the guide shaft. At the same time, the guide wheel system slides in the guide track seat toward the driving module, and the translation guide seat drives the flow transfer active cavity to descend through the connecting rod mechanism, thereby driving the water inlet assembly to descend horizontally; during the descent of the flow transfer active cavity, the second transition tube cavity and the second active cavity rotate with the movement, the first transition tube cavity and the second fixed cavity rotate with the movement, and the second transition tube cavity slides and extends out in the first transition tube cavity;

[0029] (3) Horizontal swing adjustment of water inlet assembly:

[0030] During the process of the water inlet assembly being used for flood drainage or being cascaded with other flood drainage and water supply devices, when the water inlet assembly needs to adjust its swing angle, according to the needs of the work site, the first movable cavity drives the water inlet assembly to automatically rotate horizontally under the action of the first pivot bearing and the second pivot bearing, thereby realizing the horizontal swing angle adjustment of the water inlet assembly.

[0031] The present invention has the following beneficial effects:

[0032] The adaptive drainage and water supply device of the present invention adjusts the horizontal height of the water inlet component through a variable distance module, and ensures the normal transmission of the fluid in the rigid pipe during the horizontal height adjustment of the water inlet component through a flow transmission device. The height of the water inlet pipe from the ground can be flexibly changed according to the usage scenario, and the flow transmission device can also drive the water inlet component to adjust the horizontal offset angle to adapt to different drainage terrains and water supply operation environments, thereby improving the drainage accuracy and the stability and applicability of the operation.

[0033] The adaptive drainage and water supply robot of the present invention can not only adaptively level and raise and lower the water inlet component under uneven working conditions, but also automatically adjust the horizontal offset swing angle of the water inlet component according to the needs of the working site. Multiple robots can also work in cascade without sacrificing the direction angle of the water inlet pipe, ensuring that the robot can relatively flexibly change and link its position when connecting the intermediate transmission pipeline, thereby improving the flexibility and efficiency of drainage and water supply operations and expanding the scope of application of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a stereoscopic diagram of the overall structure of the adaptive flood drainage and water supply device of the present invention.

[0035] Figure 2 It is a front view of the adaptive flood drainage and water supply device of the present invention.

[0036] Figure 3 It is a left view of the adaptive flood drainage and water supply device of the present invention.

[0037] Figure 4 The present invention Figure 3 AA section view.

[0038] Figure 5 It is a stereoscopic diagram of the overall structure of the variable distance module of the adaptive flood drainage and water supply device of the present invention.

[0039] Figure 6 It is a front view of the variable distance module of the adaptive flood drainage and water supply device of the present invention.

[0040] Figure 7 It is a right view of the variable distance module of the adaptive flood drainage and water supply device of the present invention.

[0041] Figure 8 The present invention Figure 7 Middle BB section view.

[0042] Fig. 9 It is a bottom view of the variable distance module of the adaptive flood drainage and water supply device of the present invention.

[0043] Fig.10 The present invention Fig. 9 CC section view.

[0044] Fig.11 It is a stereoscopic diagram of the overall structure of the variable distance module of the adaptive flood drainage and water supply device of the present invention when it is in the lowest working condition.

[0045] Fig.12 It is a front view of the variable distance module of the adaptive flood drainage and water supply device of the present invention when it is in the lowest working condition.

[0046] Fig.13 It is a stereoscopic diagram of the overall structure of the flow transfer device of the adaptive flood drainage and water supply device of the present invention.

[0047] Fig.14 It is a front view of the flow transmission device of the adaptive flood drainage and water supply device of the present invention.

[0048] Fig.15 The present invention Fig.14 Middle DD section view.

[0049] Fig.16 It is a left view of the flow transfer device of the adaptive flood drainage and water supply device of the present invention.

[0050] Fig.17 The present invention Fig.16 EE section view.

[0051] Fig.18 The present invention Fig.17 Enlarged view of the local structure at point F in the middle.

[0052] Fig.19 It is a bottom view of the flow transmission device of the adaptive flood drainage and water supply device of the present invention.

[0053] Fig. 20 It is a stereoscopic diagram of the overall structure when the flow transfer device of the adaptive flood drainage and water supply device of the present invention is located in the uppermost working condition.

[0054] Fig.21 It is a cross-sectional view with a partition when the flow transfer device of the adaptive flood drainage and water supply device of the present invention is located in the lowest working condition.

[0055] Fig. 22 It is a front view of the adaptive flood drainage and water supply device of the present invention when the water inlet component is in the uppermost working condition.

[0056] Fig.23 It is a front view of the adaptive flood drainage and water supply device of the present invention when the water inlet component is in the lowest working condition.

[0057] Fig.24 It is a front view of the adaptive flood drainage and water supply device of the present invention when the water inlet component is located in the lowest working condition and offset.

[0058] Fig.25 It is a three-dimensional diagram of the robot of the present invention when the water inlet component is located in the uppermost working condition.

[0059] Fig.26 It is a three-dimensional diagram of the robot of the present invention when the water inlet component is in the lowest working condition.

[0060] Fig. 27 It is a three-dimensional diagram of the robot of the present invention when the water inlet component is located in the lowest working condition and offset.

