A robot and working method

Abstract

The present invention belongs to the technical field of dredging equipment, and relates to a robot and a working method, including a carrier and a pump system, a cage mechanism and an adaptive drilling and loosening assembly installed on the carrier, wherein the adaptive drilling and loosening assembly is used to omnidirectionally crush the silt in front of and at the bottom of the robot, the cage mechanism is used to stir the silt, the pump system is used to absorb the silt, and the adaptive drilling and loosening assembly includes a crushing drill mechanism, a power mechanism that provides rotational power to the crushing drill mechanism through a power conversion mechanism, and an angle adjustment mechanism that drives the crushing drill mechanism to adjust the upper and lower angles. The silt in front of and below the robot is omnidirectionally and adaptively crushed, which improves the applicability and flexibility. The power conversion mechanism drives multiple sets of crushing drill mechanisms to work synchronously, expanding the operating range. The carrier of the crushing drill mechanism can select a drill bit or a cavitation jet nozzle according to the operating needs, and efficiently crushes and cleans different types of silt, which is suitable for a variety of complex dredging environments.

Description

Technical Field

[0001] The present invention belongs to the technical field of dredging equipment, and in particular relates to a robot and a working method for silting and dredging operations in environments such as mine water tanks, tidal flats, reservoirs, chemical pools and urban pipe networks. Background Art

[0002] At present, a considerable part of the domestic water environment has serious silt deposition, mainly including: due to the limitation of mining technology, the underground water tank, large lane ditch, belt transport lane and other places of the mine are seriously silted, which seriously affects the underground drainage system; some urban rivers have evolved into black and smelly rivers, and urban sewage is directly discharged into the river, and the river sections flowing through the town are seriously polluted and silted; the dredging of the bottom of the reaction pool in the chemical plant is still a challenging, time-consuming and laborious task. With the annual increase in the amount of these silts and the accumulation of depth (height), the paste silt at the bottom gradually hardens, and the dredging of these waters becomes more difficult. The existing dredging work mainly relies on manual labor, by shutting down the mine water tank, chemical pool, etc., and sending workers to clean up. Manual excavation has safety hazards, resulting in a long dredging cycle, which affects production safety; and because there are many corrosive substances in the silt, there are many toxic gases such as methane in the air, which brings the risk of poisoning and casualties to human labor.

[0003] At present, dredging robots have been developed to replace manual work, and the solutions mainly include two categories:

[0004] 1. Use a bucket or cage mechanism to stir the paste sludge, and cooperate with a pump device to achieve silt suction and transportation. Typical solutions include: a dredging robot structure disclosed in the utility model patent with authorization announcement number CN220620417U, an intelligent robot for pipeline dredging disclosed in the invention patent with application publication number CN107989168A, a pneumatic automatic posture correction pipeline dredging device and its use method disclosed in the invention patent with application publication number CN108374482A, a pipeline intelligent dredging crawler robot based on suction type disclosed in the utility model patent with authorization announcement number CN221561359U, and a high-protection underwater dredging and sewage discharge robot disclosed in the utility model patent with authorization announcement number CN210766938U.

[0005] 2. Use a drill bit to break up the sludge, and cooperate with pump devices to achieve adsorption and transportation. Typical solutions include: a dredging robot for water conservancy pipeline engineering disclosed in the invention patent with application publication number CN115739875A, and a dredging robot sludge suction device disclosed in the utility model patent with authorization announcement number CN203546893U.

[0006] However, the two existing solutions can only directionally crush or stir the slurry, paste or block silt. In actual dredging work, the front end and the bottom of the dredging mechanism need to be cleaned simultaneously. Since it is impossible to clean the hard blocks in front of and below the sides of the dredging device, the dredging efficiency is low and the dredging mechanism is blocked or stuck, which seriously affects the dredging efficiency and quality. Summary of the invention

[0007] One object of the present invention is to provide a robot that can adjust the crushing angle and depth in real time, has high operating efficiency, and is fully adaptive to dredging.

[0008] The technical solution adopted by the present invention to solve the technical problem is: a robot comprises a carrier and a cage mechanism for sludge stirring installed at the front end of the carrier, a pump system is installed on the carrier, the pump system cooperates with the cage mechanism for sludge suction, and an adaptive drilling loosening assembly is also installed at the front end of the carrier, the adaptive drilling loosening assembly is fixedly installed below the cage mechanism, and the adaptive drilling loosening assembly is used to omni-directionally crush the compacted sludge or hard sediment to be dredged in front of and at the bottom of the robot;

[0009] The adaptive drilling loosening assembly includes a fixed base and a flip base. The top of the flip base is hingedly connected to the front end of the fixed base to achieve angle flip adjustment. An angle adjustment mechanism is installed between the flip base and the fixed base. A power mechanism is installed on the fixed base. The output end of the power mechanism passes through the fixed base and is connected to a power conversion mechanism. The power conversion mechanism is located between the flip base and the fixed base, and the power conversion mechanism is slidably connected to the flip base. A plurality of crushing drill mechanisms are arranged in front of the flip base. The crushing drill mechanisms are vertically arranged with the flip base. The rear end of each crushing drill mechanism is connected with the power conversion mechanism. The angle adjustment mechanism drives the flip base to flip and swing, and then drives all the crushing drill mechanisms to achieve swing angle adjustment through the power conversion mechanism slidably connected to the flip base. The power mechanism drives all the crushing drill mechanisms to rotate synchronously through the power conversion mechanism. A sensor assembly is also installed on the power conversion mechanism. A protective shell is installed on the fixed base. The top of the protective shell is fixedly installed on the bottom of the cage mechanism. The fixed base, the power mechanism, the angle adjustment mechanism, the power conversion mechanism and the sensor assembly are all located in the cavity surrounded by the protective shell and the flip base.

[0010] Furthermore, the flip base includes a base body, which is provided with a plurality of through holes, the number of the through holes is consistent with the number of the crushing drill mechanism, and guide ribs are provided on both sides of each through hole, and the guide ribs are used to cooperate with the power conversion mechanism to slide up and down. A plurality of hinges are provided on the top of the base body, and the base body is hingedly connected to the fixed base through hinges.

