A through-type automatic crawling dredging robot and dredging system

Abstract

The present invention relates to a through-type automatic crawling dredging robot and a dredging system. It solves the technical problem of unreasonable design of existing dredging equipment. The through-type automatic crawling dredging robot comprises: a walkable frame, the walkable frame is rotatably connected with at least three toothed walking wheels; a mud collecting hood, the mud collecting hood is arranged on the walkable frame, an opening is arranged on the lower side of the mud collecting hood, and a mud inlet is arranged on the front side of the mud collecting hood; according to the walking direction of the walkable frame, a material turning crawling paddle, a mud loosening plow and a mud scraper are arranged in sequence in the mud collecting hood; and a cutting-type mud conveying component for conveying the mud in the mud collecting hood to the outside is arranged in the mud collecting hood. The through-type automatic crawling dredging robot increases the effective area and walking passability of the mud collecting hood, and the dredging components are linked to dredge without interfering with each other, and the dredging effect and efficiency are improved.

Description

Technical Field

[0001] The invention belongs to the field of dredging equipment and relates to a through-type automatic crawling dredging robot and a dredging system. Background Art

[0002] For example, a Chinese patent document discloses a self-propelled underwater dredging device [202221568755.8], including a dredging robot and a camera. An electric wheel is provided at the top of one side of the dredging robot, and a support rod is sleeved on the outer periphery of the electric wheel. An arc baffle is fixedly welded on the top surface of the support rod. The device adopts a turning paddle, a dredging brush, an electric scraper, a camera, and a driving track. In actual use, the device can be quickly moved by driving the track, which is convenient for all-round dredging of the river channel, reducing the labor intensity of the operator, and the surrounding environment can be observed through the camera during the movement, which is very user-friendly. In addition, the turning paddle, the dredging brush, and the electric scraper can be used to perform all-round dredging operations around the device during the movement. It is very convenient and fast, very simple to operate, and has the advantages of flexible use.

[0003] The defects of the above technical solution are: the lack of linkage between the dredging structures of the device leads to lack of dredging hierarchy and poor flatness of the bottom surface of the dredged river channel, and the lack of silt integration and collection requires omission or silt backflow, resulting in poor cleaning effect. Summary of the invention

[0004] The purpose of the present invention is to provide a through-type automatic crawling dredging robot and a dredging system in view of the above-mentioned problems existing in the prior art.

[0005] The purpose of the present invention can be achieved by the following technical solutions:

[0006] The through-type automatic crawling dredging robot comprises:

[0007] A walkable frame, wherein the walkable frame is rotatably connected to at least three toothed walking wheels;

[0008] A mud collecting cover, wherein the mud collecting cover is arranged on the walkable frame, an opening is arranged on the lower side of the mud collecting cover, and a mud inlet is arranged on the front side of the mud collecting cover;

[0009] According to the walking direction of the walkable frame, a material turning and crawling paddle, a mud loosening plow and a mud scraper are sequentially arranged in the mud collecting cover; and

[0010] A cutting type sludge conveying assembly for conveying the sludge in the sludge collecting cover to the outside is arranged in the sludge collecting cover.

[0011] Furthermore, the outer diameter of the mud collecting cover gradually decreases toward the rear end along its length direction and a conical mud collecting chamber is formed inside the mud collecting cover.

[0012] Furthermore, the three toothed running wheels are distributed in a triangle, wherein two of the toothed running wheels are relatively distributed and driven by a driving force, and the remaining toothed running wheel is a steering wheel.

[0013] Furthermore, the mud collecting hood is provided with a material turning driver at the mud inlet, the material turning crawling paddle has a plurality of output ends sleeved on both ends of the material turning driver, and the material turning crawling paddle includes a material turning rod which is circumferentially distributed and radially protrudes outward and inward.

[0014] Furthermore, the material turning rod is in the shape of a rectangular sheet and a material turning notch is provided between the material turning rods of adjacent material turning crawling paddles.

[0015] Furthermore, the turning rod is in an arc-shaped rod structure and a pointed end is provided at the end of the turning rod, and the maximum outer diameter of the pointed end is greater than the width of the turning rod.

