Operation manipulator of intelligent robot for descaling ditch wall of ecological agricultural irrigation ditch

Abstract

The invention relates to the field of water conservancy project ditch wall cleaning machinery, and discloses an ecological agriculture irrigation ditch wall descaling intelligent robot operation manipulator which comprises a cleaning mechanism and a classification mechanism. The cleaning mechanism is arranged, the scraping force of the cleaning mechanism can be improved through the flowing force of water in the ditch when sludge or garbage which is difficult to scrape is encountered, so that stubborn sludge or garbage can still be easily scraped, and the ditch with any width can be cleaned through the arranged cleaning mechanism; the sludge and the garbage can be classified and recycled through the arranged classification mechanism, the cleaning speed of the sludge and the garbage is increased, secondary treatment of the sludge and the garbage is not needed after the sludge and the garbage in the ditch are cleaned, and the cleaning efficiency is improved; and meanwhile, the classification mechanism can move in the ditch by means of buoyancy of water in the ditch.

Description

Technical Field

[0001] The invention relates to the field of ditch wall cleaning machinery for water conservancy projects, and in particular to an intelligent robot operating manipulator for descaling ditch walls of ecological agricultural irrigation ditches. Background Art

[0002] Su Shixiang Agricultural irrigation ditches are an important part of farmland water conservancy facilities. They are known as the "capillaries" of farmland and bear the important responsibility of ensuring smooth irrigation and drainage of farmland. In humid or semi-humid areas, ditches help farmers to drain excess surface water in time to prevent crops from being damaged by waterlogging. In arid areas, effective drainage projects can manage groundwater levels and reduce the risk of secondary soil salinization. During use, ditches need to be cleaned regularly to remove silt and debris at the bottom of the ditch to keep the water flowing smoothly.

[0003] Therefore, based on the existing ditch wall descaling equipment, in actual use, it only scrapes away the dirt on the inner wall of the ditch, and does not collect the scraped dirt. However, the dirt includes other aquatic plants such as green algae. Although green algae or other substances have a certain purification effect on water quality during their growth, the dead green algae and other substances will decompose, which may lead to a temporary increase in nutrients such as nitrogen and phosphorus in the water body, thereby affecting the water quality and having a negative impact on the water quality and the water delivery capacity of the ditch. At the same time, it is impossible to classify the garbage inside the ditch, so that the dirt and garbage inside the ditch will be mixed together after scraping, which is difficult to separate. For this reason, we propose an intelligent robot operation manipulator for ecological agricultural irrigation ditch wall descaling. Summary of the invention

[0004] In view of the shortcomings of the prior art, the present invention provides an intelligent robot operating manipulator for descaling the ditch wall of ecological agriculture irrigation ditches, which has the advantages of fast cleaning and garbage classification, and solves a series of problems such as slow cleaning.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an intelligent robot operation manipulator for descaling the ditch wall of an ecological agricultural irrigation ditch, comprising an agricultural ditch and an intelligent mechanical vehicle;

[0006] A mechanical arm is rotatably mounted on the top of the intelligent mechanical vehicle, and an operating hand is rotatably connected to the extended end of the mechanical arm. The operating hand slides inside the agricultural ditch, and the operating hand is used to clean up the garbage inside the agricultural ditch. The operating hand includes a control frame rotatably connected to the extended end of the mechanical arm, and a connecting shaft is fixedly connected to the bottom of the control frame. A floating shell is rotatably connected to the outside of the connecting shaft. The operating hand also includes a conveying mechanism, and the conveying mechanism includes a conveying frame fixedly connected to one side of the control frame;

[0007] The operator also includes a cleaning mechanism, which is used to clean and collect sludge and garbage on the inner wall of the agricultural ditch. The cleaning mechanism includes cleaning arms respectively fixedly connected to both sides of the conveying frame, one end of the two cleaning arms is fixedly connected to the same fixed scraper, the separated sides of the two cleaning arms are fixedly connected to a limited telescopic rod, the extended ends of several limited telescopic rods on the same side are fixedly connected to the same rotating shell, the interior of the rotating shell is rotatably connected to a cleaning roller brush, one side of the floating shell is fixedly connected to two spoiler pumps, the input ends of the two spoiler pumps are connected to a first suction pipe, the input ends of the two spoiler pumps are connected to a first nozzle, the output ends of the two first nozzles are connected to a nozzle, and an air bag is fixedly installed at the bottom of the floating shell;

[0008] The classification mechanism is used to classify the collected garbage and store the sludge and garbage separately to facilitate later processing. The classification mechanism includes a silt collection shell slidably connected to the inside of the floating shell, and a garbage collection shell is placed inside the silt collection shell.