[0011] Furthermore, the crushing drill mechanism includes a crushing drill body, a fixed seat is installed at the rear end of the crushing drill body, the crushing drill body is connected to the power conversion mechanism through the fixed seat, a spiral crushing blade is installed on the outer wall of the crushing drill body, reinforcing ribs are installed between the crushing blades, and a carrier is installed at the front end of the crushing drill body, and the carrier is a drill bit or a cavitation jet nozzle.

[0012] Furthermore, the power mechanism includes a power source, a power transmission module, a power output shaft and a power shaft flange. The power source is fixedly mounted on a fixed base, the output end of the power source is connected to the power output shaft through the power transmission module, the power shaft flange is fixedly mounted on the fixed base, the power output shaft passes through the power shaft flange and the fixed base and is connected to the power conversion mechanism. When the power source is actuated, the power output shaft is driven to rotate through the power transmission module, and then the crushing drill mechanism is driven to rotate through the power conversion mechanism.

[0013] The power output shaft includes a hollow fixed end and a sliding end slidably connected to the fixed end. A plurality of limiting ribs are distributed on the outer wall of the sliding end. A limiting groove cooperating with the limiting rib is provided on the inner wall of the fixed end. The limiting groove cooperates with the limiting rib to prevent the sliding end from radially rotating in the fixed end. The top end of the fixed end is connected to the power transmission module, and the bottom end of the sliding end is connected to the power conversion mechanism. When the flip base flips and swings, the sliding end of the power output shaft passively slides and retracts in the fixed end.

[0014] Furthermore, the angle adjustment mechanism includes a swing seat installed on the inner side of the flip base and a fixed frame installed on the fixed base. The top of the swing seat and one end of the fixed frame are hingedly connected. A swing drive module is connected between the swing seat and the fixed frame. When the swing drive module is activated, it drives the flip base to flip and swing.

[0015] Furthermore, the power conversion mechanism includes a plurality of sets of power transmission rotor systems connected in series, and the number and position of the power transmission rotor systems correspond to the number and position of the crushing drill mechanism;

[0016] Each power transmission rotor system includes a power conversion module and a follow-up directional sliding module. The power conversion module of the first power transmission rotor system is fixedly connected to the power output shaft. The previous power conversion module is connected to the power conversion module of the next power transmission rotor system through the power transmission shaft to realize the synchronous action of all power conversion modules. Each power conversion module is fixedly connected to the corresponding crushing drill mechanism after passing through the follow-up directional sliding module. The power output shaft drives all power conversion modules to rotate synchronously, and then drives all crushing drill mechanisms to rotate synchronously. The follow-up directional sliding module is slidably connected to the flip base. The follow-up directional sliding module and the crushing drill mechanism slide up and down along the guide ribs as the flip base flips and swings.

[0017] Furthermore, the power conversion module includes a first power shaft, a power fork seat, a follower fork seat, a second power shaft and a swing main shaft, the first power shaft is installed on the power fork seat, one end of the first power shaft is fixedly connected to the sliding end of the power output shaft, the other end of the first power shaft is fixedly installed with a first power parachute tooth, the second power shaft is installed on the follower fork seat, one end of the second power shaft is fixedly installed with a third power parachute tooth, the other end of the second power shaft is fixedly connected to the crushing drill mechanism, the two ends of the power fork seat and the follower fork seat are relatively hinged, and both are installed on the swing main shaft through a first bearing to realize pivoting, the swing main shaft is sleeved with a second power parachute tooth, the second power parachute tooth is fixedly connected to the power input end of the power transmission shaft, the power output end of the power transmission shaft is connected to one end of the swing main shaft of the next set of power conversion module, the first power parachute tooth is meshingly connected with the second power parachute tooth, and the second power parachute tooth is meshingly connected with the third power parachute tooth;

[0018] The power output shaft drives the first power shaft and the first power bevel gear to rotate, and the meshing connection between the first power bevel gear and the second power bevel gear drives the second power bevel gear, the power transmission shaft and the next power conversion module to rotate. At the same time, the meshing connection between the second power bevel gear and the third power bevel gear drives the third power bevel gear, the second power shaft and the crushing drill mechanism to rotate, thereby realizing the synchronous rotation of all crushing drill mechanisms.

[0019] The follow-up directional sliding module includes a sliding base, a bearing sleeve is provided on the sliding base, a fixed seat of the crushing drill mechanism is installed in the bearing sleeve through a second bearing, the rear end of the fixed seat is fixedly connected to the second power shaft, a shaft sleeve is fixedly installed on the upper end of the sliding base, a guide shaft is slidably connected in the shaft sleeve, and the top of the guide shaft is fixedly installed on the flip base through a guide shaft flange, and sliding grooves are respectively provided on both sides of the sliding base, and the sliding grooves are slidably connected with guide ribs on both sides of the through hole on the flip base; when the flip base flips and swings, the sliding base drives the crushing drill mechanism to slide up and down along the guide ribs and the guide shaft to realize the adjustment of the operating direction angle of the crushing drill mechanism.

[0020] Furthermore, the sensing assembly includes a speed torque sensor, a coupling and a linkage sliding module. The speed torque sensor is connected to the end of the swing main shaft of the first power conversion module through the coupling. The speed torque sensor is slidingly connected to the flip base through the linkage sliding module. When the flip base flips and swings, the speed torque sensor slides up and down along the linkage sliding module.

[0021] Furthermore, the protective shell includes an upper cover plate installed above the fixed base, side plates installed on both sides of the fixed base, and a bottom plate installed below the fixed base, and the rear side of the side plate is also connected to a fence, and the upper cover plate, the side plate, the bottom plate, the fence and the flip base together form a cavity structure;

[0022] The side plate includes a first fixed side plate and a second sliding side plate, and the bottom plate includes a first fixed bottom plate and a second sliding bottom plate, the top of the first fixed side plate is fixedly connected to the end of the upper cover plate, the bottom of the first fixed side plate is fixedly connected to the end of the first fixed bottom plate, the front side of the second sliding side plate is fixedly connected to the end of the flip base, the bottom of the second sliding side plate is fixedly connected to the end of the second sliding bottom plate, the second sliding bottom plate is located on the inner side of the first fixed bottom plate, the second sliding side plate is located on the inner side of the first fixed side plate, a guide sealing groove adapted to the second sliding side plate is provided on the inner wall of the first fixed side plate, and the flip base drives the second sliding side plate and the second sliding bottom plate to slide along the guide sealing groove.

