Intelligent dredging robot

Abstract

The invention relates to the technical field of desilting robots, and discloses an intelligent desilting robot which comprises a robot moving unit, a mounting unit, a transmission unit, a crushing unit, a conveying unit and a spraying unit, the mounting unit comprises a collecting box, the collecting box is arranged above the robot moving unit, and a water tank is arranged on one side wall of the collecting box; a connecting plate is fixedly mounted on one side wall of the robot moving unit, a collecting box is mounted at the other end of the connecting plate, a first mounting plate and a second mounting plate are mounted on the two side walls of the collecting box correspondingly, and backflow plates are arranged on one side wall of the first mounting plate and one side wall of the second mounting plate correspondingly. According to the device, when a moving block moves, a moving rod can be driven to move, and when the moving rod moves, a second cutting knife can be driven to move through a second moving rod, so that entering sludge can be cut and crushed through rotation of a first cutting knife and the second cutting knife; large sludge is avoided to a certain extent.

Description

Technical Field

[0001] The present invention belongs to the technical field of dredging robots, and in particular, relates to an intelligent dredging robot. Background Art

[0002] As urban construction accelerates, urban expansion has correspondingly increased the construction of underground drainage systems. However, during the construction, urban waterlogging caused by sudden extreme rainfall has highlighted the importance of drainage system maintenance. The drainage system includes drainage pipe networks, channel boxes, pumping stations, etc. Pipeline dredging is an important part of drainage system maintenance, that is, to dredge the pipes, clean the silt in the pipes, and keep them unobstructed for a long time. The large amount of debris discharged by residents into the drainage pipes and the sedimentation and siltation of cement sand at the infrastructure construction site will cause pipe blockage. Irregular pipeline dredging and dredging will cause a sharp decrease in pipe network runoff or even blockage. It is extremely important to regularly clean drainage pipes to protect the urban environment, avoid pollution, maintain the city appearance, and improve people's quality of life.

[0003] However, when the existing dredging robots are cleaning, they often crush the sludge in the rectangular pipe and then push it out of the pipe. When crushing it, they often crush it with crushing rollers, and there are large gaps between the crushing rollers, which makes it easy for the sludge and other debris to be crushed incompletely.

[0004] In view of this, the present invention is proposed. Summary of the invention

[0005] In order to solve the above technical problems, the basic concept of the technical solution adopted by the present invention is:

[0006] An intelligent dredging robot comprises a robot moving unit, an installation unit, a transmission unit, a crushing unit, a transmission unit and a spraying unit, wherein the installation unit comprises a collecting box, wherein the collecting box is arranged above the robot moving unit, a water tank is arranged on one side wall of the collecting box, a connecting plate is fixedly installed on one side wall of the robot moving unit, a collecting box is installed on the other end of the connecting plate, a first installing plate and a second installing plate are respectively installed on the two side walls of the collecting box, a backflow plate is arranged on one side wall of the first installing plate and the second installing plate, a mounting shell is arranged in the inner cavity of the collecting box, an inclined plate is arranged above the mounting shell, a protective cylinder is also arranged above the mounting shell, a feeding port is provided on one side wall of the collecting box, a discharging pipe is arranged above the protective cylinder, the other end of the discharging pipe is arranged on one side wall of the collecting box, and a placing cavity is arranged in the mounting shell;

[0007] The transmission unit comprises a servo motor, the servo motor is mounted on a side wall of the mounting shell, a rotating shaft is fixedly mounted on the output end of the servo motor, a first bevel gear is fixedly mounted on a side wall of the rotating shaft away from the servo motor, a fifth bevel gear is vertically meshed and mounted above the first bevel gear, a second bevel gear, a third bevel gear and a fourth bevel gear are vertically meshed and mounted on the bottom of the fifth bevel gear, a rotating mechanism is arranged on the second bevel gear, a first moving mechanism is arranged on the third bevel gear, and a second moving mechanism is arranged on the fourth bevel gear;

[0008] The crushing unit comprises a rotating rod, which movably passes through the first mounting plate, the collecting box and the second mounting plate, wherein the rotating rod is located at one end of the inner cavity of the second mounting plate and is fixedly installed with a second rotating wheel, one end of the rotating rod is provided with a second bearing, the second bearing is installed on the second mounting plate, the other end of the rotating rod is located in the inner cavity of the first mounting plate, and a third moving mechanism is provided in the inner cavity of the rotating rod, and the rotating rod is located at the collecting box and is fixedly installed with a rotating drum, and a plurality of equally spaced rectangular notches are provided on the rotating drum and the rotating rod, and each of the two opposite side walls of the inner cavity of the rectangular notch is provided with a sliding rail, and each of the inner cavity of the rectangular notch is provided with a fourth moving mechanism, and each of the first cutting blades is fixedly installed on the rectangular notch, and each of the first cutting blades is provided with a notch at the bottom, and the fourth moving mechanism is located in the notch, and each of the two opposite side walls of the first cutting blade is provided with a mounting groove, and the second cutting blade is slidably provided in the inner cavity of the mounting groove;