[0009] Preferably, the conveying mechanism also includes a conveyor belt slidably connected to the outside of the conveyor frame, a plurality of bent plates are fixedly connected to the outside of the conveyor belt, one end of the conveyor frame is rotatably connected to a conveyor shaft, the outside of the conveyor shaft is meshed with the inside of the conveyor belt, a conveying motor is fixedly installed on one side of the conveyor frame, and the output end of the conveying motor is fixedly connected to one end of the conveying shaft.

[0010] Preferably, the cleaning mechanism also includes two telescopic scrapers sliding on one side of the fixed scraper, one side of the two telescopic scrapers are fixedly connected with a first connecting block, the separated sides of the two first connecting blocks are fixedly connected with a cleaning telescopic rod, the outer part of the cleaning telescopic rod is sleeved with a cleaning spring, one side of the fixed scraper is fixedly connected with two second connecting blocks, the opposite sides of the two second connecting blocks are fixedly connected to the extended end of the adjacent cleaning telescopic rod, and the tops of the two telescopic scrapers are fixedly connected with an inclined scraper.

[0011] Preferably, one side of the two rotating shells is fixedly connected with a plurality of fixed columns, one end of the plurality of fixed columns on the same side is fixedly connected with the same bag net, the tops of the two rotating shells are rotatably connected with cleaning motors, flow sensors are arranged inside the two bag nets, the two cleaning motors are respectively fixedly connected with one end of the adjacent cleaning roller brushes, and the outsides of the plurality of limit telescopic rods are sleeved with limit springs.

[0012] Preferably, the classification mechanism further comprises two sliding grooves opened on the top of the sediment collection shell, and two sliding blocks are fixedly connected to one side of the garbage collection shell, and the sliding blocks are slidably connected inside the sliding grooves.

[0013] Preferably, a plurality of limiting slats are fixedly connected to the interior of the sediment collection shell, the plurality of limiting slats are arranged at intervals, a same leak plate is placed on the top of the plurality of limiting slats, and the garbage collection shell is placed on the top of the leak plate.

[0014] Preferably, a cleaning pump is fixedly installed on one side of the floating shell, the bottom of the cleaning pump is connected to a second suction pipe, the output end of the cleaning pump is connected to a second nozzle, the top of the sediment collection shell is arranged obliquely, and a plurality of sediment collection shells are fixedly connected at a lower part of the top, and the plurality of sediment collection shells are arranged at intervals.

[0015] Preferably, an anti-collision plate is fixedly connected to the bottom of the control frame, two anti-collision springs are fixedly connected to one side of the anti-collision plate, and one end of the two anti-collision springs is fixedly connected to one side of the floating shell.

[0016] Preferably, a strain gauge is provided inside the fixed scraper, and a liquid level gauge is provided outside the floating shell.

[0017] Compared with the prior art, the present invention provides an intelligent robot operating manipulator for descaling the ditch wall of ecological agricultural irrigation, which has the following beneficial effects:

[0018] 1. The invention can thoroughly scrape away the sludge and garbage on the inner wall of the ditch through the cleaning mechanism. When encountering sludge or garbage that is difficult to scrape away, the scraping force of the cleaning mechanism can be improved by the flow force of the water in the ditch, so that even stubborn sludge or garbage can still be easily scraped away. The cleaning mechanism can also clean ditches of any width. The cleaning mechanism can also collect sludge and aquatic plants attached to both sides of the inner wall of the ditch, thereby improving the quality of water in the ditch.