[0023] Preferably, the power source can be but not limited to an electric motor, a hydraulic motor, or a pneumatic motor, the power transmission module can be but not limited to a direct drive device, a chain, or a synchronous belt, and the swing drive module can be but not limited to a linear motor, a hydraulic cylinder, or a pneumatic cylinder.

[0024] Preferably, the speed and torque sensor may be, but is not limited to, an independent speed sensor, a torque sensor, a position sensor, etc., or a combination of two or more thereof.

[0025] Another object of the present invention is to provide a working method of the robot, comprising the following steps:

[0026] (1) Steps for adjusting the operating angle of the crushing drill mechanism:

[0027] 1) The swing drive module of the angle adjustment mechanism moves, driving the flip base to flip and swing, the slide groove of the sliding base slides up and down along the guide rib, the shaft sleeve slides up and down along the guide shaft, the speed torque sensor slides up and down along the linkage sliding module, and the sliding end of the power output shaft slides and retracts passively in the fixed end, thereby driving the crushing drill mechanism to pivot and swing, and realizing the adjustment of the working direction angle of the crushing drill mechanism;

[0028] 2) The initial position of the flip base is vertical, and the crushing drill body is in the horizontal direction, which is used to crush the silt in front of the robot; when the flip base flips and swings backward, the sliding base slides upward, the speed torque sensor slides upward along the linkage sliding module, the sliding end of the power output shaft slides into the fixed end, and the front end of the crushing drill body swings downward to crush the silt at the bottom in front of the robot;

[0029] 3) When the cage mechanism is performing dredging operations at a fixed position, according to the working steps in step 1), the angle adjustment mechanism is continuously controlled to achieve continuous flipping of the flip base relative to the fixed base, thereby loosening the compacted silt or hard sediment near the cage mechanism and achieving efficient dredging and silt removal operations.

[0030] (2) Crushing steps of the crushing drill mechanism:

[0031] 1) The power source is activated, and the power output shaft is driven to rotate through the power transmission module. The power output shaft drives the first power bevel gear to rotate through the first power shaft of the first power conversion module, and drives the second power bevel gear to rotate through the meshing connection between the first power bevel gear and the second power bevel gear;

[0032] 2) The meshing connection between the second power bevel gear and the third power bevel gear drives the third power bevel gear to rotate, and the third power bevel gear drives the crushing drill mechanism to rotate through the second power shaft;

[0033] 3) At the same time, the second power bevel gear drives the swing main shaft of the second power conversion module to rotate through the power transmission shaft, thereby driving the second power bevel gear of the second power conversion module to rotate. The second power bevel gear drives the third power bevel gear of the second power conversion module to rotate, thereby driving the crushing drill mechanism connected to the second power conversion module to rotate. At the same time, the second power bevel gear of the second power conversion module drives the swing main shaft of the third power conversion module to rotate through the power transmission shaft. The power is transmitted in sequence to realize the synchronous rotation of all the crushing drill mechanisms, and the sludge is crushed in a synchronous array.

[0034] The present invention has the following beneficial effects:

[0035] 1. The robot of the present invention adjusts the angle and depth of the crushing drill mechanism in real time by controlling the angle adjustment mechanism, and performs all-round adaptive crushing of the compacted silt or hard sediment around the robot's operating area, adapting to different types of dredging scenarios, and is particularly suitable for compacted paste and block silt, thereby improving the applicability and flexibility of the crushing drill mechanism.

[0036] 2. The robot of the present invention drives multiple sets of crushing drill mechanisms to work synchronously through a power conversion mechanism to expand the operating range. The carrier of the crushing drill mechanism can select a drill bit or a cavitation jet nozzle according to the operating needs, and efficiently crush and clean different types of silt, reducing the operating time and labor costs, and is suitable for a variety of complex dredging environments.

[0037] 3. The robot of the present invention adopts an adaptive drilling and loosening component to cooperate with a cage mechanism and a pump system to achieve efficient crushing, stirring and absorption of slurry, paste and block sludge, so that the sludge can quickly reach a flowing state, ensuring rapid extraction and transportation to the treatment system, greatly improving the efficiency of dredging operations, and is suitable for various scenarios such as urban rivers, lakes and sewage treatment. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the robot of the present invention.

[0039] Figure 2 It is a front view of the robot of the present invention.

[0040] Figure 3 It is a rear view of the robot of the present invention.

[0041] Figure 4 It is a top view of the robot of the present invention.

[0042] Figure 5 The overall three-dimensional structure of the adaptive loose drilling assembly of the present invention is shown in FIG. Figure 1 .

[0043] Figure 6 yes Figure 5 A magnified view of the local structure at point A.

[0044] Figure 7 The overall three-dimensional structure of the adaptive loosening drilling assembly of the robot of the present invention is shown in FIG. Figure 2 .

[0045] Figure 8 It is a schematic diagram of the side plate and bottom plate structure of the robot of the present invention.

[0046] Fig. 9 It is a schematic diagram of the overall three-dimensional structure of the adaptive loosening drilling component of the robot of the present invention after removing the protective shell.

[0047] Fig.10 yes Fig. 9 Enlarged view of the local structure at point B in the middle.

[0048] Fig.11 yes Fig. 9 Enlarged view of the local structure at point C in the middle.

[0049] Fig.12 It is a front view of the adaptive loosening drilling assembly of the robot of the present invention with the protective shell removed.

[0050] Fig.13 It is a rear view of the adaptive loosening drilling assembly of the robot of the present invention with the protective shell removed.

[0051] Fig.14 yes Fig.13 Middle DD section view.

[0052] Fig.15 yes Fig.14 Enlarged view of the local structure at point E in the middle.

[0053] Fig.16 It is a schematic diagram of the overall three-dimensional structure of the adaptive drilling and loosening assembly with the protective shell removed when the carrier of the robot of the present invention is a cavitation jet nozzle.