[0009] The transmission unit includes a fourth rotating rod, which is fixedly mounted on the fifth bevel gear, and movably passes through the mounting shell and the protective tube, and the other end of the fourth rotating rod is rotatably connected to the top of the protective tube, and the fourth rotating rod is provided with a transmission roller in the inner cavity of the protective tube;

[0010] The spray unit includes a water storage pipe, which is installed on a mounting shell. A plurality of equidistantly distributed spray heads are arranged at the bottom of the water storage pipe, and positioning rods are connected between each two of the spray heads. Two symmetrical connecting pipes are connected above the water storage pipe, and the other ends of the connecting pipes are connected to a water tank.

[0011] As a preferred embodiment of the present invention, the rotating mechanism includes a first rotating rod, which is fixedly mounted on the second bevel gear, and the other end of the first rotating rod movably passes through the mounting shell and the second mounting plate, and a first rotating wheel is fixedly mounted on one end of the first rotating rod away from the second bevel gear, and a transmission belt is provided on the first rotating wheel, and the other side of the transmission belt is sleeved on the second rotating wheel.

[0012] As a preferred embodiment of the present invention, the first moving mechanism includes a second rotating rod, one end of the second rotating rod is fixedly mounted on the third bevel gear, the second rotating rod movably passes through the mounting shell and the first mounting plate, and the other end of the second rotating rod is provided with a first bearing, the first bearing is mounted on the bottom inner side of the first mounting plate, the second rotating rod is located on the side wall of the inner cavity of the first mounting plate and is provided with a guide groove, the guide groove is provided with a guide slider, and a guide sleeve is installed on the guide slider, the guide sleeve movably passes through two mutually symmetrical first guide rods, and the two ends of the two first guide rods are respectively fixedly connected to the opposite side walls of the first mounting plate.

[0013] As a preferred embodiment of the present invention, the second moving mechanism includes a third rotating rod, the third rotating rod is fixedly mounted on the fourth bevel gear, the other end of the third rotating rod is rotatably connected to the inner wall of the mounting shell, the third rotating rod is provided with a moving slide groove, a moving slider is slidably arranged on the moving slide groove, and a moving sleeve is installed on the moving slider, and two second symmetrical guide rods are movably penetrated through the moving sleeve, and the two second guide rods are symmetrical to each other.

[0014] As a preferred embodiment of the present invention, a fixing plate is fixedly installed at the bottom of the movable sleeve, the bottom of the fixing plate is located in the inner cavity of the rectangular groove, a connecting rod is fixedly installed on one side wall of the fixing plate, the connecting rod movably passes through the mounting shell, a universal joint is arranged at the other end of the connecting rod, and the other end of the universal joint is arranged on the spray head.

[0015] As a preferred embodiment of the present invention, the third moving mechanism includes a rectangular tube, which is fixedly mounted on the inner wall of the rotating rod. A rectangular plug-in rod is inserted into the inner cavity of the rectangular tube, and the rectangular plug-in rod movably passes through the rotating rod port located at the first mounting plate.

[0016] As a preferred embodiment of the present invention, a rotating rod is fixedly installed at one end of the rectangular plug-in rod located in the inner cavity of the first mounting plate, a third bearing is provided at the other end of the rotating rod, a limit rod is fixedly installed on one side wall of the third bearing, and the other end of the limit rod is fixedly connected to the guide sleeve.

[0017] As a preferred embodiment of the present invention, the fourth moving mechanism includes a plurality of moving blocks, each of which is respectively arranged in the inner cavity of the rectangular slot, and the two opposite side walls of each of the moving blocks are connected with slide rails.

[0018] As a preferred embodiment of the present invention, a first movable rod is movably mounted on the bottom of each of the moving blocks, and the other end of each of the first movable rods is movably connected to a rectangular plug-in rod.

[0019] As a preferred embodiment of the present invention, a moving rod is fixedly installed above each moving block, and second moving rods are movably provided on the two opposite side walls of each moving rod, and the other end of each second moving rod is movably connected to two mutually symmetrical second cutting knives.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] According to the present invention, when the rectangular plug-in rod is moving and in a rotating state, the rectangular plug-in rod, the rotating drum and the rotating rod rotate synchronously, so that the rectangular plug-in rod, the rotating drum and the rotating drum are integrated. Therefore, when the rectangular plug-in rod is moving, the first movable rod can drive the moving block to move in the vertical direction with the assistance of the slide rail. When the moving block moves, it can drive the moving rod to move. When the moving rod moves, the second movable rod can drive the second cutting knife to move. Therefore, the rotation of the first cutting knife and the second cutting knife can cut and crush the incoming sludge, which avoids the occurrence of large sludge to a certain extent, makes the sludge crushing more thorough, and the crushed sludge can smoothly enter the collection box.