[0019] 2. The invention can transport the sludge and garbage scraped by the cleaning mechanism through the conveying mechanism, and can classify and recycle the sludge and garbage through the sorting mechanism, thereby improving the cleaning speed of the sludge and garbage, so that there is no need to perform secondary treatment on the sludge and garbage after cleaning the sludge and garbage inside the ditch, thereby improving the cleaning efficiency. At the same time, the sorting mechanism can move inside the ditch with the help of the buoyancy of the water inside the ditch, thereby greatly reducing energy consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0021] Figure 2 It is a three-dimensional structural schematic diagram of the operating hand of the present invention;

[0022] Figure 3 It is a structural schematic diagram of the control frame part of the present invention;

[0023] Figure 4 A schematic diagram of the three-dimensional structure of the operating hand of the present invention from another perspective;

[0024] Figure 5 It is a schematic diagram of the three-dimensional structure of the rotating shell part of the present invention;

[0025] Figure 6 for Figure 3 A schematic diagram of the enlarged structure of part A;

[0026] Figure 7 It is a schematic diagram of the three-dimensional structure of the telescopic scraper part of the present invention;

[0027] Figure 8 It is a schematic diagram of the internal structure of the floating shell of the present invention.

[0028] In the figure: 1. airbag; 2. operator; 3. cleaning mechanism; 4. classification mechanism; 5. agricultural ditch; 6. intelligent mechanical vehicle; 7. mechanical arm; 8. control frame; 9. connecting shaft; 10. floating shell; 11. conveying frame; 12. cleaning arm; 13. fixed scraper; 14. telescopic scraper; 15. oblique scraper; 16. first connecting block; 17. cleaning telescopic rod; 18. cleaning spring; 19. second connecting block; 20. limit telescopic rod; 21. limit spring; 22. rotating shell; 23. Cleaning roller brush; 24, cleaning motor; 25, fixing column; 26, net; 27, spoiler pump; 28, first suction pipe; 29, first nozzle; 30, nozzle; 31, anti-collision plate; 32, anti-collision spring; 33, conveyor belt; 34, conveying shaft; 35, conveying motor; 36, bending piece; 37, sediment collection shell; 38, garbage collection shell; 39, sliding groove; 40, sliding block; 41, limiting plate; 42, leakage plate; 43, cleaning pump; 44, second suction pipe; 45, second nozzle. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] As introduced in the background technology, in order to solve the deficiencies existing in the prior art and the above technical problems, the present application proposes an intelligent robot operation manipulator for descaling the ditch wall of ecological agricultural irrigation ditches.

[0031] In a typical implementation of the present application, Figure 1-8 As shown, an intelligent robot operation manipulator for descaling the wall of an ecological agricultural irrigation ditch comprises an agricultural ditch 5 and an intelligent mechanical vehicle 6;

[0032] A mechanical arm 7 is rotatably installed on the top of the intelligent mechanical vehicle 6, and an extended end of the mechanical arm 7 is rotatably connected to an operating hand 2, which slides inside the agricultural ditch 5. The operating hand 2 is used to clean up the garbage inside the agricultural ditch 5. The operating hand 2 includes a control frame 8 rotatably connected to the extended end of the mechanical arm 7, and a connecting shaft 9 is fixedly connected to the bottom of the control frame 8. The outside of the connecting shaft 9 is rotatably connected to a floating shell 10. The operating hand 2 also includes a conveying mechanism, which includes a conveying frame 11 fixedly connected to one side of the control frame 8. The conveying mechanism also includes a conveyor belt 33 slidably connected to the outside of the conveyor frame 11, and a plurality of bent pieces 36 are fixedly connected to the outside of the conveyor belt 33. One end of the conveyor frame 11 is rotatably connected to a conveying shaft 34, and the outside of the conveying shaft 34 is meshed with the inside of the conveyor belt 33. A conveying motor 35 is fixedly installed on one side of the conveying frame 11, and the output end of the conveying motor 35 is fixedly connected to one end of the conveying shaft 34.

