Intelligent dredging robot for water conservancy

Abstract

The invention discloses a water conservancy intelligent dredging robot which comprises a power robot and is characterized in that the power robot is fixedly connected with a mounting plate, the mounting plate is in bearing connection with a vertical shaft, the vertical shaft is fixedly connected with an outer wedge-shaped ring, and the outer wedge-shaped ring is fixedly connected with an inner wedge-shaped ring; the mounting plate is fixedly connected with two groups of symmetrical L-shaped mounting plates, each L-shaped mounting plate is fixedly connected with a trapezoidal vertical groove, each trapezoidal vertical groove is fixedly connected with a mounting cross rod, and each mounting cross rod is fixedly connected with a vertical spring; the vertical springs on the upper side are fixedly connected with an upper insertion rod plate, the vertical springs on the lower side are fixedly connected with a lower insertion rod plate, the upper insertion rod plate is fixedly connected with a set of upper insertion rods, and the lower insertion rod plate is fixedly connected with a set of lower insertion rods. The invention relates to the technical field of desilting, in particular to an intelligent desilting robot for water conservancy. The technical problem to be solved by the invention is to provide the water conservancy intelligent desilting robot which is convenient for desilting.

Description

Technical Field

[0001] The present invention relates to the technical field of dredging, and in particular to a water conservancy intelligent dredging robot. Background Art

[0002] Desilting is a vital task in water conservancy projects. Desilting refers to the removal of silt, garbage and other impurities in the river by mechanical or manual means to restore the normal flow and water quality of the river. It is of great significance to maintain river water quality, ensure the smooth flow of the river, prevent flood disasters and promote ecological balance.

[0003] Prior art, for example, a desilting device for a water conservancy project, the authorization announcement number is CN111379287B. It includes a hull, a collecting box fixed on the hull, a sludge pump fixed on the hull, a mounting frame fixed on the stern of the hull, a vertically arranged rotating frame, a mud roller and a mud delivery pipe arranged on the lower side of the hull, a connecting pipe is connected between the sludge pump and the collecting box, one end of the mud delivery pipe is connected to the sludge pump, and the other end of the mud delivery pipe extends to the river bottom and is located on one side of the mud roller; a water outlet extending to the outside of the hull is fixed on the collecting box, a filter plate is fixed in the water outlet, and the water outlet is connected to the inside of the collecting box; the top of the rotating frame is connected to the mounting frame, the bottom of the rotating frame is arranged on the river bottom, and the bottom of the rotating frame is rotatably connected to the mud roller; a driving assembly for driving the mud roller to rotate is provided on the mounting frame. The present invention has the effect of cleaning silt at various positions on the river bottom, a large cleaning range, and reduces the risk of river blockage.

[0004] Prior art, for example, a river chain bucket dredging ship and its dredging construction method, the authorization announcement number is CN105672390B. The river chain bucket dredging ship includes a hull, a control room, a rest room, a bracket, at least two chain bucket conveying mechanisms and a sludge collection bin, a lifting mechanism is provided between the chain bucket conveying mechanism and the bracket, a moving device and a salvage device connected to the moving device are provided on both sides of the hull, and a salvage basket and a power propeller are provided on the rear side of the hull; the method includes the following steps: step one, construction preparation, step two, adjusting the position of the chain bucket dredging ship, step three, controlling the descending position of the chain bucket conveying mechanism, step four, dredging work, step five, sludge treatment work, step six, follow-up work. The method can not only efficiently remove the riverbed sludge, but also clean up the materials floating on the river surface, eliminate the suspended pollutants brought out of the sludge during the salvage operation, loosen the river channel, improve the flood discharge capacity of the river channel, improve the water quality, and reduce water pollution.

[0005] The above-mentioned patent, that is, the existing dredging device, often stirs the sludge through a mud stirring mechanism to facilitate suction and cleaning. The existing mud stirring mechanism has a limited range of motion and cannot achieve multi-directional stirring in up, down, left, right, front and back directions after contacting the sludge underwater. Summary of the invention

[0006] The technical problem to be solved by the present invention is to provide a water conservancy intelligent dredging robot to facilitate silt cleaning.