[0022] The specific implementation modes of the present invention are further described in detail below in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In the attached picture:

[0024] Figure 1 The figure is a schematic diagram of the three-dimensional structure of an intelligent dredging robot;

[0025] Figure 2 This is a schematic diagram of the collection box structure of an intelligent dredging robot;

[0026] Figure 3 It is a schematic diagram of the cross-sectional structure of a first mounting plate of an intelligent dredging robot;

[0027] Figure 4 It is a schematic diagram of the cross-sectional structure of a collection box of an intelligent dredging robot;

[0028] Figure 5 This is a schematic diagram of the inner structure of a collection box of an intelligent dredging robot;

[0029] Figure 6 It is a schematic diagram of a partial upward view of the collection box structure of an intelligent dredging robot;

[0030] Figure 7 It is a schematic diagram of the cross-sectional structure of the installation shell of an intelligent dredging robot;

[0031] Figure 8It is a schematic diagram of the cross-sectional structure of a second mounting plate of an intelligent dredging robot;

[0032] Fig. 9 This is a schematic diagram of the cross-sectional structure of a protective tube of an intelligent dredging robot;

[0033] Fig.10 A schematic diagram of a top view of the inner cavity of an installation shell of an intelligent dredging robot;

[0034] Fig.11 An intelligent dredging robot Fig.10 The enlarged structural diagram at A in the middle;

[0035] Fig.12 An intelligent dredging robot Fig.10 The enlarged structural diagram at B in the middle;

[0036] Fig.13 This is a schematic diagram of the rotating rod structure of an intelligent dredging robot;

[0037] Fig.14 It is a schematic diagram of the cross-sectional structure of a rotating rod of an intelligent dredging robot;

[0038] Fig.15 A schematic diagram of a rectangular plug-in rod structure of an intelligent dredging robot;

[0039] Fig.16 The figure is a schematic diagram of the moving rod structure of an intelligent dredging robot.

[0040] In the figure:

[0041] 100. Robot mobile unit;

[0042] 200, mounting unit; 201, water tank; 2011, collecting box; 2012, first mounting plate; 2013, collecting box; 2014, protective tube; 2015, discharge pipe; 2016, connecting plate; 2017, backflow plate; 2018, feed port; 2019, second mounting plate; 202, mounting shell; 2021, tilting plate; 2022, placement cavity; 2023, rectangular groove;

[0043] 300, transmission unit; 301, servo motor; 3011, rotating shaft; 3012, first bevel gear; 302, second bevel gear; 3021, first rotating rod; 3022, first rotating wheel; 3023, transmission belt; 3024, second rotating wheel; 303, third bevel gear; 3031, second rotating rod; 3032, guide slide; 3033, first bearing; 3034, guide sleeve; 3035, first guide rod; 3036, limit rod; 304, fourth bevel gear; 3041, third rotating rod; 3042, movable slide; 3043, movable sleeve; 3044, second guide rod; 305, fixing plate; 3051, connecting rod;

[0044] 400, crushing unit; 401, rotating rod; 4011, second bearing; 402, rotating drum; 4021, rectangular notch; 403, rectangular drum; 4031, rectangular plug-in rod; 4032, rotating rod; 4033, third bearing; 404, first cutting knife; 4041, second cutting knife; 4042, first movable rod; 4043, moving block; 4044, slide rail; 4045, moving rod; 4046, second movable rod;

[0045] 500, transmission unit; 501, fifth bevel gear; 5011, fourth rotating rod; 5012, transmission roller;

[0046] 600, spray unit; 601, water storage pipe; 6011, spray head; 6012, positioning rod; 6013, connecting pipe. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention.

[0048] Embodiment 1:

[0049] like Figures 1 to 16As shown, an intelligent silt cleaning robot includes a robot mobile unit 100, an installation unit 200, a transmission unit 300, a crushing unit 400, a transmission unit 500 and a spraying unit 600. The installation unit 200 includes a collection box 2011, and the collection box 2011 is arranged above the robot mobile unit 100. A water tank 201 is arranged on one side wall of the collection box 2011. A connecting plate 2016 is fixedly installed on one side wall of the robot mobile unit 100, and a collection box 2013 is installed on the other end of the connecting plate 2016. The first installation plate 2012 and the second installation plate 2019 are respectively installed on both side walls of the collection box 2013. The first installation plate 2012 and the second installation plate 2019 are both provided with a backflow plate 2017 on one side wall. The inner cavity of the collection box 2013 A mounting shell 202 is provided, an inclined plate 2021 is provided above the mounting shell 202, a protective cylinder 2014 is also provided above the mounting shell 202, the protective cylinder 2014 is located on a side wall of the collecting box 2013 and is provided with a feed port 2018, a discharge pipe 2015 is provided above the protective cylinder 2014, the other end of the discharge pipe 2015 is provided on a side wall of the collecting box 2011, and a placement cavity 2022 is provided in the mounting shell 202; the transmission unit 300 includes a servo motor 301, the servo motor 301 is installed on a side wall of the mounting shell 202, a rotating shaft 3011 is fixedly installed on the output end of the servo motor 301, a first bevel gear 3012 is fixedly installed on a side wall of the rotating shaft 3011 away from the servo motor 301, and a vertical meshing groove 2022 is formed above the first bevel gear 3012. A fifth bevel gear 501 is installed together, and the second bevel gear 302, the third bevel gear 303 and the fourth bevel gear 304 are respectively installed vertically and meshed at the bottom of the fifth bevel gear 501. A rotating mechanism is arranged on the second bevel gear 302, the first moving mechanism is arranged on the third bevel gear 303, and the second moving mechanism is arranged on the fourth bevel gear 304; the crushing unit 400 includes a rotating rod 401, and the rotating rod 401 movably passes through the first mounting plate 2012, the collecting box 2013 and the second mounting plate 2019. The rotating rod 401 is located at one end of the inner cavity of the second mounting plate 2019 and is fixedly installed with a second rotating wheel 3024. A second bearing 4011 is arranged at one end of the rotating rod 401, and the second bearing 4011 is installed on the second mounting plate 2019. The other end of 401 is located in the inner cavity of the first mounting plate 2012, and a third moving mechanism is provided in the inner cavity of the rotating rod 401. The rotating rod 401 is located at the collecting box 2013 and fixedly installed with a rotating drum 402. A plurality of rectangular notches 4021 arranged at equal intervals are provided on the rotating drum 402 and the rotating rod 401. The two opposite side walls of the inner cavity of each rectangular notch 4021 are provided with slide rails. The inner cavity of each rectangular notch 4021 is provided with a fourth moving mechanism. A first cutting knife 404 is fixedly installed on each rectangular notch 4021. A notch is provided at the bottom of each first cutting knife 404, and the fourth moving mechanism is located in the notch. A mounting groove is provided on the two opposite side walls of each first cutting knife 404, and a second cutting knife 4041 is slidably provided in the inner cavity of the mounting groove.The transmission unit 500 includes a fourth rotating rod 5011, which is fixedly mounted on the fifth bevel gear 501, and the fourth rotating rod 5011 is movable through the mounting shell 202 and the protective cylinder 2014, and the other end of the fourth rotating rod 5011 is rotatably connected to the top of the protective cylinder 2014, and the fourth rotating rod 5011 is provided with a transmission roller 5012 in the inner cavity of the protective cylinder 2014; the spraying unit 600 includes a water storage pipe 601, which is mounted on the mounting shell 202, and a plurality of equidistantly distributed spray heads 6011 are arranged at the bottom of the water storage pipe 601, and the spray heads 6011 are connected with positioning rods 6012 in pairs, and two mutually symmetrical connecting pipes 6013 are connected to the top of the water storage pipe 601, and the other end of the connecting pipe is connected to the water tank 201; when the rectangular plug-in rod 4031 is moved When the rectangular plug rod 4031 is in a rotating state, the rectangular plug rod 4031, the rotating drum 402 and the rotating rod 401 rotate synchronously, so that the rectangular plug rod 4031, the rotating rod 401 and the rotating drum 402 are integrally shaped. Therefore, when the rectangular plug rod 4031 is moving, the first movable rod 4042 can drive the moving block 4043 to move vertically with the assistance of the slide rail 4044. When the moving block 4043 moves, it can drive the moving rod 4045 to move. When the moving rod 4045 moves, the second movable rod 4046 can drive the second cutting knife 4041 to move. Therefore, the first cutting knife 404 and the second cutting knife 4041 can be rotated to cut and crush the incoming sludge, thereby avoiding the appearance of large sludge to a certain extent. ;

[0050] like Figure 8 and Fig.10 As shown, in a specific embodiment, the rotating mechanism includes a first rotating rod 3021, the first rotating rod 3021 is fixedly mounted on the second bevel gear 302, the other end of the first rotating rod 3021 movably penetrates the mounting shell 202 and the second mounting plate 2019, the first rotating rod 3021 is fixedly mounted on one end away from the second bevel gear 302 with a first rotating wheel 3022, a transmission belt 3023 is arranged on the first rotating wheel 3022, and the other side of the transmission belt 3023 is sleeved on the second rotating wheel 3024. In this configuration, the installation position and components of the rotating mechanism are determined.