[0033] By setting up the above-mentioned structure, garbage and sludge in the water can be transported. Specifically, after the sludge and garbage on the inner wall of the agricultural ditch 5 are scraped off by the cleaning mechanism 3, the sludge and garbage fall off the inner wall of the agricultural ditch 5 and float in the water inside the agricultural ditch 5. At this time, the conveying motor 35 is started, and the output end of the conveying motor 35 rotates to drive the conveying shaft 34 to rotate. The rotation of the conveying shaft 34 drives the conveyor belt 33 to rotate outside the conveying frame 11. The rotation of the conveying frame 11 drives the bending piece 36 to rotate. The rotation of the bending piece 36 drives the sludge and garbage inside the agricultural ditch 5 to move above the water surface, thereby transporting the sludge and garbage scraped off by the cleaning mechanism 3.

[0034] The operator 2 also includes a cleaning mechanism 3, which is used to clean and collect the silt and garbage on the inner wall of the agricultural ditch 5. The cleaning mechanism 3 includes cleaning arms 12 fixedly connected to both sides of the conveying frame 11, one end of the two cleaning arms 12 is fixedly connected to the same fixed scraper 13, and a strain gauge is arranged inside the fixed scraper 13. The two cleaning arms 12 are fixedly connected to the separated sides with a limited telescopic rod 20, and the extended ends of several limited telescopic rods 20 on the same side are fixedly connected to the same rotating shell 22, and the cleaning roller brush 23 is rotatably connected inside the rotating shell 22. One side of the floating shell 10 is fixedly connected to two disturbance pumps 27, and the input ends of the two disturbance pumps 27 are connected to the first suction pipe 28, and the input ends of the two disturbance pumps 27 are connected to the first nozzle 29, and the output ends of the two first nozzles 29 are connected to the nozzle 30. The bottom of the floating shell 10 is fixedly installed with an air bag 1;

[0035] The cleaning mechanism 3 also includes two telescopic scrapers 14 sliding on one side of the fixed scraper 13, one side of the two telescopic scrapers 14 are fixedly connected with a first connecting block 16, the separated sides of the two first connecting blocks 16 are fixedly connected with a cleaning telescopic rod 17, the outside of the cleaning telescopic rod 17 is sleeved with a cleaning spring 18, one side of the fixed scraper 13 is fixedly connected with two second connecting blocks 19, the opposite sides of the two second connecting blocks 19 are fixedly connected to the extended ends of the adjacent cleaning telescopic rods 17, the tops of the two telescopic scrapers 14 are fixedly connected with an inclined scraper 15, one side of the two rotating shells 22 are fixedly connected with a plurality of fixed columns 25, one end of the plurality of fixed columns 25 on the same side is fixedly connected with the same pocket net 26, the tops of the two rotating shells 22 are rotatably connected with cleaning motors 24, the insides of the two pocket nets 26 are provided with flow sensors, the two cleaning motors 24 are respectively fixedly connected with one end of the adjacent cleaning roller brush 23, and the outsides of the plurality of limiting telescopic rods 20 are sleeved with limiting springs 21.

[0036] By setting the above-mentioned structure, the sludge and garbage inside the agricultural ditch 5 can be scraped off. Specifically, when it is necessary to scrape off the sludge and garbage inside the agricultural ditch 5, the intelligent mechanical vehicle 6 is driven to one side of the agricultural ditch 5, and the operator 2 is placed inside the agricultural ditch 5 through the mechanical arm 7. At this time, one side of the two telescopic scrapers 14 is respectively fitted with the two sides of the inner wall of the agricultural ditch 5 through the cleaning spring 18, and at the same time, the bottom of the two telescopic scrapers 14 and the bottom of the fixed scraper 13 are also fitted with the bottom of the inner wall of the agricultural ditch 5. At the same time, the two cleaning roller brushes 23 are fitted with the two sides of the inner wall of the agricultural ditch 5 under the action of the extension and compression of the limit spring 21. At this time, the intelligent mechanical vehicle 6 can be driven to move, and the movement of the intelligent mechanical vehicle 6 drives the operator 2 to slide inside the agricultural ditch 5 to scrape off the sludge and garbage on the inner wall of the agricultural ditch 5, and the large garbage inside the agricultural ditch 5 is limited to the middle position of the agricultural ditch 5 through the two inclined scrapers 15, which is convenient for later collection;