[0007] The present invention adopts the following technical solutions to achieve the invention objectives:

[0008] A water conservancy intelligent dredging robot, including a power robot, characterized in that: the power robot is fixedly connected to a mounting plate, the mounting plate bearing is connected to a vertical shaft, the vertical shaft is fixedly connected to an outer wedge ring, and the outer wedge ring is fixedly connected to an inner wedge ring; the mounting plate is fixedly connected to two groups of symmetrical L mounting plates, each of the L mounting plates is respectively fixedly connected to a trapezoidal vertical groove, each of the trapezoidal vertical grooves is respectively fixedly connected to a mounting cross bar, and each of the mounting cross bars is respectively fixedly connected to a vertical spring; a group of vertical springs on the upper side is respectively fixedly connected to an upper rod plate, and a group of vertical springs on the lower side is respectively fixedly connected to a lower rod plate. The vertical springs of the group are respectively fixedly connected to the lower plug rod plate, the upper plug rod plate is fixedly connected to a group of upper plug rods, the lower plug rod plate is fixedly connected to a group of lower plug rods, and the lower plug rod plate is provided with a group of slots corresponding to the upper plug rods; the upper plug rod plate and the lower plug rod plate are respectively fixedly connected to a group of vertical trapezoidal blocks, each of the vertical trapezoidal blocks is respectively arranged in the corresponding trapezoidal vertical groove; the upper plug rod plate is fixedly connected to the upper round head rod, the lower plug rod plate is fixedly connected to the lower round head rod, the upper round head rod contacts the outer wedge ring, and the lower round head rod contacts the inner wedge ring.

[0009] As a further limitation of the present technical solution, the mounting plate is fixedly connected to two groups of symmetrical mounting shafts, each of the mounting shafts is respectively connected to a cross plate by a bearing, each of the cross plates is respectively provided with a notch, each of the notches is respectively provided with a V-rod, each of the V-rods is respectively rotatably connected to the corresponding cross plate, each of the V-rods is respectively fixedly connected to a group of evenly distributed oblique insertion rods, each of the V-rods is respectively fixedly connected to an upper top block, each of the L mounting plates is respectively provided with two horizontal ladder grooves distributed up and down, each of the horizontal ladder grooves is respectively nested with a frame, each of the frame is respectively fixedly connected to a group of slide grooves, each of the cross plates is respectively fixedly connected to a round block, each round block is respectively provided in the corresponding slide groove, and the vertical axis is fixedly connected to two cams, and each cam respectively contacts the corresponding frame.

[0010] As a further limitation of the present technical solution, each of the V-rods is fixedly connected to a round-headed short rod, the upper rod insertion plate and the lower rod insertion plate are fixedly connected to a group of L-rods, each of the L-rods is fixedly connected to a lower top block, and each of the round-headed short rods contacts the corresponding lower top block.

[0011] As a further limitation of the technical solution, each of the L rods on the lower side is fixedly connected to the middle plug rod.

[0012] As a further limitation of the present technical solution, the mounting plate is fixedly connected to the vertical square plate, the vertical square plate is fixedly connected to two transverse springs, and each of the transverse springs is respectively connected to the corresponding frame.

[0013] As a further limitation of the present technical solution, the mounting plate is fixedly connected to the waterproof motor, the output shaft of the waterproof motor is fixedly connected to the worm, the mounting plate is fixedly connected to the bearing seat, the worm bearing is connected to the bearing seat, the worm engages with the worm wheel, and the worm wheel is fixedly connected to the vertical shaft.

[0014] As a further limitation of the present technical solution, the mounting plate is fixedly connected to an L baffle plate. After the main compartment of the power robot enters the liquid, the gravity increases, making it easier to dive, and the streamlined shape makes it easier to move. The L baffle plate on the front side protects structures such as the waterproof motor to prevent them from touching hard objects on the river bottom.

[0015] As a further limitation of the present technical solution, the front end of the power robot is fixedly connected to an electric push rod, the push rod of the electric push rod is fixedly connected to a mounting seat, the mounting seat is rotatably connected to a symmetrical swing arm, the power robot is rotatably connected to a symmetrical clamping arm, the symmetrical swing arms are respectively rotatably connected to the corresponding clamping arms, the clamping surface of the clamping arm is provided with a group of evenly distributed anti-slip grooves, and the clamping arm can remove larger objects such as branches.