[0051] like Figures 3 to 5 and Figures 7 to 10 as well as Fig.12As shown, further, the first moving mechanism includes a second rotating rod 3031, one end of the second rotating rod 3031 is fixedly mounted on the third bevel gear 303, the second rotating rod 3031 is movably penetrated through the mounting shell 202 and the first mounting plate 2012, and the other end of the second rotating rod 3031 is provided with a first bearing 3033, the first bearing 3033 is installed at the bottom of the first mounting plate 2012, the second rotating rod 3031 is located on the side wall of the inner cavity of the first mounting plate 2012, a guide slot 3032 is provided on the guide slot 3032, a guide slider is provided on the guide slider, and a guide sleeve 3034 is installed on the guide slider, and two mutually symmetrical first guide rods 3035 are movably penetrated on the guide sleeve 3034, and the two ends of the two first guide rods 3035 are respectively fixedly connected to the opposite two side walls of the first mounting plate 2012. In this setting, the installation position and components of the first moving mechanism are determined.

[0052] like Fig.10 as well as Fig.11 As shown, further, the second moving mechanism includes a third rotating rod 3041, the third rotating rod 3041 is fixedly mounted on the fourth bevel gear 304, the other end of the third rotating rod 3041 is rotatably connected to the inner wall of the mounting shell 202, the third rotating rod 3041 is provided with a moving slide 3042, a moving slider is slidably arranged on the moving slide 3042, and a moving sleeve 3043 is installed on the moving slider, and two second symmetrical guide rods 3044 are movably penetrated on the moving sleeve 3043, and the two second guide rods 3044 are symmetrical to each other. In this setting, the installation position and components of the second moving mechanism are determined.

[0053] like Figure 6 and Fig.10 as well as Fig.11As shown, further, a fixing plate 305 is fixedly installed at the bottom of the movable sleeve 3043, and the bottom of the fixing plate 305 is located in the inner cavity of the rectangular groove 2023. A connecting rod 3051 is fixedly installed on one side wall of the fixing plate 305. The connecting rod 3051 is movable through the mounting shell 202, and a universal joint is arranged at the other end of the connecting rod 3051, and the other end of the universal joint is arranged on the spray head 6011. In this arrangement, when the fourth bevel gear 304 rotates, it will be able to drive the third rotating rod 3041 to rotate. At this time, through the movable slide groove 3042 opened on the third rotating rod 3041, the movable slider sliding on the top, the movable sleeve 3043 and the second guide rod 3044, the movable sleeve 3043 can be guaranteed to move horizontally. When the movable sleeve 3043 moves horizontally, it will be able to drive the fixed plate 305 to move. When the fixed plate 305 moves, it will be able to drive the connecting rod 3051 to move. The connecting rod 3051 and the spray head 6011 are connected by a universal joint, so the angle of the spray head 6011 can be adjusted, and the spray head 6011 and the water storage pipe 601 are connected by a hose.

[0054] Embodiment 2:

[0055] The difference between the above embodiment and this embodiment is that: Figures 4 to 5 and Figures 7 to 10 as well as Figures 12 to 15 As shown, an intelligent dredging robot, the third moving mechanism includes a rectangular cylinder 403, the rectangular cylinder 403 is fixedly mounted on the inner wall of the rotating rod 401, a rectangular plug rod 4031 is plugged into the inner cavity of the rectangular cylinder 403, and the rectangular plug rod 4031 movably penetrates the port of the rotating rod 401 located at the first mounting plate 2012. The installation position and components of the third moving mechanism are determined in this setting.

[0056] like Figures 4 to 5 and Figures 7 to 10 as well as Figures 13 to 15As shown, in a specific embodiment, a rotating rod 4032 is fixedly installed at one end of the rectangular plug-in rod 4031 located in the inner cavity of the first mounting plate 2012, a third bearing 4033 is provided at the other end of the rotating rod 4032, a limiting rod 3036 is fixedly installed on one side wall of the third bearing 4033, and the other end of the limiting rod 3036 is fixedly connected to the guide sleeve 3034. In this arrangement, when the third bevel gear 303 rotates, it will be able to drive the second rotating rod 3031 to rotate. With the assistance of the guide slot 3032 opened on the second rotating rod 3031, the guide slider and guide sleeve 3034 sliding inside it, and the first guide rod 3035, the guide sleeve 3034 can move horizontally. When the guide sleeve 3034 moves, it will be able to drive the third bearing 4033 to move through the limit rod 3036. Because the inner cavity of the third bearing 4033 is provided with a rotating rod 4032, the rotating rod 4032 can be pulled to move, and the rectangular plug-in rod 4031 can be pulled to move in the rectangular tube 403 through the rotating rod 4032.

[0057] like Figures 4 to 5 and Figures 7 to 10 as well as Figures 13 to 15 As shown, further, the fourth moving mechanism includes a plurality of moving blocks 4043, each of which is respectively arranged in the inner cavity of the rectangular slot 4021, and the two opposite side walls of each moving block 4043 are connected with a slide rail 4044. In this configuration, the installation position and components of the fourth moving mechanism are determined.