[0061] In the figure, 100, carrier, 200, drainage device, 300, variable pitch module, 400, flow transfer device, 500, pipeline assembly;

[0062] 110. robot body, 120. power assembly, 130. gear train assembly;

[0063] 310, base, 320, driving module, 330, flipping and translation mechanism, 340, parallel guide mechanism, 350, connecting rod mechanism, 360, sheath device;

[0064] 311, first base, 312, second stop seat, 313, third hinge seat;

[0065] 321, cylinder body, 322, connecting rod, 323, cylinder seat;

[0066] 331, ball head, 332, flip frame, 333, flip base, 334, shaft system, 335, translation guide seat, 336, guide track seat, 337, track seat base, 338, guide wheel system, 339, distance sensor;

[0067] 3341, a first flip axis, 3342, a second flip axis, 3343, a third flip axis;

[0068] 3351, seat body, 3352, guide groove;

[0069] 3381, a first guide bearing, 3382, a second guide bearing, 3383, a washer;

[0070] 341. guide base, 342. guide movable seat, 343. guide shaft, 344. cross synchronization rod, 345. shaft, 346. bearing, 347. sliding guide seat;

[0071] 3411, a first through slot, 3412, a second notch, 3413, a third notch;

[0072] 3451, fixed axis, 3452, translation axis, 3453, hinge axis;

[0073] 351, first fixed seat, 352, connecting rod, 353, second fixed seat;

[0074] 410, fixed flow transfer cavity, 420, movable flow transfer cavity, 430, transition flow transfer cavity;

[0075] 411, first fixed cavity, 412, second fixed cavity;

[0076] 4121, partition;

[0077] 421, first active cavity, 422, second active cavity, 423, swing angle pivot mechanism;

[0078] 4231, pivot base, 4232, pivot flange, 4233, first pivot bearing, 4234, pivot tensioning flange, 4235, second pivot bearing; 4236, pivot sealing ring;

[0079] 431, first transition lumen, 432, second transition lumen, 433, lumen bearing, 434, lumen sealing ring;

[0080] 510, water inlet assembly, 520, water outlet assembly;

[0081] 511, water inlet pipe, 512, water inlet joint, 513, water inlet flange, 514, water inlet faucet;

[0082] 521, water outlet pipe, 522, first water outlet joint, 523, water outlet flange, 524, second water outlet joint. DETAILED DESCRIPTION

[0083] The following are specific embodiments of the present invention, which further describe the technical solution of the present invention, but the protection scope of the present invention is not limited to these embodiments. Any changes or equivalent substitutions that do not deviate from the concept of the present invention are included in the protection scope of the present invention. Embodiment 1

[0084] like Figure 1 , Figure 2 , Fig.13 As shown, this embodiment provides an adaptive flood drainage and water supply device, comprising:

[0085] The drainage device 200 is used for drainage or water supply. The drainage device 200 can be a water pump, a propeller, etc., and its function is to promote the flow and transmission of fluid;

[0086] Pipeline assembly 500, used for diversion and connection, including water inlet assembly 510 and water outlet assembly 520;

[0087] The flow transmission device 400 is used to adjust the height of the water inlet assembly 510 while realizing the transmission of the fluid in the rigid pipe, and includes a flow transmission fixed chamber 410, a flow transmission transition chamber 430 and a flow transmission movable chamber 420 which are connected in sequence. One end of the flow transmission movable chamber 420 is connected to the water inlet assembly 510, and the flow transmission movable chamber 420 drives the water inlet assembly 510 to swing horizontally. The other end of the flow transmission movable chamber 420 is rotatably connected to one end of the flow transmission transition chamber 430. The flow transmission transition chamber 430 can be extended and retracted. The other end of the flow transmission transition chamber 430 is rotatably connected to one end of the flow transmission fixed chamber 410. The other end of the flow transmission fixed chamber 410 is connected to the water outlet assembly 520 through the drainage device 200.

[0088] The variable pitch module 300 is used to adjust the height of the water inlet assembly 510 from the ground. One end of the variable pitch module 300 is fixedly connected to the fixed flow transmission chamber 410, and the other end is connected to the movable flow transmission chamber 420, driving the movable flow transmission chamber 420 to rise and fall, thereby driving the water inlet assembly 510 to rise and fall.

[0089] like Figure 13-Figure 15 As shown, the flow-transmitting fixed cavity 410 includes a first fixed cavity 411 and a second fixed cavity 412 which are interconnected. Both sides of the second fixed cavity 412 are pivotally connected to a group of flow-transmitting transition cavities 430 . The end of the first fixed cavity 411 is connected to the water outlet assembly 520 .

[0090] like Fig.19 As shown, the flow-transmitting active chamber 420 includes a first active chamber 421, a second active chamber 422 and a swing angle pivot mechanism 423. The first active chamber 421 is rotatably connected to the top and bottom of the second active chamber 422 through the swing angle pivot mechanism 423, and the tops of the first active chamber 421 and the second active chamber 422 are interconnected. The end of the first active chamber 421 is connected to the water inlet assembly 510, and a group of flow-transmitting transition chambers 430 are pivotally connected to each other on both sides of the second active chamber 422.

[0091] like Fig.15 , Fig. 20 As shown, two groups of flow-transmitting transition cavities 430 are provided, which are arranged symmetrically on the left and right. Each group of flow-transmitting transition cavities 430 includes a first transition tube cavity 431 and a second transition tube cavity 432 slidably sleeved in one end of the first transition tube cavity 431. The other ends of the two groups of first transition tube cavities 431 are rotatably connected to the two sides of the second fixed cavity 412 through tube cavity bearings 433, and the other ends of the two groups of second transition tube cavities 432 are rotatably connected to the two sides of the second movable cavity 422 through tube cavity bearings 433.