[0016] As a further limitation of the present technical solution, the front end of the power robot is equipped with symmetrical inward power propellers, the middle part of the power robot is equipped with symmetrical lifting power propellers, and the front and rear ends of the power robot are equipped with symmetrical outward power propellers. The inward power propellers and outward power propellers arranged at an angle at the four corners and the lifting power propellers arranged in the middle up and down achieve better steering and multi-directional movement.

[0017] As a further limitation of the present technical solution, a symmetrical recognition camera is fixedly connected to the upper front end of the power robot, and the binocular recognition effect is better. The binocular recognition principle is based on the parallax principle. Two images of the same scene are obtained by two cameras, and the position deviation (parallax) between the corresponding points in the two images is calculated, thereby obtaining the three-dimensional geometric information of the object. This method simulates the visual system of human binoculars and perceives depth by calculating parallax. The relationship between parallax and depth, parallax refers to the difference in x-coordinates corresponding to the same spatial point in the imaging of two cameras. According to the principle of similar triangles, parallax is inversely proportional to the distance from the object to the camera. The depth information of the object can be calculated by the known focal length and baseline distance of the camera. Coordinate system and calibration process, in the binocular vision system, in addition to obtaining image information, it is also necessary to know the specific parameters of the camera and the relative position relationship between the cameras. This includes the conversion between the pixel coordinate system, the camera coordinate system and the world coordinate system. Through the calibration process, the conversion relationship between these coordinate systems can be determined, thereby converting the two-dimensional image information into three-dimensional space information.

[0018] Compared with the prior art, the advantages and positive effects of the present invention are:

[0019] 1. The oblique rods, upper rods and lower rods of this device are streamlined as a whole, fitting the shape of the riverbed, which is convenient for stirring the sludge in all directions. The oblique rods can be projected in the horizontal plane and reciprocated in the vertical plane. Combined with the up and down staggered movement of the upper and lower rod plates, a wider range of mud stirring is achieved. After contacting the sludge underwater, it can be stirred in multiple directions up and down, left and right, front and back, and bionics imitates the posture of insect limbs. Due to the different range of motion of the lower top blocks distributed up and down, the adjacent oblique rods have different reciprocating swing amplitudes in the vertical plane, and the stirring effect is better.

[0020] 2. This device has two recognition cameras, which has better binocular recognition effect and is convenient for detecting foreign objects. The L baffle on the front side protects the waterproof motor and other structures to prevent them from touching hard objects on the river bottom. After contacting the foreign object, it is convenient for the auxiliary clamping arm to clamp the foreign object. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 The three-dimensional structure of the present invention is shown in FIG. Figure 1 .

[0022] Figure 2 It is a schematic diagram of the local three-dimensional structure of the present invention Figure 1 .

[0023] Figure 3 It is a schematic diagram of the local three-dimensional structure of the present invention Figure 2 .

[0024] Figure 4 It is a schematic diagram of the local three-dimensional structure of the present invention Figure 3 .

[0025] Figure 5 It is a schematic diagram of the local three-dimensional structure of the present invention Figure 4 .

[0026] Figure 6 It is a schematic diagram of the local three-dimensional structure of the present invention Figure 5 .

[0027] Figure 7 It is a schematic diagram of the local three-dimensional structure of the present invention Figure 6 .

[0028] Figure 8 It is a schematic diagram of the local three-dimensional structure of the present invention Figure 7 .

[0029] Fig. 9 It is a schematic diagram of the local three-dimensional structure of the present invention Figure 8 .

[0030] Fig.10 The three-dimensional structure of the present invention is shown in FIG. Figure 2 .

[0031] Fig.11 The three-dimensional structure of the present invention is shown in FIG. Figure 3 .