[0058] like Figures 4 to 5 and Figures 7 to 10 as well as Figures 13 to 15 As shown, further, a first movable rod 4042 is movably mounted at the bottom of each moving block 4043, and the other end of each first movable rod 4042 is movably connected to the rectangular plug rod 4031. In this configuration, because the rectangular plug rod 4031 is in a rotating state when moving, and the rectangular plug rod 4031, the rotating drum 402 and the rotating rod 401 rotate synchronously, the rectangular plug rod 4031, the rotating rod 401 and the rotating drum 402 are integral, so when the rectangular plug rod 4031 moves, the moving block 4043 can be driven by the first movable rod 4042 to move vertically with the assistance of the slide rail 4044.

[0059] like Figures 4 to 5 and Figures 7 to 10 as well as Figures 13 to 15As shown, further, a moving rod 4045 is fixedly installed above each moving block 4043, and second moving rods 4046 are movably arranged on opposite side walls of each moving rod 4045, and the other end of each second moving rod 4046 is movably connected to two mutually symmetrical second cutting knives 4041. In this arrangement, when the moving block 4043 moves, the moving rod 4045 can be driven to move, and when the moving rod 4045 moves, the second cutting knives 4041 can be driven to move through the second moving rod 4046, so that the entering sludge can be cut and crushed through the rotation of the first cutting knives 404 and the second cutting knives 4041, and the situation that large sludge enters the collecting box 2013 is avoided to a certain extent.

[0060] The implementation principle of an intelligent dredging robot in this embodiment is as follows:

[0061] First, the staff starts the robot mobile unit 100 to allow the robot mobile unit 100 to enter the rectangular pipe (the robot mobile unit 100 is an existing technology);

[0062] When the robot moving unit 100 enters the rectangular pipe, the robot moving unit 100 will be able to drive the water tank 201, the collection box 2011, the collection box 2013, the first mounting plate 2012, the second mounting plate 2019 and the two backflow plates 2017 to move in the rectangular pipe;

[0063] When the robot mobile unit 100 moves, the collecting box 2013 and the two inverting plates 2017 can scrape the sludge in the rectangular pipe, so that the sludge is shoveled into the collecting box 2013 through the inclined plate 2021 on the collecting box 2013;

[0064] When the sludge enters the collection box 2013, the staff controls the servo motor 301 to operate through the controller, and the servo motor 301 can drive the rotating shaft 3011 to rotate, and the rotating shaft 3011 can drive the first bevel gear 3012 to rotate. When the first bevel gear 3012 rotates, it can drive the fifth bevel gear 501 to rotate, and the fifth bevel gear 501 can respectively drive the second bevel gear 302, the third bevel gear 303 and the fourth bevel gear 304 to rotate;

[0065] When the second bevel gear 302 rotates, it can drive the first rotating rod 3021 to rotate. When the first rotating rod 3021 rotates, it can drive the first rotating wheel 3022 to rotate, thereby driving the transmission belt 3023 to move. The transmission belt 3023 can drive the second rotating wheel 3024 to rotate. When the second rotating wheel 3024 rotates, it can drive the rotating rod 401 to rotate. When the rotating rod 401 rotates, it can drive the rotating drum 402 and the rectangular drum 403 to rotate.

[0066] When the third bevel gear 303 rotates, the second rotating rod 3031 can be driven to rotate. With the help of the guide slot 3032 provided on the second rotating rod 3031, the guide slider and the guide sleeve 3034 sliding inside the second rotating rod 3031, and the first guide rod 3035, the guide sleeve 3034 can be moved in the horizontal direction. When the guide sleeve 3034 moves, the third bearing 4033 can be driven to move through the limit rod 3036. Because the inner cavity of the third bearing 4033 is provided with a rotating rod 4032, the rotating rod 4032 can be pulled to move, and the rectangular plug rod 4031 can be pulled to move in the rectangular tube 403 through the rotating rod 4032, so that the rectangular plug rod 4031 can be moved and rotated at the same time;

[0067] Because the rectangular plug rod 4031 is in a rotating state when it moves, and the rectangular plug rod 4031, the rotating drum 402 and the rotating rod 401 rotate synchronously, the rectangular plug rod 4031, the rotating rod 401 and the rotating drum 402 are integrally shaped. Therefore, when the rectangular plug rod 4031 moves, it can drive the moving block 4043 to move in the vertical direction with the assistance of the slide rail 4044 through the first movable rod 4042. When the moving block 4043 moves, it can drive the moving rod 4045 to move. When the moving rod 4045 moves, it can drive the second cutting knife 4041 to move through the second movable rod 4046. Therefore, the entering sludge can be cut and crushed by the rotation of the first cutting knife 404 and the second cutting knife 4041, which to a certain extent avoids the situation where large sludge blocks the collection box 2013.