[0037] While the operator 2 is scraping the sludge and garbage inside the agricultural ditch 5, the two cleaning motors 24 are started. The output ends of the two cleaning motors 24 rotate to drive the corresponding cleaning roller brushes 23 to rotate, so as to further scrape the sludge and garbage on both sides of the inner wall of the agricultural ditch 5. In the process of scraping the sludge and garbage inside the agricultural ditch 5, it is best to move along the flow direction of the water inside the agricultural ditch 5. The flow sensor arranged inside the net 26 can detect the flow rate of water flowing into the net 26, so as to know whether the scraped sludge and garbage can be brought into the inside of the net 26 by the flow rate of the water inside the agricultural ditch 5. When the flow sensor detects that the flow rate of the water inside the agricultural ditch 5 cannot bring the scraped sludge and garbage into When the agricultural ditch 5 is inside the net 26, the disturbance pump 27 is started, and the water inside the agricultural ditch 5 is sucked in through the first suction pipe 28 and pumped into the inside of the nozzle 30 through the first nozzle 29, and then pumped out through the nozzle 30, to create a strong water flow for cleaning the water near the roller brush 23, so that the sludge and garbage can be brought into the inside of the net 26 through the water flow for collection. When there is strong sludge or garbage stuck to the bottom of the inner wall of the agricultural ditch 5, the strain gauge inside the fixed scraper 13 detects that the bending of the fixed scraper 13 is aggravated. At this time, the airbag 1 expands, reducing the flow rate of the water inside the agricultural ditch 5 through the operator 2, and using the flow rate of the water inside the agricultural ditch 5 to make the fixed scraper 13 generate a stronger thrust, so as to scrape off the stubborn sludge or garbage inside the agricultural ditch 5.

[0038] The classification mechanism 4 is used to classify the collected garbage and store the silt and garbage separately for later processing. The classification mechanism 4 includes a sediment collection shell 37 slidably connected to the inside of the floating shell 10, and a garbage collection shell 38 is placed inside the sediment collection shell 37. The classification mechanism 4 also includes two sliding grooves 39 opened on the top of the sediment collection shell 37. Two sliding blocks 40 are fixedly connected to one side of the garbage collection shell 38. The sliding block 40 is slidably connected to the inside of the sliding groove 39. A plurality of limiting slats 41 are fixedly connected to the inside of the sediment collection shell 37. The plurality of limiting slats 41 are arranged at intervals. The same leak plate 42 is placed on the top of the plurality of limiting slats 41. The garbage collection shell 38 is placed on the top of the leak plate 42. A liquid level meter is provided on the outside of the floating shell 10.

[0039] Furthermore, in the above scheme, through the above structure, the classification mechanism 4 can effectively classify the sludge and garbage. Specifically, the sludge and garbage will be conveyed to the inside of the garbage collection shell 38 through the conveying mechanism, and the sludge will pass through the garbage collection shell 38 and the leak plate 42 to enter the bottom of the inner wall of the silt collection shell 37 for collection, while the garbage will be collected inside the garbage collection shell 38 due to its large size. As the floating shell 10 collects the sludge and garbage, it gradually sinks. When the liquid level meter detects that the floating shell 10 has reached the maximum load, the conveying mechanism stops conveying, and the intelligent mechanical vehicle 6 stops moving. At this time, the garbage collection shell 38 can be moved out, and the garbage inside the garbage collection shell 38 can be dumped. Then, the silt collection shell 37 inside the floating shell 10 can be moved out, and the sludge inside the silt collection shell 37 can be dumped separately. After the dumping is completed, the silt collection shell 37 and the garbage collection shell 38 can be assembled to continue to recycle the sludge and garbage inside the agricultural ditch 5.

[0040] A cleaning pump 43 is fixedly installed on one side of the floating shell 10, the bottom of the cleaning pump 43 is connected to a second suction pipe 44, the output end of the cleaning pump 43 is connected to a second nozzle 45, the top of the sediment collection shell 37 is arranged obliquely, and a plurality of 46 are fixedly connected to the lower part of the top of the sediment collection shell 37, and the plurality of 46 are arranged at intervals.