[0032] In the figure: 1. recognition camera, 2. power robot, 3. inward power propeller, 4. lifting power propeller, 5. outward power propeller, 6. mounting plate, 7. L baffle, 8. clamping arm, 9. swing arm, 10. mounting seat, 11. electric push rod, 12. mounting shaft, 13. bearing seat, 14. vertical square plate, 15. worm, 16. worm gear, 17. cam, 18. upper block, 19. V rod, 20. oblique insertion rod, 21. transverse spring, 22. slide groove, 23. round block, 24. transverse Plate, 25, notch, 26, waterproof motor, 27, outer wedge ring, 28, inner wedge ring, 29, upper round head rod, 30, lower round head rod, 31, lower top block, 32, L rod, 33, middle plug rod, 34, lower plug rod plate, 35, slot, 36, lower plug rod, 37, upper plug rod plate, 38, trapezoidal vertical groove, 39, vertical trapezoidal block, 40, installation cross bar, 41, vertical spring, 42, upper plug rod, 43, L installation plate, 44, horizontal ladder groove, 45, vertical axis, 46, round head short rod, 47, frame. DETAILED DESCRIPTION

[0033] A specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings, but it should be understood that the protection scope of the present invention is not limited by the specific implementation.

[0034] Embodiment 1: The present invention includes a power robot 2, the power robot 2 is fixedly connected to the mounting plate 6, the mounting plate 6 is bearing-connected to the vertical shaft 45, the vertical shaft 45 is fixedly connected to the outer wedge ring 27, the outer wedge ring 27 is fixedly connected to the inner wedge ring 28; the mounting plate 6 is fixedly connected to two groups of symmetrical L mounting plates 43, each of the L mounting plates 43 is respectively fixedly connected to the trapezoidal vertical groove 38, each of the trapezoidal vertical groove 38 is respectively fixedly connected to the mounting cross bar 40, and each of the mounting cross bar 40 is respectively fixedly connected to the vertical spring 41; the upper group of vertical springs 41 is respectively fixedly connected to the upper plug plate 37, and the lower group of vertical springs 41 is respectively fixedly connected to the upper plug plate 37. The lower plug rod plate 34 is fixedly connected, the upper plug rod plate 37 is fixedly connected to a group of upper plug rods 42, the lower plug rod plate 34 is fixedly connected to a group of lower plug rods 36, and the lower plug rod plate 34 is provided with a group of slots 35 corresponding to the upper plug rods 42; the upper plug rod plate 37 and the lower plug rod plate 34 are respectively fixedly connected to a group of vertical trapezoidal blocks 39, each of the vertical trapezoidal blocks 39 is respectively arranged in the corresponding trapezoidal vertical groove 38; the upper plug rod plate 37 is fixedly connected to the upper round head rod 29, and the lower plug rod plate 34 is fixedly connected to the lower round head rod 30, the upper round head rod 29 contacts the outer wedge ring 27, and the lower round head rod 30 contacts the inner wedge ring 28.

[0035] The mounting plate 6 is fixedly connected to the waterproof motor 26 , the output shaft of the waterproof motor 26 is fixedly connected to the worm 15 , the mounting plate 6 is fixedly connected to the bearing seat 13 , the bearing of the worm 15 is connected to the bearing seat 13 , the worm 15 meshes with the worm wheel 16 , and the worm wheel 16 is fixedly connected to the vertical shaft 45 .

[0036] The mounting plate 6 is fixedly connected to the L baffle 7. After the main compartment of the power robot 2 enters the liquid, the gravity increases, making it easier to dive, and the streamlined shape makes it easier to move. The L baffle 7 on the front side protects the waterproof motor 26 and other structures to prevent them from touching hard objects on the river bottom.

[0037] The front end of the power robot 2 is equipped with symmetrical inward power propellers 3, the middle part of the power robot 2 is equipped with symmetrical lifting power propellers 4, and the front and rear ends of the power robot 2 are equipped with symmetrical outward power propellers 5. The inward power propellers 3 and the outward power propellers 5 arranged at an angle at the four corners and the lifting power propellers 4 arranged up and down in the middle achieve better steering and multi-directional movement.

[0038] The front upper part of the power robot 2 is fixedly connected to a symmetrical recognition camera 1, and the binocular recognition effect is better. The binocular recognition principle is based on the parallax principle. Two images of the same scene are obtained through two cameras, and the position deviation (parallax) between the corresponding points in the two images is calculated, thereby obtaining the three-dimensional geometric information of the object. This method simulates the visual system of human binoculars and perceives depth by calculating parallax. The relationship between parallax and depth, parallax refers to the difference in x-coordinates corresponding to the same spatial point in the imaging of two cameras. According to the principle of similar triangles, parallax is inversely proportional to the distance from the object to the camera. The depth information of the object can be calculated by the known focal length and baseline distance of the camera. Coordinate system and calibration process, in the binocular vision system, in addition to obtaining image information, it is also necessary to know the specific parameters of the camera and the relative position relationship between the cameras. This includes the conversion between the pixel coordinate system, the camera coordinate system and the world coordinate system. Through the calibration process, the conversion relationship between these coordinate systems can be determined, so that the two-dimensional image information can be converted into three-dimensional space information.