[0054] Fig.17 yes Fig.16 Enlarged view of the local structure at point F in the middle.

[0055] Fig.18It is a schematic structural diagram of the robot of the present invention when the crushing drill mechanism is in an initial uppermost state.

[0056] Fig.19 It is a schematic structural diagram of the robot when the crushing drill mechanism of the present invention is in an intermediate state.

[0057] Fig. 20 It is a schematic structural diagram of the robot of the present invention when the crushing drill mechanism is in the lowest state.

[0058] In the figure, 100, carrier, 200, pump system, 300, cage mechanism, 400, adaptive drilling loosening assembly;

[0059] 210, pump body, 220, mud inlet pipe, 230, mud outlet pipe;

[0060] 310, the main body of the cage, 320, the power device;

[0061] 410, fixed base, 420, flip base, 430, protective shell, 440, crushing drill mechanism, 450, power mechanism, 460, angle adjustment mechanism, 470, power conversion mechanism, 480, sensor assembly;

[0062] 421, base body, 422, hinge, 423, through hole, 424, guide rib;

[0063] 431, upper cover plate, 432, side plate, 433, bottom plate, 434, enclosure;

[0064] 4321, a first fixed side plate, 4322, a second sliding side plate, 4331, a first fixed bottom plate, 4332, a second sliding bottom plate, 4323, a guide sealing groove;

[0065] 441. crushing drill body, 442. crushing blade, 443. reinforcing rib, 444. carrier, 445. fixing seat;

[0066] 451, power source, 452, power transmission module, 453, power output shaft, 454, power shaft flange;

[0067] 4531, fixed end, 4532, sliding end;

[0068] 461, swing seat, 462, swing drive module, 463, fixed frame;

[0069] 471. Power conversion module, 472. Power transmission shaft, 473. Follow-up directional sliding module;

[0070] 4711, a first power shaft, 4712, a power fork seat, 4713, a follower fork seat, 4714, a second power shaft, 4715, a first bearing, 4716, a swing main shaft, 4717, a first power parachute tooth, 4718, a second power parachute tooth, 4719, a third power parachute tooth;

[0071] 4721, power input terminal, 4722, power output terminal;

[0072] 4731, sliding base, 4732, second bearing, 4733, guide shaft, 4734, guide shaft flange, 4735, bearing sleeve, 4736, shaft sleeve, 4737, slide groove;

[0073] 481. Speed ​​torque sensor, 482. Coupling, 483. Linkage slip module. DETAILED DESCRIPTION

[0074] 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.

[0075] like Figure 1 As shown, a robot includes a carrier 100 and a cage mechanism 300 installed at the front end of the carrier 100 for sludge stirring, a pump system 200 is installed on the carrier 100, and the pump system 200 cooperates with the cage mechanism 300 for sludge absorption, and an adaptive drilling loosening component 400 is also installed at the front end of the carrier 100, and the adaptive drilling loosening component 400 is fixedly installed below the cage mechanism 300, and the adaptive drilling loosening component 400 is used for all-round crushing of compacted sludge or hard sediment to be dredged in front of and at the bottom of the robot.

[0076] like Figure 2-4 As shown, the carrier 100 is used to achieve the azimuth change during dredging, and is preferably a crawler or wheeled mobile chassis. The pump system 200 at least includes a pump body 210, a mud inlet pipe 220 and a mud outlet pipe 230. The cage mechanism 300 at least includes a cage body 310 and a power device 320. The power device 320 drives the cage body 310 to stir the slurry or paste sludge. The mud inlet pipe 220 is installed at the rear of the cage body 310. The pump body 210 sucks the sludge stirred by the cage body 310 through the mud inlet pipe 220, and discharges and collects it through the mud outlet pipe 230, thereby completing dredging. The pump system 200 can also realize the drainage function. The power device 320 can be, but is not limited to, an electric motor, a hydraulic motor, or a pneumatic motor.

[0077] The specific structure and working principle of the carrier 100, pump system 200 and cage mechanism 300 in the present invention adopt the specific structure of the dredging chassis 1, cage cleaning device 2 and power drive device 3 disclosed in the utility model patent with authorization announcement number CN210766938U, a high-protection underwater dredging and sewage discharge robot, which will not be repeated here.

[0078] like Figure 5-9 As shown, the adaptive drilling loosening assembly 400 includes a fixed base 410 and a flip base 420, the top of the flip base 420 is hingedly connected to the front end of the fixed base 410, an angle adjustment mechanism 460 is installed between the flip base 420 and the fixed base 410, a power mechanism 450 is installed on the fixed base 410, the output end of the power mechanism 450 passes through the fixed base 410 and is connected to a power conversion mechanism 470, the power conversion mechanism 470 is located between the flip base 420 and the fixed base 410, and the power conversion mechanism 470 is slidably connected to the flip base 420, a plurality of crushing drill mechanisms 440 are arranged in front of the flip base 420, the crushing drill mechanisms 440 are vertically arranged with the flip base 420, and the rear of each crushing drill mechanism 440 The end is connected to the power conversion mechanism 470, the angle adjustment mechanism 460 drives the flip base 420 to flip and swing, and then drives all the crushing drill mechanisms 440 to adjust the swing angle through the power conversion mechanism 470 that is slidably connected to the flip base 420. The power mechanism 450 drives all the crushing drill mechanisms 440 to rotate synchronously through the power conversion mechanism 470. A sensor component 480 is also installed on the power conversion mechanism 470. A protective shell 430 is installed on the fixed base 410. The top of the protective shell 430 is fixedly installed on the bottom of the cage mechanism 300. The fixed base 410, the power mechanism 450, the angle adjustment mechanism 460, the power conversion mechanism 470 and the sensor component 480 are all located in the cavity surrounded by the protective shell 430 and the flip base 420.

[0079] like Figure 6 As shown, the flip base 420 includes a base body 421, and a plurality of through holes 423 are provided on the base body 421. The number of through holes 423 is the same as the number of the crushing drill mechanism 440. Guide ribs 424 are symmetrically provided on both sides of each through hole 423. The guide ribs 424 are used to slide up and down with the power conversion mechanism 470. A plurality of hinges 422 are provided on the top of the base body 421. The base body 421 is hingedly connected to the fixed base 410 through the hinges 422. The base body 421 can be integrally formed or modularly connected. In order to improve the connection stability, at least two groups of hinges 422 are provided.