[0041] By setting the above-mentioned structure, the garbage and silt inside the agricultural ditch 5 can be separated more efficiently and thoroughly. After the garbage and silt enter the garbage collecting shell 38, the cleaning pump 43 is started at this time, so that the second suction pipe 44 draws the water inside the agricultural ditch 5 into the cleaning pump 43 and sprays it out through the second nozzle 45 to clean the silt and garbage. During the cleaning process, due to sedimentation, the silt will quickly enter the bottom of the silt collecting shell 37. Since the top of the silt collecting shell 37 is arranged at an angle, the clean water of the sunken silt will flow out through the low point on the top of the silt collecting shell 37. The several 46s set up can effectively prevent the garbage floating on the water from flowing back into the agricultural ditch 5.

[0042] Preferably, an anti-collision plate 31 is fixedly connected to the bottom of the control frame 8, and two anti-collision springs 32 are fixedly connected to one side of the anti-collision plate 31. One end of the two anti-collision springs 32 is fixedly connected to one side of the floating shell 10, which can effectively prevent the floating shell 10 from colliding with the conveying mechanism when the operator 2 moves in an arc.

[0043] Working principle of the present invention: when it is necessary to scrape the sludge and garbage inside the agricultural ditch 5, the intelligent mechanical vehicle 6 is driven to one side of the agricultural ditch 5, and the operator 2 is placed inside the agricultural ditch 5 through the mechanical arm 7. At this time, one side of the two telescopic scrapers 14 is respectively fitted with the two sides of the inner wall of the agricultural ditch 5 through the cleaning spring 18, and at the same time, the bottom of the two telescopic scrapers 14 and the bottom of the fixed scraper 13 are also fitted with the bottom of the inner wall of the agricultural ditch 5. At the same time, the two cleaning roller brushes 23 are fitted with the two sides of the inner wall of the agricultural ditch 5 under the action of the extension and compression of the limit spring 21. At this time, the intelligent mechanical vehicle 6 can be driven to move, and the movement of the intelligent mechanical vehicle 6 drives the operator 2 to slide inside the agricultural ditch 5 to scrape the sludge and garbage on the inner wall of the agricultural ditch 5, and the large garbage inside the agricultural ditch 5 is limited to the middle position of the agricultural ditch 5 through the two inclined scrapers 15, which is convenient for later collection;

[0044] While the operator 2 is scraping the sludge and garbage inside the agricultural ditch 5, the two cleaning motors 24 are started. The output ends of the two cleaning motors 24 rotate to drive the corresponding cleaning roller brushes 23 to rotate, so as to further scrape the sludge and garbage on both sides of the inner wall of the agricultural ditch 5. In the process of scraping the sludge and garbage inside the agricultural ditch 5, it is best to move along the flow direction of the water inside the agricultural ditch 5. The flow sensor arranged inside the net 26 can detect the flow rate of water flowing into the net 26, so as to know whether the scraped sludge and garbage can be brought into the inside of the net 26 by the flow rate of the water inside the agricultural ditch 5. When the flow sensor detects that the flow rate of the water inside the agricultural ditch 5 cannot bring the scraped sludge and garbage into When the agricultural ditch 5 is inside the net 26, the disturbance pump 27 is started at this time, and the water inside the agricultural ditch 5 is sucked in through the first suction pipe 28 and pumped into the inside of the nozzle 30 through the first nozzle 29, and then pumped out through the nozzle 30, so as to create a strong water flow for the water near the cleaning roller brush 23, so that the sludge and garbage can be brought into the inside of the net 26 through the water flow for collection. When there is strong sludge or garbage inside the agricultural ditch 5 adhering to the bottom of the inner wall of the agricultural ditch 5, the strain gauge inside the fixed scraper 13 detects that the bending of the fixed scraper 13 is aggravated. At this time, the airbag 1 expands, reducing the flow rate of the water inside the agricultural ditch 5 through the operator 2, and using the flow rate of the water inside the agricultural ditch 5 to make the fixed scraper 13 generate a stronger thrust, so as to scrape off the stubborn sludge or garbage inside the agricultural ditch 5;

[0045] After the sludge and garbage on the inner wall of the agricultural ditch 5 are scraped off by the cleaning mechanism 3, the sludge and garbage fall off the inner wall of the agricultural ditch 5 and float in the water inside the agricultural ditch 5. At this time, the conveying motor 35 is started, and the output end of the conveying motor 35 rotates to drive the conveying shaft 34 to rotate. The conveying shaft 34 rotates to drive the conveyor belt 33 to rotate outside the conveying frame 11. The conveying frame 11 rotates to drive the curved piece 36 to rotate. The curved piece 36 rotates to drive the sludge and garbage inside the agricultural ditch 5 to move above the water surface, thereby transporting the sludge and garbage scraped off by the cleaning mechanism 3.