[0039] The workflow of this embodiment is:

[0040] After the main compartment of the power robot 2 enters the liquid, the gravity increases, making it easier to dive, and the streamlined shape makes it easier to move. The inward power propellers 3 and outward power propellers 5 arranged at the four corners and the lifting power propellers 4 arranged up and down in the middle can achieve better steering and multi-directional movement.

[0041] The waterproof motor 26 is controlled to rotate, the waterproof motor 26 drives the worm 15 to rotate, the worm 15 drives the worm wheel 16 and the vertical shaft 45 to rotate, the vertical shaft 45 drives the outer wedge ring 27 and the inner wedge ring 28 to rotate, and under the elastic action of the vertical spring 41, the outer wedge ring 27 and the inner wedge ring 28 drive the upper round head rod 29 and the lower round head rod 30 to reciprocate, thereby realizing the reciprocating movement of the upper plug plate 37, the upper plug rod 42, the lower plug plate 34 and the lower plug rod 36, and the upper plug plate 37 and the lower plug plate 34 drive the vertical trapezoidal block 39 to reciprocate along the trapezoidal vertical groove 38. The upper plug rod 42 and the lower plug rod 36 stir the sludge to facilitate subsequent suction and cleaning.

[0042] Embodiment 2: This embodiment is further elaborated on the basis of embodiment 1, the mounting plate 6 is fixedly connected to two groups of symmetrical mounting shafts 12, each of the mounting shafts 12 is respectively connected to the cross plate 24 by a bearing, each of the cross plate 24 is respectively provided with a notch 25, each of the notches 25 is respectively provided with a V-rod 19, each of the V-rod 19 is respectively rotatably connected to the corresponding cross plate 24, each of the V-rod 19 is respectively fixedly connected to a group of evenly distributed oblique insertion rods 20, each of the V-rod 19 is respectively fixedly connected to the upper top block 18, each of the L mounting plates 43 is respectively provided with two horizontal ladder grooves 44 distributed up and down, each of the horizontal ladder grooves 44 is respectively nested with a frame 47, each of the frame 47 is respectively fixedly connected to a group of slide grooves 22, each of the cross plate 24 is respectively fixedly connected to a round block 23, each of the round block 23 is respectively arranged in the corresponding slide groove 22, the vertical axis 45 is fixedly connected to two cams 17, and each of the cams 17 respectively contacts the corresponding frame 47.

[0043] Each of the V rods 19 is fixedly connected to a round-headed short rod 46, and the upper rod insertion plate 37 and the lower rod insertion plate 34 are fixedly connected to a group of L rods 32, and each of the L rods 32 is fixedly connected to a lower top block 31, and each of the round-headed short rods 46 contacts the corresponding lower top block 31.

[0044] Each of the L-rods 32 at the lower side is fixedly connected to the middle insertion rod 33 .

[0045] The mounting plate 6 is fixedly connected to the vertical plate 14 , and the vertical plate 14 is fixedly connected to two transverse springs 21 . Each transverse spring 21 is respectively connected to the corresponding frame 47 .

[0046] The workflow of this embodiment is:

[0047] The vertical shaft 45 drives the cam 17 to rotate. Under the action of the transverse spring 21, the cam 17 drives the frame 47 to reciprocate along the transverse ladder groove 44. The transverse ladder groove 44 drives the slide 22 to reciprocate. The slide 22 drives the round block 23 to swing back and forth. The round block 23 drives the transverse plate 24 to swing back and forth. The transverse plate 24 drives the V rod 19, the oblique insertion rod 20, the upper top block 18 and the round head short rod 46 to swing back and forth in the horizontal plane. The upper insertion rod plate 37 and the lower insertion rod plate 34 drive the lower top block 31, the L rod 32 and the middle insertion rod 33 to reciprocate in the height direction. Under the gravity of the V rod 19, the oblique insertion rod 20, the upper top block 18 and the round head short rod 46, the lower top block 31 drives the round head short rod 46 to swing. The round head short rod 46 drives the V rod 19, the oblique insertion rod 20 and the upper top block 18 to swing in the vertical plane.