[0080] like Figure 7As shown, the protective shell 430 includes an upper cover plate 431 installed above the fixed base 410, side plates 432 installed on both sides of the fixed base 410, and a bottom plate 433 installed below the fixed base 410. The rear side of the side plate 432 is also connected to a baffle 434. The upper cover plate 431, the side plate 432, the bottom plate 433, the baffle 434 and the flip base 420 together form a cavity structure to ensure relative sealing.

[0081] like Figure 8 As shown, the side plate 432 includes a first fixed side plate 4321 and a second sliding side plate 4322, and the bottom plate 433 includes a first fixed bottom plate 4331 and a second sliding bottom plate 4332. The top of the first fixed side plate 4321 is fixedly connected to the end of the upper cover plate 431, the bottom of the first fixed side plate 4321 is fixedly connected to the end of the first fixed bottom plate 4331, the front side of the second sliding side plate 4322 is fixedly connected to the end of the flip base 420, and the bottom of the second sliding side plate 4322 is fixedly connected to the second sliding The end of the bottom plate 4332 is fixedly connected, the second sliding bottom plate 4332 is located on the inner side of the first fixed bottom plate 4331, the second sliding side plate 4322 is located on the inner side of the first fixed side plate 4321, and the inner wall of the first fixed side plate 4321 is provided with a guide sealing groove 4323 adapted to the second sliding side plate 4322. When the flip base 420 flips and swings, it drives the second sliding side plate 4322 and the second sliding bottom plate 4332 to slide along the guide sealing groove 4323 to maintain the relative sealing of the cavity structure.

[0082] like Fig.12 As shown, the crushing drill mechanism 440 includes a crushing drill body 441, a fixing seat 445 is installed at the rear end of the crushing drill body 441, and the crushing drill body 441 is connected to the power conversion mechanism 470 through the fixing seat 445. A spiral crushing blade 442 is installed on the outer wall of the crushing drill body 441, and reinforcing ribs 443 are installed between the crushing blades 442 to improve the stability of the crushing blades 442 during rotary drilling. A carrier 444 is installed at the front end of the crushing drill body 441, and the carrier 444 is a drill bit (such as Figure 5 , 6 as shown) or cavitation jet nozzle (as Fig.16 , 17 As shown in the figure), the drill bit is used to break the hard blocks, and the cavitation jet nozzle is used for cleaning and high-pressure breaking.

[0083] like Fig.10As shown, the power mechanism 450 includes a power source 451, a power transmission module 452, a power output shaft 453 and a power shaft flange 454. The power source 451 is fixedly mounted on the fixed base 410. The output end of the power source 451 is connected to the power output shaft 453 through the power transmission module 452. The power shaft flange 454 is fixedly mounted on the fixed base 410. The power output shaft 453 passes through the power shaft flange 454 and the fixed base 410 and is connected to the power conversion mechanism 470. When the power source 451 is actuated, the power output shaft 453 is driven to rotate through the power transmission module 452, and then the crushing drill mechanism 440 is driven to rotate through the power conversion mechanism 470. The power source 451 can be, but not limited to, an electric motor, a hydraulic motor, or a pneumatic motor, and the power transmission module 452 can be, but not limited to, a direct drive device, a chain, or a synchronous belt.

[0084] like Fig.12 As shown, the power output shaft 453 includes a hollow fixed end 4531 and a sliding end 4532 slidably connected to the fixed end 4531, a plurality of limiting ribs are distributed on the outer wall of the sliding end 4532, and a limiting groove matching the limiting rib is provided on the inner wall of the fixed end 4531, and the limiting groove and the limiting rib cooperate to prevent the sliding end 4532 from radially rotating in the fixed end 4531, the top end of the fixed end 4531 is connected to the power transmission module 452, and the bottom end of the sliding end 4532 is connected to the power conversion mechanism 470, and when the flip base 420 flips and swings, the sliding end 4532 of the power output shaft 453 passively slides and retracts in the fixed end 4531.

[0085] like Fig.11 , 12 As shown, the angle adjustment mechanism 460 includes a swing seat 461 installed on the inner side of the flip base 420 and a fixed frame 463 installed on the fixed base 410. The top of the swing seat 461 is hingedly connected to one end of the fixed frame 463. A swing drive module 462 is connected between the swing seat 461 and the fixed frame 463. The swing drive module 462 moves to drive the flip base 420 to flip and swing. The swing drive module 462 can be, but is not limited to, a linear motor, a hydraulic cylinder, or a pneumatic cylinder.

[0086] like Figure 13-15 As shown, the power conversion mechanism 470 includes a plurality of sets of power transmission rotor systems connected in series, and the number and position of the power transmission rotor systems correspond to the number and position of the crushing drill mechanism 440.

[0087] Each power transmission rotor system includes a power conversion module 471 and a follow-up directional sliding module 473. The power conversion module 471 of the first power transmission rotor system is fixedly connected to the power output shaft 453. The previous power conversion module 471 is connected to the power conversion module 471 of the next power transmission rotor system through the power transmission shaft 472 to achieve synchronous movement of all power conversion modules 471. Each power conversion module 471 is fixedly connected to the corresponding crushing drill mechanism 440 after passing through the follow-up directional sliding module 473. The power output shaft 453 drives all power conversion modules 471 to rotate synchronously, and then drives all crushing drill mechanisms 440 to rotate synchronously. The follow-up directional sliding module 473 is slidably connected to the flip base 420. The follow-up directional sliding module 473 and the crushing drill mechanism 440 slide up and down along the guide rib 424 as the flip base 420 flips and swings.