[0046] The sludge and garbage will be transported to the interior of the garbage collection shell 38 through the conveying mechanism, and the sludge will pass through the garbage collection shell 38 and the leak plate 42 to enter the bottom of the inner wall of the silt collection shell 37 for collection, while the garbage will be collected inside the garbage collection shell 38 due to its large size. As the floating shell 10 for collecting the sludge and garbage gradually sinks, when the liquid level meter detects that the floating shell 10 has reached the maximum load, the conveying mechanism stops conveying, and the intelligent mechanical vehicle 6 stops moving at the same time. At this time, the garbage collection shell 38 can be moved out, and the garbage inside the garbage collection shell 38 can be dumped. Then, the silt collection shell 37 inside the floating shell 10 can be moved out, and the sludge inside the silt collection shell 37 can be dumped separately. After the dumping is completed, the silt collection shell 37 and the garbage collection shell 38 can be assembled to continue to recycle the sludge and garbage inside the agricultural ditch 5;

[0047] After the garbage and silt enter the garbage collection shell 38, the cleaning pump 43 is started so that the second suction pipe 44 draws the water inside the agricultural ditch 5 into the cleaning pump 43 and sprays it out through the second nozzle 45 to clean the silt and garbage. During the cleaning process, due to sedimentation, the silt will quickly enter the bottom of the silt collection shell 37. Since the top of the silt collection shell 37 is arranged at an angle, the clean water of the sunken silt will flow out through the low point on the top of the silt collection shell 37. The several 46 set up can effectively prevent the garbage floating on the water surface from flowing back into the agricultural ditch 5.

[0048] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent robot manipulator for descaling the wall of an ecological agricultural irrigation ditch, comprising an agricultural ditch (5) and an intelligent mechanical vehicle (6), characterized in that: A mechanical arm (7) is rotatably mounted on the top of the intelligent mechanical vehicle (6); an extended end of the mechanical arm (7) is rotatably connected to an operating hand (2); the operating hand (2) slides inside the agricultural ditch (5); the operating hand (2) is used to clean up garbage inside the agricultural ditch (5); the operating hand (2) includes a control frame (8) rotatably connected to the extended end of the mechanical arm (7); a connecting shaft (9) is fixedly connected to the bottom of the control frame (8); a floating shell (10) is rotatably connected to the outside of the connecting shaft (9); the operating hand (2) also includes a conveying mechanism, which includes a conveying frame (11) fixedly connected to one side of the control frame (8); The operator (2) further comprises a cleaning mechanism (3), which is used to clean and collect sludge and garbage on the inner wall of the agricultural ditch (5), and the cleaning mechanism (3) comprises cleaning arms (12) respectively fixedly connected to both sides of the conveying frame (11), one end of the two cleaning arms (12) is fixedly connected to the same fixed scraper (13), and the two cleaning arms (12) are fixedly connected to the separated sides with a limited telescopic rod (20), and the extended ends of the plurality of limited telescopic rods (20) on the same side are A same rotating shell (22) is fixedly connected, a cleaning roller brush (23) is rotatably connected inside the rotating shell (22), two disturbance pumps (27) are fixedly connected to one side of the floating shell (10), the input ends of the two disturbance pumps (27) are both connected to a first suction pipe (28), the input ends of the two disturbance pumps (27) are both connected to a first nozzle (29), and the output ends of the two first nozzles (29) are both connected to a nozzle (30), and an air bag (1) is fixedly installed at the bottom of the floating shell (10); A classification mechanism (4) is used to classify the collected garbage and store the sludge and garbage separately to facilitate later processing. The classification mechanism (4) includes a silt collection shell (37) slidably connected to the inside of the floating shell (10), and a garbage collection shell (38) is placed inside the silt collection shell (37).