[0048] The oblique rod 20, the upper rod 42 and the lower rod 36 are streamlined as a whole, fitting the shape of the river bottom, making it easy to stir the silt.

[0049] The oblique insertion rod 20 realizes projection in the horizontal plane and reciprocating swing in the vertical plane. Combined with the up and down staggered movement of the upper insertion rod plate 37 and the lower insertion rod plate 34, a larger range of mud stirring is achieved. After contacting the silt underwater, it can stir in multiple directions up and down, left and right, front and back, imitating the posture of insect limbs paddling bionics.

[0050] Embodiment 3: This embodiment is further elaborated on the basis of embodiment 1 or 2, the front end of the power robot 2 is fixedly connected to the electric push rod 11, the push rod of the electric push rod 11 is fixedly connected to the mounting seat 10, the mounting seat 10 is rotatably connected to the symmetrical swing arm 9, the power robot 2 is rotatably connected to the symmetrical clamping arm 8, the symmetrical swing arms 9 are rotatably connected to the corresponding clamping arms 8, the clamping surface of the clamping arm 8 is provided with a group of evenly distributed anti-slip grooves, and the clamping arm 8 can remove larger objects such as branches.

[0051] The workflow of this embodiment is:

[0052] When encountering foreign objects such as larger branches, combined with the identification camera 1, the foreign objects are placed in the area formed by the two clamping arms 8, and the electric push rod 11 is controlled to retract, the electric push rod 11 drives the mounting base 10 to move, the mounting base 10 drives the swing arm 9 to swing, and the swing arm 9 drives the clamping arm 8 to swing, so that the clamping arm 8 clamps the foreign objects.

[0053] The oblique rod 20, the upper rod 42 and the lower rod 36 of the device are streamlined as a whole, fitting the shape of the riverbed, and facilitating all-round stirring of the sludge. The oblique rod 20 can be projected in the horizontal plane and can swing back and forth in the vertical plane. Combined with the upper rod plate 37 and the lower rod plate 34, which can move up and down and staggered, a wider range of mud stirring can be achieved. After contacting the sludge underwater, it can be stirred in multiple directions up and down, left and right, front and back, and bionics imitates the posture of insect limbs. Due to the different ranges of motion of the lower top blocks 32 distributed up and down, the adjacent oblique rods 20 have different reciprocating swing amplitudes in the vertical plane, and the stirring effect is better.

[0054] The device has two recognition cameras 1, which has a better binocular recognition effect and is convenient for detecting foreign objects. The L baffle 7 on the front side protects the waterproof motor 26 and other structures to prevent them from touching hard objects on the river bottom. After contacting the foreign object, it is convenient for the auxiliary clamping arm 8 to clamp the foreign object.

[0055] The above disclosure is only a specific embodiment of the present invention, but the present invention is not limited thereto, and any changes that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. A water conservancy intelligent dredging robot, comprising a power robot (2), characterized in that: The power robot (2) is fixedly connected to a mounting plate (6), the mounting plate (6) is bearing-connected to a vertical shaft (45), the vertical shaft (45) is fixedly connected to an outer wedge ring (27), and the outer wedge ring (27) is fixedly connected to an inner wedge ring (28); The mounting plate (6) is fixedly connected to two groups of symmetrical L mounting plates (43), each of the L mounting plates (43) is respectively fixedly connected to a trapezoidal vertical groove (38), each of the trapezoidal vertical grooves (38) is respectively fixedly connected to a mounting cross bar (40), and each of the mounting cross bars (40) is respectively fixedly connected to a vertical spring (41); A group of the vertical springs (41) on the upper side are respectively fixedly connected to the upper plugging rod plate (37), and a group of the vertical springs (41) on the lower side are respectively fixedly connected to the lower plugging rod plate (34); the upper plugging rod plate (37) is fixedly connected to a group of upper plugging rods (42), and the lower plugging rod plate (34) is fixedly connected to a group of lower plugging rods (36); and the lower plugging rod plate (34) is provided with a group of slots (35) corresponding to the upper plugging rods (42); The upper rod insertion plate (37) and the lower rod insertion plate (34) are respectively fixedly connected to a group of vertical trapezoidal blocks (39), and each of the vertical trapezoidal blocks (39) is respectively arranged in the corresponding trapezoidal vertical groove (38); The upper rod inserting plate (37) is fixedly connected to the upper round head rod (29), the lower rod inserting plate (34) is fixedly connected to the lower round head rod (30), the upper round head rod (29) contacts the outer wedge ring (27), and the lower round head rod (30) contacts the inner wedge ring (28).