[0088] The power conversion module 471 includes a first power shaft 4711, a power fork seat 4712, a follower fork seat 4713, a second power shaft 4714 and a swing main shaft 4716. The first power shaft 4711 is mounted on the power fork seat 4712. One end of the first power shaft 4711 is fixedly connected to the sliding end 4532 of the power output shaft 453. The other end of the first power shaft 4711 is fixedly installed with a first power bevel gear 4717. The second power shaft 4714 is mounted on the follower fork seat 4713. One end of the second power shaft 4714 is fixedly installed with a third power bevel gear 4719. The other end of the second power shaft 4714 is connected to the crushing drill mechanism 44 0 is fixedly connected, both ends of the power fork seat 4712 and the follower fork seat 4713 are relatively hinged, and both are installed on the swing main shaft 4716 through the first bearing 4715 to realize pivoting, the swing main shaft 4716 is sleeved with a second power bevel tooth 4718, the first power bevel tooth 4717 is meshed and connected with the second power bevel tooth 4718, the second power bevel tooth 4718 is meshed and connected with the third power bevel tooth 4719, the second power bevel tooth 4718 is fixedly connected with the power input end 4721 of the power transmission shaft 472, and the power output end 4722 of the power transmission shaft 472 is connected to one end of the swing main shaft 4716 of the next set of power conversion module 471.

[0089] The power output shaft 453 drives the first power shaft 4711 and the first power bevel gear 4717 of the first power conversion module 471 to rotate, and drives the second power bevel gear 4718 to rotate through the meshing connection between the first power bevel gear 4717 and the second power bevel gear 4718, and drives the third power bevel gear 4719, the second power shaft 4714 and the crushing drill mechanism 440 connected to the first power conversion module 471 to rotate through the meshing connection between the second power bevel gear 4718 and the third power bevel gear 4719;

[0090] The second power bevel gear 4718 drives the swing main shaft 4716 of the second power conversion module 471 to rotate through the power transmission shaft 472, and then drives the second power bevel gear 4718 of the second power conversion module 471 to rotate. On the one hand, the second power bevel gear 4718 of the second power conversion module 471 drives the crushing drill mechanism 440 connected to the second power conversion module 471 to rotate through the meshing connection with the second set of third power bevel gear 4719, and on the other hand, drives the swing main shaft 4716 of the third power conversion module 471 to rotate, and the power is transmitted in sequence to realize the synchronous rotation of all crushing drill mechanisms 440.

[0091] The first power bevel gear 4717 and the power fork seat 4712 of the second to last power conversion modules 471 are not connected to the first power shaft 4711, and only serve to improve the stability of the power transmission rotor system during power conversion and transmission.

[0092] like Fig.16 , 17 As shown, the follow-up directional sliding module 473 includes a sliding base 4731, on which a bearing sleeve 4735 is provided, and a fixed seat 445 of the crushing drill mechanism 440 is installed in the bearing sleeve 4735 through a second bearing 4732, and the rear end of the fixed seat 445 is fixedly connected to the second power shaft 4714, and a sleeve 4736 is fixedly installed on the upper end of the sliding base 4731, and a guide shaft 4733 is slidably connected in the sleeve 4736, and the top of the guide shaft 4733 is fixedly installed on the flip base 420 through a guide shaft flange 4734, and a slide groove 4737 is respectively provided on both sides of the sliding base 4731, and the slide groove 4737 is slidably connected with the guide ribs 424 on both sides of the through hole 423 on the flip base 420. The sliding cooperation between the guide shaft 4733 and the sleeve 4736 is used to improve the guiding limit stability when the slide groove 4737 and the guide rib 424 slide up and down. When the flip base 420 flips and swings, the sliding base 4731 drives the crushing drill mechanism 440 to slide up and down along the guide rib 424 and the guide shaft 4733 to adjust the working direction angle of the crushing drill mechanism 440.

[0093] like Fig.15 As shown, the sensor assembly 480 includes a speed torque sensor 481, a coupling 482 and a linkage sliding module 483. The speed torque sensor 481 is used to detect the speed of the power conversion module 471. The speed torque sensor 481 is connected to the end of the swing main shaft 4716 of the first power conversion module 471 through the coupling 482. The speed torque sensor 481 is slidingly connected to the flip base 420 through the linkage sliding module 483. When the flip base 420 flips and swings, the speed torque sensor 481 slides up and down along the linkage sliding module 483.

[0094] The speed and torque sensor 481 can be, but is not limited to, an independent speed sensor, a torque sensor, a position sensor, etc., or a combination of two or more thereof.

[0095] Furthermore, the speed sensor can be used to sense the working speed and position of the vehicle 444, and can also cooperate with the torque sensor to realize the working torque load on the end of the vehicle 444, and realize the crushing operation of dredging objects with different hardness by controlling the working output torque of the power source 451.

[0096] Another object of the present invention is to provide a working method of the robot, comprising the following steps:

[0097] (1) Steps for adjusting the operating angle of the crushing drill mechanism:

[0098] 1) The swing drive module 462 of the angle adjustment mechanism 460 moves, driving the flip base 420 to flip and swing, the slide groove 4737 of the sliding base 4731 slides up and down along the guide rib 424, the shaft sleeve 4736 slides up and down along the guide shaft 4733, the speed torque sensor 481 slides up and down along the linkage sliding module 483, and the sliding end 4532 of the power output shaft 453 slides and retracts passively in the fixed end 4531, thereby driving the crushing drill mechanism 440 to pivot and swing, so as to adjust the working direction angle of the crushing drill mechanism 440;

[0099] 2) The initial position of the flip base 420 is vertical, such as Fig.18 As shown, the crushing drill body 441 is located in the horizontal direction and is used to crush the silt in front of the robot; when the flip base 420 flips and swings backward, the sliding base 4731 slides upward, the speed torque sensor 481 slides upward along the linkage sliding module 483, and the sliding end 4532 of the power output shaft 453 slides into the fixed end 4531, and the front end of the crushing drill body 441 swings downward to crush the silt at the bottom in front of the robot, as shown in FIG. Fig.19 , 20 As shown;

[0100] 3) When the cage mechanism 300 is performing dredging operations at a fixed position, according to the working steps in step 1), the angle adjustment mechanism 460 is continuously controlled to achieve continuous flipping of the flip base 420 relative to the fixed base 410. The compacted silt or hard sediment near the cage mechanism 300 is loosened by drilling, thereby achieving efficient dredging and silt removal operations.