[0092] As an embodiment, in order to save costs or reduce the space volume occupied by the drainage and water supply device, a group of flow transfer transition chambers 430 can also be provided to achieve the same flow transfer function.

[0093] To improve the sealing of the device, Fig.15 As shown, both ends of the second transition lumen 432 and one end where the first transition lumen 431 is connected to the second fixed lumen 412 are provided with lumen sealing rings 434 .

[0094] As another alternative embodiment, the lumen sealing ring 434 may also be other mechanical seals, oil seals or a combination of the two.

[0095] In a preferred embodiment of the present invention, Fig.21As shown, in order to avoid the loss of flow and velocity caused by the impact of the fluids in the two groups of first transition cavities 431 when entering the second fixed cavity 412, a partition 4121 is longitudinally provided in the second fixed cavity 412. After the fluids in the two groups of first transition cavities 431 enter the second fixed cavity 412, they flow into the first fixed cavity 411 through the cavities on both sides of the partition 4121 respectively.

[0096] As a preferred solution, Figure 16-18 As shown, the swing angle pivot mechanism 423 includes a pivot base 4231, a pivot tensioning flange 4234, a second pivot bearing 4235 and a pivot sealing ring 4236, the top of the second active cavity 422 is connected to the upper part of the first active cavity 421, and the top of the second active cavity 422 is rotatably connected to the first active cavity 421 through the second pivot bearing 4235, and a pivot sealing ring 4236 is provided between the second active cavity 422 and the first active cavity 421. The pivot base 4231 is fixedly connected to the bottom of the first movable cavity 421 and the pivot base 4231 is located below the second movable cavity 422. A pivot flange 4232 is provided between the pivot base 4231 and the second movable cavity 422. The pivot base 4231 and the pivot flange 4232 are fastened together by bolts. A first pivot bearing 4233 is provided between the pivot flange 4232 and the second movable cavity 422. The second movable cavity 422 rotates relative to the pivot flange 4232. A pivot tensioning flange 4234 is provided at the center of the pivot flange 4232. The pivot tensioning flange 4234 is located between the second movable cavity 422 and the pivot base 4231, and the pivot tensioning flange 4234 is fixedly installed on the bottom of the second movable cavity 422 by bolts. The pivot tensioning flange 4234 is used to limit the upper and lower positions of the second movable cavity 422.

[0097] like Figure 2 As shown, the variable pitch module 300 includes a base 310, a driving module 320, a flip-translation mechanism 330, a parallel guide mechanism 340 and a connecting rod mechanism 350. The base 310 is fixedly installed on the top of the flow transmission fixed cavity 410. One end of the base 310 is hingedly connected to the driving module 320. The output end of the driving module 320 is fixedly connected to the flip-translation mechanism 330. The flip-translation mechanism 330 is installed at the other end of the base 310, and a parallel guide mechanism 340 is connected between the flip-translation mechanism 330 and the base 310. The bottom of the flip-translation mechanism 330 is fixedly connected to the flow transmission active cavity 420 through the connecting rod mechanism 350. The driving module 320 is actuated to drive the flip-translation mechanism 330 to move up and down along the parallel guide mechanism 340, and then the flow transmission active cavity 420 is driven to rise and fall through the connecting rod mechanism 350, so as to realize the height adjustment of the water inlet assembly 510.

[0098] When the water inlet assembly 510 is at a low position, it can realize the function of pumping water to a lower water level; when the rear end of the water inlet assembly 510 is connected to other water inlet pipes or a drainage robot, the center of mass height of the entire fluid in the rear pipeline can be reduced to ensure the stability of the robot; in addition, when the robot is draining or delivering water, the lowering of the water inlet assembly 510 can also ensure the stability of the rear pipeline when dragging. The drive module 320 can be, but is not limited to, a cylinder, a hydraulic cylinder, a linear motor and a slide structure, and its purpose is to achieve displacement drive.

[0099] like Figure 5-Figure 12 As shown, the flip translation mechanism 330 includes a ball head 331, a flip frame 332, and a flip base 333. The flip base 333 is fixedly installed on the base 310. The bottom of the flip frame 332 is hingedly connected to the flip base 333. The top of the flip frame 332 at one end away from the driving module 320 is hingedly connected to one end of the ball head 331. The other end of the ball head 331 is fixedly connected to the output end of the driving module 320. Two groups of translation guide seats 335 are symmetrically arranged on both sides of the flip frame 332. The bottom of each group of translation guide seats 335 is connected to the corresponding flow transfer activity below through a group of connecting rod mechanisms 350. The second movable cavity 422 of the movable cavity 420 is fixedly connected, and a track seat base 337 is installed on each set of translation guide seats 335, and a guide track seat 336 is installed on the track seat base 337. A guide wheel system 338 for sliding cooperation is provided on the guide track seat 336. The two sets of guide wheel systems 338 are symmetrically installed on the top of the flip frame 332 at one end close to the driving module 320. When the driving module 320 is actuated, the flip frame 332 is driven to rotate with the hinge point at the bottom of the flip frame 332 as the center, thereby driving the translation guide seat 335 to rise and fall, and driving the flow transmission movable cavity 420 to rise and fall through the connecting rod mechanism 350.