2. The water conservancy intelligent dredging robot according to claim 1 is characterized in that: The mounting plate (6) is fixedly connected to two groups of symmetrical mounting shafts (12), each of the mounting shafts (12) is respectively connected to a transverse plate (24) by a bearing, each of the transverse plates (24) is respectively provided with a notch (25), each of the notches (25) is respectively provided with a V-rod (19), each of the V-rods (19) is respectively rotatably connected to the corresponding transverse plate (24), each of the V-rods (19) is respectively fixedly connected to a group of evenly distributed oblique insertion rods (20), each of the V-rods (19) is respectively fixedly connected to an upper top block (18), Each of the L-mounting plates (43) is respectively provided with two horizontal ladder grooves (44) distributed up and down, each of the horizontal ladder grooves (44) is respectively nested with a frame (47), each of the frame (47) is respectively fixedly connected to a group of slide grooves (22), each of the horizontal plates (24) is respectively fixedly connected to a round block (23), each of the round blocks (23) is respectively arranged in the corresponding slide groove (22), and the vertical shaft (45) is fixedly connected to two cams (17), and each of the cams (17) is respectively in contact with the corresponding frame (47).

3. The water conservancy intelligent dredging robot according to claim 2 is characterized in that: Each of the V-rods (19) is respectively fixedly connected to a round-headed short rod (46); the upper rod insertion plate (37) and the lower rod insertion plate (34) are respectively fixedly connected to a group of L-rods (32); each of the L-rods (32) is respectively fixedly connected to a lower top block (31); and each of the round-headed short rods (46) contacts the corresponding lower top block (31).

4. The water conservancy intelligent dredging robot according to claim 3 is characterized in that: Each of the L-rods (32) at the lower side is fixedly connected to a middle insertion rod (33).

5. The water conservancy intelligent dredging robot according to claim 2 is characterized in that: The mounting plate (6) is fixedly connected to the vertical plate (14), the vertical plate (14) is fixedly connected to two transverse springs (21), and each transverse spring (21) is respectively connected to the corresponding frame (47).

6. The water conservancy intelligent dredging robot according to claim 1 is characterized by: The mounting plate (6) is fixedly connected to the waterproof motor (26), the output shaft of the waterproof motor (26) is fixedly connected to the worm (15), the mounting plate (6) is fixedly connected to the bearing seat (13), the bearing of the worm (15) is connected to the bearing seat (13), the worm (15) meshes with the worm wheel (16), and the worm wheel (16) is fixedly connected to the vertical shaft (45).

7. The water conservancy intelligent dredging robot according to claim 1 is characterized in that: The mounting plate (6) is fixedly connected to the L baffle plate (7).

8. The water conservancy intelligent dredging robot according to claim 1 is characterized by: The front end of the power robot (2) is fixedly connected to an electric push rod (11), the push rod of the electric push rod (11) is fixedly connected to a mounting seat (10), the mounting seat (10) is rotationally connected to a symmetrical swing arm (9), the power robot (2) is rotationally connected to a symmetrical clamping arm (8), and the symmetrical swing arms (9) are rotationally connected to the corresponding clamping arms (8).

9. The water conservancy intelligent dredging robot according to claim 1 is characterized by: The front end of the power robot (2) is equipped with a symmetrical inward power propeller (3), the middle part of the power robot (2) is equipped with a symmetrical lifting power propeller (4), and the front and rear ends of the power robot (2) are equipped with symmetrical outward power propellers (5).

10. The water conservancy intelligent dredging robot according to claim 1, characterized in that: The upper front end of the power robot (2) is fixedly connected to a symmetrical recognition camera (1).

Images