[0101] (2) Crushing steps of the crushing drill mechanism:

[0102] 1) The power source 451 is activated, and the power output shaft 453 is driven to rotate through the power transmission module 452. The power output shaft 453 drives the first power bevel gear 4717 to rotate through the first power shaft 4711 of the first power conversion module 471, and the second power bevel gear 4718 is driven to rotate through the meshing connection between the first power bevel gear 4717 and the second power bevel gear 4718;

[0103] 2) The meshing connection between the second power bevel gear 4718 and the third power bevel gear 4719 drives the third power bevel gear 4719 to rotate, and the third power bevel gear 4719 drives the crushing drill mechanism 440 to rotate through the second power shaft 4714;

[0104] 3) At the same time, the second power bevel gear 4718 drives the swing main shaft 4716 of the second power conversion module 471 to rotate through the power transmission shaft 472, thereby driving the second power bevel gear 4718 of the second power conversion module 471 to rotate, and the second power bevel gear 4718 drives the third power bevel gear 4719 of the second power conversion module 471 to rotate, thereby driving the crushing drill mechanism 440 connected to the second power conversion module 471 to rotate, and at the same time, the second power bevel gear 4718 of the second power conversion module 471 drives the swing main shaft 4716 of the third power conversion module 471 to rotate through the power transmission shaft 472, and the power is transmitted in sequence to realize the synchronous rotation of all the crushing drill mechanisms 440, and the sludge is crushed in a synchronous array.

[0105] 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.

[0106] The techniques, shapes, and structural parts not described in detail in the present invention are all well-known techniques.

Claims

1. A robot, comprising a carrier and a cage mechanism installed at the front end of the carrier for sludge stirring, a pump system installed on the carrier, the pump system cooperates with the cage mechanism for sludge suction, characterized in that: The front end of the carrier is also equipped with an adaptive drilling and loosening assembly, which is fixedly installed below the cage mechanism. The adaptive drilling and loosening assembly is used to omni-directionally crush the compacted silt or hard sediment to be dredged in front of and at the bottom of the robot; The self-adaptive loosening drilling assembly comprises a fixed base and a flip base, the top of the flip base is hingedly connected to the front end of the fixed base, an angle adjustment mechanism is installed between the flip base and the fixed base, a power mechanism is installed on the fixed base, the output end of the power mechanism passes through the fixed base and is connected to a power conversion mechanism, the power conversion mechanism is located between the flip base and the fixed base, and the power conversion mechanism is slidably connected to the flip base, a plurality of crushing drill mechanisms are arranged in front of the flip base, the crushing drill mechanisms are vertically arranged with the flip base, the rear end of each crushing drill mechanism is connected with the power conversion mechanism, the angle adjustment mechanism drives the flip base to flip and swing, and then drives all the crushing drill mechanisms to adjust the swing angle through the power conversion mechanism slidably connected with the flip base, the power mechanism drives all the crushing drill mechanisms to rotate synchronously through the power conversion mechanism, a sensor assembly is also installed on the power conversion mechanism, a protective shell is installed on the fixed base, the top of the protective shell is fixedly installed on the bottom of the cage mechanism, the fixed base, the power mechanism, the angle adjustment mechanism, the power conversion mechanism and the sensor assembly are all located in the cavity surrounded by the protective shell and the flip base; The flip base includes a base body, which is provided with a plurality of through holes, the number of which is the same as the number of the crushing drill mechanism, and guide ribs are provided on both sides of each through hole, which are used to slide up and down with the power conversion mechanism, and a plurality of hinges are provided on the top of the base body, and the base body is hingedly connected to the fixed base through the hinges; The power mechanism includes a power source, a power transmission module, a power output shaft and a power shaft flange. The power source is fixedly installed on a fixed base. The output end of the power source is connected to the power output shaft through the power transmission module. The power shaft flange is fixedly installed on the fixed base. The power output shaft passes through the power shaft flange and the fixed base and is connected to the power conversion mechanism. When the power source is activated, the power output shaft is driven to rotate through the power transmission module, and then the crushing drill mechanism is driven to rotate through the power conversion mechanism. The power output shaft includes a hollow fixed end and a sliding end slidably connected to the fixed end. A plurality of limiting ribs are distributed on the outer wall of the sliding end. A limiting groove matched with the limiting rib is provided on the inner wall of the fixed end. The limiting groove and the limiting rib cooperate to prevent the sliding end from radially rotating in the fixed end. The top end of the fixed end is connected to the power transmission module, and the bottom end of the sliding end is connected to the power conversion mechanism. When the flip base flips and swings, the sliding end of the power output shaft passively slides and retracts in the fixed end. The angle adjustment mechanism includes a swing seat installed on the inner side of the flip base and a fixed frame installed on the fixed base. The top of the swing seat is hingedly connected to one end of the fixed frame. A swing drive module is connected between the swing seat and the fixed frame. The swing drive module moves to drive the flip base to flip and swing. The power conversion mechanism includes several sets of power transmission rotor systems connected in series, and the number and position of the power transmission rotor systems correspond to the number and position of the crushing drill mechanisms; each set of power transmission rotor systems includes a power conversion module and a follow-up directional sliding module, the power conversion module of the first set of power transmission rotor systems is fixedly connected to the power output shaft, and the previous set of power conversion modules is connected to the power conversion module of the next set of power transmission rotor systems through the power transmission shaft to realize the synchronous action of all power conversion modules, each set of power conversion modules is fixedly connected to the corresponding crushing drill mechanism after passing through the follow-up directional sliding module, the power output shaft drives all power conversion modules to rotate synchronously, and then drives all crushing drill mechanisms to rotate synchronously, the follow-up directional sliding module is slidably connected to the flip base, and the follow-up directional sliding module and the crushing drill mechanism slide up and down along the guide ribs as the flip base swings.

2. The robot according to claim 1, characterized in that: The crushing drill mechanism includes a crushing drill body, a fixing seat is installed at the rear end of the crushing drill body, the crushing drill body is connected to the power conversion mechanism through the fixing seat, a spiral crushing blade is installed on the outer wall of the crushing drill body, reinforcing ribs are installed between the crushing blades, and a carrier is installed at the front end of the crushing drill body, and the carrier is a drill bit or a cavitation jet nozzle.