[0100] In a preferred embodiment of the present invention, Figure 5 As shown, the flip frame 332 is hingedly connected to other components through the shaft system 334. Specifically, the shaft system 334 includes a first flip shaft 3341, a second flip shaft 3342 and a third flip shaft 3343. The bottom of the flip frame 332 is hingedly connected to the flip base 333 through the second flip shaft 3342, the top of the flip frame 332 at one end away from the driving module 320 is hingedly connected to one end of the ball head 331 through the first flip shaft 3341, and the top of the flip frame 332 at one end close to the driving module 320 is hingedly connected to the guide wheel system 338 through the third flip shaft 3343.

[0101] In a preferred embodiment of the present invention, Figure 6-Figure 8As shown, each group of translation guide seats 335 includes a seat body 3351 and a guide groove 3352 transversely opened on the seat body 3351. The bottom of the seat body 3351 is fixedly connected to the guide movable seat 342. The section of the guide groove 3352 close to the driving module 320 is arc-shaped, and the section away from the driving module 320 is horizontal, so as to facilitate the support of the guide wheel system 338. The guide wheel system 338 includes a first guide bearing 3381, a second guide bearing 3382 and a washer 3383. The first guide bearing 3381, the second guide bearing 3382 and the washer 3383 are all mounted on the third flip shaft 3343. The first guide bearing 3381 is located in the guide groove 3352 and slides in cooperation with the guide groove 3352. The second guide bearing 3382 is located on the guide rail seat 336 and slides along the guide rail seat 336. A washer 3383 is provided between the second guide bearing 3382 and the top of the flip frame 332 at one end close to the driving module 320.

[0102] Furthermore, the first guide bearing 3381 and the second guide bearing 3382 may also be pulleys.

[0103] like Figure 2-Figure 4 As shown, the link mechanism 350 includes a vertically arranged link rod 352 and a first fixing seat 351 and a second fixing seat 353 fixed to both ends of the link rod 352. The top of the link rod 352 is fixedly mounted on the bottom of the translation guide seat 335 through the first fixing seat 351, and the bottom of the link rod 352 is fixedly mounted on the side wall of the second active cavity 422 through the second fixing seat 353. The translation guide seat 335 is raised and lowered, and the second active cavity 422 and the first active cavity 421 are driven to rise and fall through the link rod 352.

[0104] In a preferred embodiment of the present invention, Figure 5 As shown, a distance sensor 339 is disposed on the upper end surface of the flip base 333 and the front end surface of the flip frame 332 away from the driving module 320 to monitor the rotation position of the flip frame 332 in real time.

[0105] like Figure 8-Figure 11As shown, the parallel guide mechanism 340 is provided with two groups, which are arranged symmetrically on the left and right. Each group of parallel guide mechanisms 340 includes a guide base 341, a guide movable seat 342, a guide shaft 343 and a cross synchronization rod 344. The guide base 341 is fixedly installed on the base 310. Two groups of guide shafts 343 are installed on the guide base 341. The guide movable seat 342 is located above the guide base 341, and the guide movable seat 342 is fixedly installed on the bottom of the translation guide seat 335. The guide movable seat 342 and the translation guide seat 335 are sleeved on the guide shaft 343 and can slide up and down along the guide shaft 343. A cross synchronization rod 344 is connected between the guide movable seat 342 and the guide base 341. When the translation guide seat 335 is raised or lowered, it drives the guide movable seat 342 to rise or fall along the guide shaft 343, and the cross synchronization rod 344 slides and retracts synchronously.

[0106] In a preferred embodiment of the present invention, Figure 5-Figure 8 As shown, each group of cross synchronization rods 344 includes two sets of X-shaped cross rods, and the two sets of cross rods are symmetrically arranged on both sides of the guide base 341 and the guide movable seat 342. An axis 345 is connected between the two sets of cross rods. The axis 345 specifically includes a fixed axis 3451, a translation axis 3452 and a hinge axis 3453. The middle parts of the two sets of cross rods are hingedly connected by the hinge axis 3453. The left ends of the X-shape of the two sets of cross rods are fixedly hingedly connected to the guide movable seat 342 and the guide base 341 through the fixed axis 3451, and the right ends of the X-shape of the two sets of cross rods are movably hingedly connected through the translation axis 3452. The ends of the fixed axis 3451, the translation axis 3452 and the hinge axis 3453 are all provided with bearings 346 to realize the hinged rotation of the cross synchronization rod 344.

[0107] The guide base 341 and the guide movable seat 342 are symmetrical in structure. Both the guide base 341 and the guide movable seat 342 are provided with a first through groove 3411 for the translation shaft 3452 to pass through. The translation shaft 3452 can slide in the first through groove 3411. A second notch 3412 is provided on the outer side of the first through groove 3411. The bearing 346 at the end of the translation shaft 3452 slides in the second notch 3412. The guide base 341 and the guide movable seat 342 are provided with a third notch 3413 on the adjacent end surfaces. The two third notches 3413 correspond to the position and size of the hinge shaft 3453. When the guide movable seat 342 descends to contact with the guide base 341, the hinge shaft 3453 is located in the cavity surrounded by the two third notches 3413.

[0108] In a preferred embodiment of the present invention, Figure 8 As shown, a sliding guide seat 347 is provided at the bottom of the guide movable seat 342, and the guide movable seat 342 is slidably sleeved on the guide shaft 343 through the sliding guide seat 347, and the sliding guide seat 347 plays a role of limiting guidance.