[0068] The crushed sludge enters the collecting box 2013 and can enter the protective tube 2014 through the feed port 2018. At this time, the fourth rotating rod 5011 rotating in the protective tube 2014 can drive the transmission roller 5012 to rotate, so that the sludge can be transported, so that the sludge can enter the collecting box 2011 from the discharge pipe 2015, so as to be collected.

[0069] When the fourth bevel gear 304 rotates, it will be able to drive the third rotating rod 3041 to rotate. At this time, through the movable slide groove 3042 opened on the third rotating rod 3041 and the movable slider sliding on the top and the movable sleeve 3043 and the second guide rod 3044, the movable sleeve 3043 can be guaranteed to move horizontally. When the movable sleeve 3043 moves horizontally, it will be able to drive the fixed plate 305 to move. When the fixed plate 305 moves, it will be able to drive the connecting rod 3051 to move. The connecting rod 3051 and the spray head 6011 are connected by a universal joint, so the angle of the spray head 6011 can be adjusted. The spray head 6011 and the water storage pipe 601 are connected by a hose (because the water storage pipe 601 is connected to the water tank 201 through the connecting pipe 6013, and a high-pressure pump is provided at the connection, so the spray head 6011 can spray water).

Claims

1. An intelligent dredging robot, comprising a robot moving unit (100), an installation unit (200), a transmission unit (300), a crushing unit (400), a transmission unit (500) and a spraying unit (600), characterized in that: The installation unit (200) comprises a collection box (2011), the collection box (2011) is arranged above the robot mobile unit (100), a water tank (201) is arranged on one side wall of the collection box (2011), a connecting plate (2016) is fixedly installed on one side wall of the robot mobile unit (100), a collection box (2013) is installed on the other end of the connecting plate (2016), a first installation plate (2012) and a second installation plate (2019) are respectively installed on both side walls of the collection box (2013), and one side wall of each of the first installation plate (2012) and the second installation plate (2019) is fixedly installed on one side wall of the robot mobile unit (100). A backflow plate (2017) is provided, a mounting shell (202) is provided in the inner cavity of the collection box (2013), an inclined plate (2021) is provided above the mounting shell (202), a protective cylinder (2014) is also provided above the mounting shell (202), a side wall of the protective cylinder (2014) located on the collection box (2013) is provided with a feed inlet (2018), a discharge pipe (2015) is provided above the protective cylinder (2014), the other end of the discharge pipe (2015) is provided on a side wall of the collection box (2011), and a placement cavity (2022) is provided in the mounting shell (202); The transmission unit (300) comprises a servo motor (301), the servo motor (301) being mounted on a side wall of a mounting shell (202), a rotating shaft (3011) being fixedly mounted on an output end of the servo motor (301), a first bevel gear (3012) being fixedly mounted on a side wall of the rotating shaft (3011) away from the servo motor (301), a fifth bevel gear (501) being vertically meshed and mounted above the first bevel gear (3012), a second bevel gear (302), a third bevel gear (303) and a fourth bevel gear (304) being vertically meshed and mounted at the bottom of the fifth bevel gear (501), a rotating mechanism being arranged on the second bevel gear (302), a first moving mechanism being arranged on the third bevel gear (303), and a second moving mechanism being arranged on the fourth bevel gear (304); The crushing unit (400) comprises a rotating rod (401), the rotating rod (401) movably passes through the first mounting plate (2012), the collecting box (2013) and the second mounting plate (2019), the rotating rod (401) is located in the inner cavity of the second mounting plate (2019), one end of which is fixedly mounted with a second rotating wheel (3024), one end of which is provided with a second bearing (4011), the second bearing (4011) is mounted on the second mounting plate (2019), the other end of the rotating rod (401) is located in the inner cavity of the first mounting plate (2012), the inner cavity of the rotating rod (401) is provided with a third moving mechanism, the rotating rod (401) is located in the inner cavity of the collecting box ( 2013), a rotating drum (402) is fixedly installed, a plurality of rectangular slots (4021) are provided on the rotating drum (402) and the rotating rod (401), two opposite side walls of the inner cavity of each rectangular slot (4021) are provided with slide rails, a fourth moving mechanism is provided in the inner cavity of each rectangular slot (4021), a first cutting knife (404) is fixedly installed on each rectangular slot (4021), a slot is provided at the bottom of each first cutting knife (404), and the fourth moving mechanism is located in the slot, a mounting groove is provided on the two opposite side walls of each first cutting knife (404), and a second cutting knife (4041) is slidably provided in the inner cavity of the mounting groove; The transmission unit (500) comprises a fourth rotating rod (5011), the fourth rotating rod (5011) is fixedly mounted on the fifth bevel gear (501), the fourth rotating rod (5011) movably penetrates the mounting shell (202) and the protective tube (2014), and the other end of the fourth rotating rod (5011) is rotatably connected to the top of the protective tube (2014), and the fourth rotating rod (5011) is provided with a transmission roller (5012) in the inner cavity of the protective tube (2014); The spraying unit (600) comprises a water storage pipe (601), the water storage pipe (601) being mounted on a mounting shell (202), a plurality of spray heads (6011) being arranged at equal intervals at the bottom of the water storage pipe (601), positioning rods (6012) being connected between each of the spray heads (6011), two mutually symmetrical connecting pipes (6013) being connected above the water storage pipe (601), and the other ends of the connecting pipes being connected to a water tank (201).