3. The robot according to claim 2, characterized in that: The power conversion module includes a first power shaft, a power fork seat, a follower fork seat, a second power shaft and a swing main shaft, the first power shaft is installed on the power fork seat, one end of the first power shaft is fixedly connected to the sliding end of the power output shaft, the other end of the first power shaft is fixedly installed with a first power parachute tooth, the second power shaft is installed on the follower fork seat, one end of the second power shaft is fixedly installed with a third power parachute tooth, the other end of the second power shaft is fixedly connected to the crushing drill mechanism, the two ends of the power fork seat and the follower fork seat are relatively hinged, and both are installed on the swing main shaft through a first bearing to realize pivoting, the swing main shaft is sleeved with a second power parachute tooth, the second power parachute tooth is fixedly connected to the power input end of the power transmission shaft, the power output end of the power transmission shaft is connected to one end of the swing main shaft of the next set of power conversion module, the first power parachute tooth is meshingly connected with the second power parachute tooth, and the second power parachute tooth is meshingly connected with the third power parachute tooth; The power output shaft drives the first power shaft and the first power bevel gear to rotate, and the meshing connection between the first power bevel gear and the second power bevel gear drives the second power bevel gear, the power transmission shaft and the next power conversion module to rotate. At the same time, the meshing connection between the second power bevel gear and the third power bevel gear drives the third power bevel gear, the second power shaft and the crushing drill mechanism to rotate, thereby realizing the synchronous rotation of all crushing drill mechanisms. The follow-up directional sliding module includes a sliding base, a bearing sleeve is provided on the sliding base, a fixed seat of the crushing drill mechanism is installed in the bearing sleeve through a second bearing, the rear end of the fixed seat is fixedly connected to the second power shaft, a shaft sleeve is fixedly installed on the upper end of the sliding base, a guide shaft is slidably connected in the shaft sleeve, and the top of the guide shaft is fixedly installed on the flip base through a guide shaft flange, and sliding grooves are respectively provided on both sides of the sliding base, and the sliding grooves are slidably connected with guide ribs on both sides of the through hole on the flip base; when the flip base flips and swings, the sliding base drives the crushing drill mechanism to slide up and down along the guide ribs and the guide shaft to realize the adjustment of the operating direction angle of the crushing drill mechanism.

4. The robot according to claim 3, characterized in that: The sensing assembly includes a speed torque sensor, a coupling and a linkage sliding module. The speed torque sensor is connected to the end of the swing main shaft of the first power conversion module through the coupling. The speed torque sensor is slidingly connected to the flip base through the linkage sliding module. When the flip base flips and swings, the speed torque sensor slides up and down along the linkage sliding module.

5. The robot according to claim 4, characterized in that: The protective shell includes an upper cover plate installed above the fixed base, side plates installed on both sides of the fixed base, and a bottom plate installed below the fixed base. The rear side of the side plate is also connected to a baffle. The upper cover plate, the side plate, the bottom plate, the baffle and the flip base together form a cavity structure. The side plate includes a first fixed side plate and a second sliding side plate, and the bottom plate includes a first fixed bottom plate and a second sliding bottom plate, the top of the first fixed side plate is fixedly connected to the end of the upper cover plate, the bottom of the first fixed side plate is fixedly connected to the end of the first fixed bottom plate, the front side of the second sliding side plate is fixedly connected to the end of the flip base, the bottom of the second sliding side plate is fixedly connected to the end of the second sliding bottom plate, the second sliding bottom plate is located on the inner side of the first fixed bottom plate, the second sliding side plate is located on the inner side of the first fixed side plate, a guide sealing groove adapted to the second sliding side plate is provided on the inner wall of the first fixed side plate, and the flip base drives the second sliding side plate and the second sliding bottom plate to slide along the guide sealing groove.

6. The working method of the robot according to claim 4 or 5, characterized in that: The following steps are involved: (1) Steps for adjusting the operating angle of the crushing drill mechanism: 1) The swing drive module of the angle adjustment mechanism moves, driving the flip base to flip and swing, the slide groove of the sliding base slides up and down along the guide rib, the shaft sleeve slides up and down along the guide shaft, the speed torque sensor slides up and down along the linkage sliding module, and the sliding end of the power output shaft slides and retracts passively in the fixed end, thereby driving the crushing drill mechanism to pivot and swing, and realizing the adjustment of the working direction angle of the crushing drill mechanism; 2) The initial position of the flip base is vertical, and the crushing drill body is in the horizontal direction, which is used to crush the silt in front of the robot; When the flip base flips and swings backward, the sliding base slides upward, the speed torque sensor slides upward along the linkage sliding module, the sliding end of the power output shaft slides toward the fixed end, and the front end of the crushing drill body swings downward to crush the silt at the bottom in front of the robot; 3) When the cage mechanism is dredging at a fixed position, according to the working steps in step 1), the angle adjustment mechanism is continuously controlled to achieve continuous flipping of the flip base relative to the fixed base, and the compacted silt or hard sediment near the cage mechanism is loosened to achieve efficient dredging and silt removal operations; (2) Crushing steps of the crushing drill mechanism: 1) The power source is activated, and the power output shaft is driven to rotate through the power transmission module. The power output shaft drives the first power bevel gear to rotate through the first power shaft of the first power conversion module, and drives the second power bevel gear to rotate through the meshing connection between the first power bevel gear and the second power bevel gear; 2) The meshing connection between the second power bevel gear and the third power bevel gear drives the third power bevel gear to rotate, and the third power bevel gear drives the crushing drill mechanism to rotate through the second power shaft; 3) At the same time, the second power bevel gear drives the swing main shaft of the second power conversion module to rotate through the power transmission shaft, thereby driving the second power bevel gear of the second power conversion module to rotate. The second power bevel gear drives the third power bevel gear of the second power conversion module to rotate, thereby driving the crushing drill mechanism connected to the second power conversion module to rotate. At the same time, the second power bevel gear of the second power conversion module drives the swing main shaft of the third power conversion module to rotate through the power transmission shaft. The power is transmitted in sequence to realize the synchronous rotation of all the crushing drill mechanisms, and the sludge is crushed in a synchronous array.

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