[0109] In a preferred embodiment of the present invention, Figure 2 As shown, each set of translation guide seat 335 is provided with two sets of sleeve devices 360 to protect the guide shaft 343 and prevent debris from entering the gap around the guide shaft 343. The sleeve device 360 ​​is sleeved on the upper part of the guide shaft 343, and the sleeve device 360 ​​slides up and down along the guide shaft 343 with the translation guide seat 335.

[0110] like Fig.10 , Fig.11 As shown, the base 310 includes a horizontally arranged first base 311, the bottom of the first base 311 is fixedly installed on the top of the flow transfer fixed cavity 410, a second stopper 312 is fixedly installed on one end of the first base 311, and a third hinge seat 313 is fixedly installed on the side wall of the second stopper 312, the driving module 320 includes a cylinder body 321 and a connecting rod 322, the output end of the cylinder body 321 is fixedly connected to the ball head 331 through the connecting rod 322, a cylinder seat 323 is installed at the rear end of the cylinder body 321, and the cylinder seat 323 is hingedly connected to the third hinge seat 313, a flip base 333 and a guide base 341 are fixedly installed on the other end of the first base 311, and two groups of guide bases 341 are arranged on both sides of the flip base 333.

[0111] like Figure 1 , Figure 2 As shown, two sets of water inlet components 510 are provided, each set of water inlet components 510 includes a water inlet pipe 511, a water inlet joint 512, a water inlet flange 513 and a water inlet faucet 514. One end of the water inlet pipe 511 is connected to the first active chamber 421 through the water inlet joint 512 and the water inlet flange 513, and the other end is connected to the water inlet faucet 514. The water inlet faucet 514 is used for flood drainage or cascade with other flood drainage and water supply devices. In order to prevent debris from clogging the pipeline, a filter is provided on the water inlet faucet 514.

[0112] As another embodiment, the water inlet assembly 510 is provided as a set, and through a "Y"-shaped three-way structure, the water inlet pipe 511 is a single-channel structure, which can be used with an external water supply device that only has a single pipe water outlet.

[0113] There are two sets of water outlet components 520, each set of water outlet components 520 includes a water outlet pipe 521, a first water outlet joint 522, a water outlet flange 523 and a second water outlet joint 524, and there are two sets of drainage devices 200. The input end of each set of drainage devices 200 is connected to the first fixed cavity 411 through the first water outlet joint 522 and the water outlet flange 523, and the output end of the drainage device 200 is connected to an external pipeline through the water outlet pipe 521 and the second water outlet joint 524 or cascaded with other drainage and water supply devices.

[0114] The cylinder body 321 moves, and the output end of the cylinder body 321 drives the connecting rod 322 to extend, and pushes the flip frame 332 to rotate around the hinge point between the bottom of the flip frame 332 and the flip base 333 through the ball head 331. The end of the top of the flip frame 332 away from the driving module 320 rotates forward and downward, thereby driving the end of the top of the flip frame 332 close to the driving module 320 to rotate forward and upward, and then drives the translation guide seat 335 and the guide movable seat 342 to slide upward along the guide shaft 343. At the same time, the guide wheel system 338 slides in the guide track seat 336 in the direction away from the driving module 320 and plays a role of limiting support. The translation guide seat 335 drives the flow transfer active chamber 420 to rise through the connecting rod mechanism 350, thereby driving the water inlet assembly 510 to rise horizontally. During the upward movement of the flow transmission active cavity 420, the second transition cavity 432 rotates with the second active cavity 422, the first transition cavity 431 rotates with the second fixed cavity 412, and the second transition cavity 432 slides and retracts in the first transition cavity 431. When the water inlet assembly 510 rises horizontally to the uppermost position, Fig. 22 shown.

[0115] The cylinder body 321 moves in the reverse direction, and the output end of the cylinder body 321 drives the connecting rod 322 to retract, and pulls the flip frame 332 to rotate around the hinge point between the bottom of the flip frame 332 and the flip base 333 through the ball head 331. The end of the top of the flip frame 332 away from the driving module 320 rotates backward and upward, thereby driving the end of the top of the flip frame 332 close to the driving module 320 to rotate backward and downward, thereby driving the translation guide seat 335 and the guide movable seat 342 to slide downward along the guide shaft 343, and at the same time, the guide wheel system 338 slides in the guide track seat 336 in the direction close to the driving module 320, and the translation guide seat 335 drives the flow transfer active chamber 420 to descend through the connecting rod mechanism 350, thereby driving the water inlet assembly 510 to descend horizontally. During the descent of the flow transfer active cavity 420, the second transition cavity 432 rotates with the second active cavity 422, the first transition cavity 431 rotates with the second fixed cavity 412, and the second transition cavity 432 slides and extends out in the first transition cavity 431. When the water inlet assembly 510 is placed horizontally and descends to the lowest position, Fig.23 shown.

[0116] The first movable cavity 421 swings horizontally around the second movable cavity 422 through the swing angle pivot mechanism 423 to realize the horizontal angle deflection of the water inlet assembly 510. When the water inlet assembly 510 is placed horizontally and descends to the lowest position, the state of horizontal swing bias is as shown in FIG. Fig.24 shown. Embodiment 2

[0117] This embodiment provides a robot, including: the adaptive drainage and water supply device provided in the first embodiment, and a carrier 100.

[0118] The carrier 100 includes a robot body 110, a power component 120 installed inside the robot body 110, and a wheel train component 130 installed on both sides of the robot body 110; the adaptive drainage and water supply device is installed at the bottom of the robot body 110, and the power component 120 is used to drive the wheel train component 130 to drive the robot body 110 to move, thereby realizing the spatial orientation change of the adaptive drainage and water supply device.