2. According to claim 1, an intelligent robot manipulator for descaling the ditch wall of ecological agriculture irrigation ditch, characterized in that: The conveying mechanism also includes a conveyor belt (33) slidably connected to the outside of the conveyor frame (11), a plurality of bent plates (36) are fixedly connected to the outside of the conveyor belt (33), one end of the conveyor frame (11) is rotatably connected to a conveyor shaft (34), the outside of the conveyor shaft (34) is meshed with the inside of the conveyor belt (33), and a conveyor motor (35) is fixedly installed on one side of the conveyor frame (11), and the output end of the conveyor motor (35) is fixedly connected to one end of the conveyor shaft (34).

3. The intelligent robot manipulator for descaling the ditch wall of ecological agricultural irrigation ditch according to claim 1, characterized in that: The cleaning mechanism (3) further comprises two telescopic scrapers (14) sliding on one side of the fixed scraper (13); one side of the two telescopic scrapers (14) is fixedly connected to a first connecting block (16); the two first connecting blocks (16) are fixedly connected to a cleaning telescopic rod (17) on the separated sides; the cleaning telescopic rod (17) is sleeved with a cleaning spring (18); one side of the fixed scraper (13) is fixedly connected to two second connecting blocks (19); the opposite sides of the two second connecting blocks (19) are fixedly connected to the extended ends of the adjacent cleaning telescopic rods (17); and the tops of the two telescopic scrapers (14) are fixedly connected to an inclined scraper (15).

4. The intelligent robot manipulator for descaling the wall of an ecological agricultural irrigation ditch according to claim 3, characterized in that: A plurality of fixed columns (25) are fixedly connected to one side of the two rotating shells (22); one end of the plurality of fixed columns (25) on the same side is fixedly connected to the same net (26); the tops of the two rotating shells (22) are rotatably connected to cleaning motors (24); flow sensors are arranged inside the two nets (26); the two cleaning motors (24) are respectively fixedly connected to one end of a cleaning roller brush (23) adjacent to the two cleaning motors (24); and the outsides of the plurality of limiting telescopic rods (20) are sleeved with limiting springs (21).

5. The intelligent robot manipulator for descaling the ditch wall of ecological agricultural irrigation ditch according to claim 1, characterized in that: The classification mechanism (4) further comprises two sliding grooves (39) formed on the top of the sediment collection shell (37), and two sliding blocks (40) are fixedly connected to one side of the garbage collection shell (38), and the sliding blocks (40) are slidably connected inside the sliding grooves (39).

6. The intelligent robot manipulator for descaling the ditch wall of ecological agricultural irrigation ditch according to claim 5, characterized in that: A plurality of limiting strips (41) are fixedly connected inside the sediment collection shell (37), the limiting strips (41) are arranged at intervals, a same leaking plate (42) is placed on the top of the limiting strips (41), and the garbage collection shell (38) is placed on the top of the leaking plate (42).

7. The intelligent robot manipulator for descaling the ditch wall of ecological agricultural irrigation ditch according to claim 6, characterized in that: A cleaning pump (43) is fixedly installed on one side of the floating shell (10), the bottom of the cleaning pump (43) is connected to a second suction pipe (44), the output end of the cleaning pump (43) is connected to a second nozzle (45), the top of the sediment collection shell (37) is arranged obliquely, and a plurality of (46) are fixedly connected to the lower part of the top of the sediment collection shell (37), and the plurality of (46) are arranged at intervals.

8. The intelligent robot manipulator for descaling the wall of an ecological agricultural irrigation ditch according to claim 1, characterized in that: An anti-collision plate (31) is fixedly connected to the bottom of the control frame (8), two anti-collision springs (32) are fixedly connected to one side of the anti-collision plate (31), and one end of the two anti-collision springs (32) is fixedly connected to one side of the floating shell (10).

9. The intelligent robot manipulator for descaling the wall of an ecological agricultural irrigation ditch according to claim 7, characterized in that: A strain gauge is arranged inside the fixed scraper (13), and a liquid level gauge is arranged outside the floating shell (10).

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