2. The intelligent dredging robot according to claim 1, characterized in that: The rotating mechanism comprises a first rotating rod (3021), the first rotating rod (3021) is fixedly mounted on the second bevel gear (302), the other end of the first rotating rod (3021) is movably inserted into the mounting shell (202) and the second mounting plate (2019), one end of the first rotating rod (3021) away from the second bevel gear (302) is fixedly mounted with a first rotating wheel (3022), a transmission belt (3023) is arranged on the first rotating wheel (3022), and the other side of the transmission belt (3023) is sleeved on the second rotating wheel (3024).

3. The intelligent dredging robot according to claim 1, characterized in that: The first moving mechanism comprises a second rotating rod (3031), one end of the second rotating rod (3031) is fixedly mounted on the third bevel gear (303), the second rotating rod (3031) movably passes through the mounting shell (202) and the first mounting plate (2012), and the other end of the second rotating rod (3031) is provided with a first bearing (3033), the first bearing (3033) is mounted on the inner bottom of the first mounting plate (2012), a guide groove (3032) is provided on the side wall of the inner cavity of the first mounting plate (2012), a guide slider is provided on the guide groove (3032), and a guide sleeve (3034) is mounted on the guide slider, and two mutually symmetrical first guide rods (3035) are movably passed through the guide sleeve (3034), and the two ends of the two first guide rods (3035) are respectively fixedly connected to the opposite side walls of the first mounting plate (2012).

4. The intelligent dredging robot according to claim 1, characterized in that: The second moving mechanism comprises a third rotating rod (3041), the third rotating rod (3041) is fixedly mounted on the fourth bevel gear (304), the other end of the third rotating rod (3041) is rotatably connected to the inner wall of the mounting shell (202), the third rotating rod (3041) is provided with a moving slide groove (3042), a moving slider is slidably arranged on the moving slide groove (3042), and a moving sleeve (3043) is installed on the moving slider, and two second guide rods (3044) symmetrical to each other are movably penetrated on the moving sleeve (3043), and the two second guide rods (3044) are symmetrical to each other.

5. The intelligent dredging robot according to claim 4, characterized in that: A fixing plate (305) is fixedly installed at the bottom of the movable sleeve (3043), and the bottom of the fixing plate (305) is located in the inner cavity of the rectangular groove (2023). A connecting rod (3051) is fixedly installed on one side wall of the fixing plate (305), and the connecting rod (3051) is movably inserted through the mounting shell (202). A universal joint is arranged at the other end of the connecting rod (3051), and the other end of the universal joint is arranged on the spray head (6011).

6. The intelligent dredging robot according to claim 1, characterized in that: The third moving mechanism comprises a rectangular tube (403), wherein the rectangular tube (403) is fixedly mounted on the inner wall of the rotating rod (401), wherein a rectangular plug-in rod (4031) is inserted into the inner cavity of the rectangular tube (403), and wherein the rectangular plug-in rod (4031) movably passes through a port of the rotating rod (401) located at the first mounting plate (2012).

7. The intelligent dredging robot according to claim 6, characterized in that: A rotating rod (4032) is fixedly mounted on one end of the rectangular plug-in rod (4031) located in the inner cavity of the first mounting plate (2012), a third bearing (4033) is arranged at the other end of the rotating rod (4032), a limiting rod (3036) is fixedly mounted on one side wall of the third bearing (4033), and the other end of the limiting rod (3036) is fixedly connected to the guide sleeve (3034).

8. The intelligent dredging robot according to claim 1, characterized in that: The fourth moving mechanism comprises a plurality of moving blocks (4043), each of the moving blocks (4043) being respectively arranged in the inner cavity of the rectangular slot (4021), and the two opposite side walls of each of the moving blocks (4043) are connected to a slide rail (4044).

9. The intelligent dredging robot according to claim 8, characterized in that: A first movable rod (4042) is movably mounted at the bottom of each of the movable blocks (4043), and the other end of each of the first movable rods (4042) is movably connected to the rectangular plug-in rod (4031).

10. The intelligent dredging robot according to claim 9, characterized in that: A moving rod (4045) is fixedly installed above each moving block (4043), and second moving rods (4046) are movably arranged on two opposite side walls of each moving rod (4045), and the other end of each second moving rod (4046) is movably connected to two mutually symmetrical second cutting knives (4041).

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