[0119] The adaptive flood drainage and water supply device is fixedly mounted on the robot body 110 via the first base 311 . To improve the connection stability and firmness, the water outlet pipe 521 and the drainage device 200 may also be fixedly connected to the robot body 110 .

[0120] The specific structure and working principle of the robot body 110, power assembly 120 and wheel train assembly 130 in this embodiment adopt the existing technology, specifically the structure and principle disclosed in the invention patent with application publication number CN115157990A, an amphibious transport chassis and drainage robot, which will not be repeated here.

[0121] A robot equipped with the adaptive drainage and water supply device in the first embodiment is as follows Figure 25-27 As shown, they correspond to the states when the water inlet component is located in the uppermost working condition, the water inlet component is located in the lowermost working condition, and the water inlet component is located in the lowermost working condition and is offset.

[0122] When the drainage or water absorption and water delivery operation is nearing completion, the water inlet assembly 510 is adjusted to the lowest position to absorb the fluid at a lower position.

[0123] When the robot moves in the working area with the drainage and water supply device, the water inlet assembly 510 is adjusted to the highest position to ensure the clearance height between the robot chassis and the ground, thereby improving the adaptability and obstacle-crossing capability to non-structural ground with bumps.

[0124] When the robot carries a drainage and water supply device and other pipes, robots or equipment are cascaded at the rear end, the water inlet component 510 is adjusted to the lowest position or a lower position, which can reduce the center of mass of the fluid in the pipeline between the drainage and water supply robot and other robots or equipment, and improve stability during position movement.

[0125] The drainage and water supply robot of this embodiment can realize the absorption, transmission and discharge of water or other fluid substances, and can also realize the transfer function to supply and deliver flow to the front-end equipment or target points. Embodiment 3

[0126] This embodiment provides a working method of the robot provided in Embodiment 2, comprising the following steps:

[0127] (1) Drainage and water supply operation methods:

[0128] The carrier 100 is equipped with the adaptive flood drainage and water supply device and moves to the working area. The drainage device 200 is started, and the water flows from the water inlet component 510 through the flow transfer active cavity 420 in the flow transfer device 400 into the flow transfer transition cavity 430, reaches the flow transfer fixed cavity 410, and is finally discharged from the water outlet component 520;

[0129] (2) Horizontal lifting and lowering adjustment of the water inlet assembly 510:

[0130] a. The carrier 100 is equipped with the adaptive flood drainage and water supply device and moves to the working area. The cylinder 321 is actuated. The output end of the cylinder 321 drives the connecting rod 322 to extend. The ball head 331 drives the flip frame 332 to rotate around the hinge point between the bottom of the flip frame 332 and the flip base 333. The end of the top of the flip frame 332 away from the driving module 320 rotates forward and downward, thereby driving the end of the top of the flip frame 332 close to the driving module 320 to rotate forward and upward, thereby driving the translation guide seat 335 and the guide movable seat 342 to slide upward along the guide shaft 343. The guide wheel system 338 slides in the guide track seat 336 in a direction away from the driving module 320 and plays a role of limiting support. The translation guide seat 335 drives the flow transmission active cavity 420 to rise through the connecting rod mechanism 350, thereby driving the water inlet assembly 510 to rise horizontally. During the rising process of the flow transmission active cavity 420, the second transition tube cavity 432 and the second active cavity 422 rotate with the movement, the first transition tube cavity 431 and the second fixed cavity 412 rotate with the movement, and the second transition tube cavity 432 slides and retracts with the movement in the first transition tube cavity 431.

[0131] b. The cylinder 321 moves in the reverse direction, and the output end of the cylinder 321 drives the connecting rod 322 to retract, and the ball head 331 pulls the flip frame 332 to rotate around the hinge point between the bottom of the flip frame 332 and the flip base 333, and the end of the top of the flip frame 332 away from the driving module 320 rotates backward and upward, thereby driving the end of the top of the flip frame 332 close to the driving module 320 to rotate backward and downward, thereby driving the translation guide seat 335 and the guide movable seat 342 to slide downward along the guide shaft 343, and at the same time, the guide wheel The system 338 slides in the guide rail seat 336 toward the driving module 320, and the translation guide seat 335 drives the flow transmission active cavity 420 to descend through the connecting rod mechanism 350, thereby driving the water inlet assembly 510 to descend horizontally; during the descent of the flow transmission active cavity 420, the second transition tube cavity 432 and the second active cavity 422 rotate with the movement, the first transition tube cavity 431 and the second fixed cavity 412 rotate with the movement, and the second transition tube cavity 432 slides and extends out in the first transition tube cavity 431;

[0132] (3) Horizontal swing adjustment of water inlet assembly 510:

[0133] During the process of the water inlet assembly 510 being used for flood drainage or being cascaded with other flood drainage and water supply devices, when the water inlet assembly 510 needs to adjust its swing angle, according to the needs of the work site, the first movable cavity 421 drives the water inlet assembly 510 to automatically rotate horizontally under the action of the first pivot bearing 4233 and the second pivot bearing 4235, thereby realizing the horizontal swing angle adjustment of the water inlet assembly 510.

[0134] The present invention is not limited to the above-mentioned implementation modes, and anyone should be aware of the structural changes made under the enlightenment of the present invention, and all those having the same or similar technical solutions as the present invention fall within the protection scope of the present invention.

[0135] The techniques, shapes, and structural parts not described in detail in the present invention are all well-known techniques.

Claims

1. The adaptive flood drainage and water supply device is characterized by: include: Drainage devices, used for drainage or water supply; Pipeline components, used for diversion and connection, including water inlet components and water outlet components; A flow transmission device, used to adjust the height of the water inlet assembly while realizing the transmission of the fluid in the rigid pipe, comprises a flow transmission fixed chamber, a flow transmission transition chamber and a flow transmission movable chamber which are connected in sequence, one end of the flow transmission movable chamber is connected to the water inlet assembly, the flow transmission movable chamber drives the water inlet assembly to swing horizontally, the other end of the flow transmission movable chamber is rotatably connected to one end of the flow transmission transition chamber, the flow transmission transition chamber can be extended and retracted, the other end of the flow transmission transition chamber is rotatably connected to one end of the flow transmission fixed chamber, and the other end of the flow transmission fixed chamber is connected to the water outlet assembly through a drainage device; The variable pitch module is used to adjust the height of the water inlet assembly from the ground. One end of the variable pitch module is fixedly connected to the fixed flow transfer cavity, and the other end is connected to the movable flow transfer cavity to drive the movable flow transfer cavity to rise and fall; The flow-transmitting fixed cavity comprises a first fixed cavity and a second fixed cavity which are interconnected, two sides of the second fixed cavity are pivotally connected to a group of flow-transmitting transition cavities, and the end of the first fixed cavity is connected to the water outlet assembly; The flow-transmitting active chamber comprises a first active chamber, a second active chamber and a swing angle pivot mechanism, the first active chamber is rotatably connected to the top and bottom of the second active chamber through the swing angle pivot mechanism, and the tops of the first active chamber and the second active chamber are communicated with each other, the end of the first active chamber is connected to the water inlet assembly, and both sides of the second active chamber are pivotally connected to a group of flow-transmitting transition chambers; There are two groups of flow-transmitting transition cavities, which are arranged symmetrically on the left and right. Each group of flow-transmitting transition cavities includes a first transition tube cavity and a second transition tube cavity slidably sleeved in one end of the first transition tube cavity. The other ends of the two groups of first transition tube cavities are rotatably connected to the two sides of the second fixed cavity through tube cavity bearings, and the other ends of the two groups of second transition tube cavities are rotatably connected to the two sides of the second movable cavity through tube cavity bearings. The swing angle pivot mechanism includes a pivot base, a pivot tensioning flange, a second pivot bearing and a pivot sealing ring. The top of the second movable cavity is connected to the upper part of the first movable cavity, and the top of the second movable cavity is rotatably connected to the first movable cavity through the second pivot bearing. A pivot sealing ring is provided between the second movable cavity and the first movable cavity. The pivot base is fixedly connected to the bottom of the first movable cavity and the pivot base is located below the second movable cavity. A pivot flange is provided between the pivot base and the second movable cavity. A first pivot bearing is provided between the pivot flange and the second movable cavity. The second movable cavity rotates relative to the pivot flange. A pivot tensioning flange is provided at the center of the pivot flange. The pivot tensioning flange is located between the second movable cavity and the pivot base, and the pivot tensioning flange is fixedly installed on the bottom of the second movable cavity by bolts. The pivot tensioning flange is used to limit the upper and lower positions of the second movable cavity.

2. The adaptive flood drainage and water supply device according to claim 1, characterized in that: The variable pitch module includes a base, a driving module, a flipping and translational mechanism, a parallel guiding mechanism and a connecting rod mechanism. The base is fixedly installed on the top of the flow transmission fixed cavity. One end of the base is hingedly connected to the driving module. The output end of the driving module is fixedly connected to the flipping and translational mechanism. The flipping and translational mechanism is installed at the other end of the base, and a parallel guiding mechanism is connected between the flipping and translational mechanism and the base. The bottom of the flipping and translational mechanism is fixedly connected to the flow transmission active cavity through the connecting rod mechanism. The driving module is actuated to drive the flipping and translational mechanism to move up and down along the parallel guiding mechanism, and then the flow transmission active cavity is driven to rise and fall through the connecting rod mechanism to realize the height adjustment of the water inlet assembly.

3. The adaptive flood drainage and water supply device according to claim 2, characterized in that: The flipping and translation mechanism comprises a ball head, a flip frame, and a flip base. The flip base is fixedly installed on the base, and the bottom of the flip frame is hingedly connected to the flip base. The top of one end of the flip frame away from the driving module is hingedly connected to one end of the ball head, and the other end of the ball head is fixedly connected to the output end of the driving module. Two groups of translation guide seats are symmetrically arranged on both sides of the flip frame, and the bottom of each group of translation guide seats is fixedly connected to the corresponding flow transmission activity cavity below through a group of connecting rod mechanisms. A track seat base is installed on each group of translation guide seats, and a guide track seat is installed on the track seat base. A guide wheel system that cooperates with sliding is provided on the guide track seat. The two groups of guide wheel systems are symmetrically installed on the top of one end of the flip frame close to the driving module. When the driving module moves, it drives the flip frame to rotate with the hinge point at the bottom of the flip frame as the center, thereby driving the translation guide seat to rise and fall, and driving the flow transmission activity cavity to rise and fall through the connecting rod mechanism.

4. The adaptive flood drainage and water supply device according to claim 3, characterized in that: The parallel guide mechanism is provided with two groups, which are arranged symmetrically on the left and right. Each group of parallel guide mechanisms includes a guide base, a guide movable seat, a guide shaft and a cross synchronization rod. The guide base is fixedly installed on the base, and two groups of guide shafts are installed on the guide base. The guide movable seat is located above the guide base, and the guide movable seat is fixedly installed on the bottom of the translation guide seat. The guide movable seat and the translation guide seat are sleeved on the guide shaft and can slide up and down along the guide shaft. A cross synchronization rod is connected between the guide movable seat and the guide base. When the translation guide seat is lifted or lowered, the guide movable seat is driven to lift or lower along the guide shaft, and the cross synchronization rod slides and retracts synchronously.

5. The adaptive flood drainage and water supply device according to claim 4, characterized in that: The base includes a first base arranged horizontally, the bottom of the first base is fixedly mounted on the top of the flow transfer fixed cavity, a second stopper is fixedly mounted on one end of the first base, a third hinge seat is fixedly mounted on the side wall of the second stopper, a driving module includes a cylinder body and a connecting rod, an output end of the cylinder body is fixedly connected to a ball head through a connecting rod, a cylinder seat is mounted on the rear end of the cylinder body, and the cylinder seat is hingedly connected to the third hinge seat, a flip base and a guide base are fixedly mounted on the other end of the first base, and two groups of guide bases are disposed on both sides of the flip base.

6. The adaptive flood drainage and water supply device according to claim 5, characterized in that: The water inlet assembly is provided with two sets, each set of water inlet assembly comprises a water inlet pipe, a water inlet joint, a water inlet flange and a water inlet faucet, one end of the water inlet pipe is connected with the first movable cavity through the water inlet joint and the water inlet flange, and the other end is connected with the water inlet faucet, and the water inlet faucet is used for flood drainage or cascade connection with other flood drainage and water supply devices; There are two sets of water outlet components, each set of water outlet components includes a water outlet pipe, a first water outlet joint, a water outlet flange and a second water outlet joint. There are two sets of drainage devices, and the input end of each set of drainage devices is connected to the first fixed cavity through the first water outlet joint and the water outlet flange, and the output end of the drainage device is connected to the external pipeline through the water outlet pipe and the second water outlet joint or cascaded with other drainage and water supply devices.

7. A robot, characterized in that: include: The adaptive flood drainage and water supply device according to claim 5 or 6, and a carrier; The carrier includes a robot body, a power component installed inside the robot body, and a wheel train component installed on both sides of the robot body; The adaptive flood drainage and water supply device is installed at the bottom of the robot body, and the power component is used to drive the wheel train component to drive the robot body to move, thereby realizing the spatial orientation change of the adaptive flood drainage and water supply device.

8. The robot according to claim 7, characterized in that: The working method includes the following steps: (1) Drainage and water supply operation methods: The carrier is equipped with the adaptive flood drainage and water supply device and moves to the working area. The drainage device is started, and the water flows from the water inlet component through the flow transfer active cavity in the flow transfer device into the flow transfer transition cavity, reaches the flow transfer fixed cavity, and is finally discharged from the water outlet component; (2) Adjustment of the horizontal position and height of the water inlet assembly: a. The carrier carrying the adaptive flood drainage and water supply device moves to the working area, the cylinder body moves, the output end of the cylinder body drives the connecting rod to extend, and pushes the flip frame to rotate around the hinge point between the bottom of the flip frame and the flip base through the ball head, and the end of the top of the flip frame away from the driving module rotates forward and downward, thereby driving the end of the top of the flip frame close to the driving module to rotate forward and upward, and then drives the translation guide seat and the guide movable seat to slide upward along the guide axis. At the same time, the guide wheel system slides in the guide track seat in the direction away from the driving module and plays a limiting support role. The translation guide seat drives the flow transmission active cavity to rise through the connecting rod mechanism, thereby driving the water inlet assembly to rise horizontally and raise the gap height between the water inlet assembly and the ground; during the rising process of the flow transmission active cavity, the second transition tube cavity and the second active cavity rotate with the movement, the first transition tube cavity and the second fixed cavity rotate with the movement, and the second transition tube cavity slides and retracts with the movement in the first transition tube cavity; b. The cylinder body moves in the reverse direction, and the output end of the cylinder body drives the connecting rod to retract, and pulls the flip frame to rotate around the hinge point between the bottom of the flip frame and the flip base through the ball head, and the end of the top of the flip frame away from the driving module rotates backward and upward, thereby driving the end of the top of the flip frame close to the driving module to rotate backward and downward, and then drives the translation guide seat and the guide movable seat to slide downward along the guide shaft. At the same time, the guide wheel system slides in the guide track seat toward the driving module, and the translation guide seat drives the flow transfer active cavity to descend through the connecting rod mechanism, thereby driving the water inlet assembly to descend horizontally; during the descent of the flow transfer active cavity, the second transition tube cavity and the second active cavity rotate with the movement, the first transition tube cavity and the second fixed cavity rotate with the movement, and the second transition tube cavity slides and extends out in the first transition tube cavity; (3) Horizontal swing adjustment of water inlet assembly: During the process of the water inlet assembly being used for flood drainage or being cascaded with other flood drainage and water supply devices, when the water inlet assembly needs to adjust its swing angle, according to the needs of the work site, the first movable cavity drives the water inlet assembly to automatically rotate horizontally under the action of the first pivot bearing and the second pivot bearing, thereby realizing the horizontal swing angle adjustment of the water inlet assembly.

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