[0016] Furthermore, the loosening mud plows have a plurality of plows which are radially protruding and arranged on the inner wall of the mud collecting cover away from the mud inlet.

[0017] Furthermore, the scraper blade is elastic and is arranged along the circumferential edge of the bottom of the mud collecting cover.

[0018] Furthermore, the cutting type sludge conveying assembly includes a sludge discharge pipeline arranged at the upper end of the sludge collecting hood and connected to the sludge collecting chamber, a conveying pump arranged on the sludge discharge pipeline, and a cutting tool arranged on one end of the conveying pump close to the sludge collecting chamber.

[0019] The present invention also provides a dredging system, having a through-type automatic crawling dredging robot as described above, wherein the dredging system includes a dredging carrier and an obstacle clearing component arranged at the front end of the walkable frame, wherein the dredging carrier is arranged above the through-type automatic crawling dredging robot and is connected via a hanging device, and the dredging carrier is also provided with a sludge storage chamber.

[0020] Compared with the existing technology, this through-type automatic crawling dredging robot adopts the method of forming a closed sludge collection chamber with the open bottom of the mud cover fitting the bottom surface of the sludge, thereby increasing the effective area of ​​the mud cover and the walking passability. At the same time, through the cooperation of the dredging structures of the turning and crawling paddle, the loosening sludge plow and the scraper board, dredging is implemented in sequence in the horizontal direction, and the dredging is linked without interfering with each other. In the vertical direction, the upper loose silt layer and the lower hard silt blocks are turned and crushed respectively. The scraper board realizes sufficient scraping and collection, and cooperates with the sludge collection chamber with the sealed circumferential edge at the bottom to improve the dredging efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A top-view cross-sectional schematic diagram of a through-type automatic crawling dredging robot provided by the present invention.

[0022] Figure 2 for Figure 1 A schematic diagram of the structure of a side view section of a through-type automatic crawling dredging robot.

[0023] Figure 3 for Figure 1 Schematic diagram of the mud collection cover of the through-type automatic crawling dredging robot.

[0024] Figure 4 for Figure 1 Schematic diagram of the optimization scheme of the material turning and crawling paddle.

[0025] Figure 5 A schematic diagram of a dredging system provided by the present invention.

[0026] Figure 6 for Figure 5 Schematic diagram of a through-type automatic crawling dredging robot with an obstacle clearing component of a dredging system.

[0027] Figure 7 for Figure 5 Schematic diagram of the structure of obstacle removal components of the dredging system.

[0028] Figure 8 for Figure 5 Schematic diagram of the screen type cleaning bucket structure of the dredging system.

[0029] Fig. 9 for Figure 5 A schematic diagram of the structure of a walking frame of an obstacle removal component of a dredging system.

[0030] Fig.10 for Figure 5 A bottom view of a screen-type cleaning bucket having an obstacle removal component of a dredging system.

[0031] Fig.11 for Figure 5 A structural diagram of the obstacle clearing bottom of the obstacle clearing component of the dredging system.

[0032] In the figure, A10, a walkable frame; A11, a toothed walking wheel; A20, a mud collecting cover; A21, an open mouth; A22, a mud inlet; A23, a mud collecting chamber; A30, a material turning and crawling paddle; A31, a material turning drive; A32, a material turning rod; A33, a material turning notch; A34, a pointed end; A35, a cone; A36, an L-shaped rod; A40, a loosening plough; A50, a mud scraper; A60, a cutting type mud conveying assembly; A61 , mud discharge pipeline; A62, conveying pump; A63, cutting tool; A70, dredging carrier; A71, lifting device; A72, sludge storage chamber; B, obstacle removal components; 1, screen cleaning bucket; 2, obstacle removal bottom; 21, tip; 22, rod body; 3, arc concave surface; 4, walking wheel body; 41, convex nail; 5, left side; 6, right side; 7, rear side; 8, walking frame; 9, adsorption magnet; 10, traction hook; 11, lifting hook. DETAILED DESCRIPTION

[0033] Example 1, please refer to Figure 1 to Figure 2 , which is a schematic diagram of a through-type automatic crawling silt-clearing robot provided by the present invention. The through-type automatic crawling silt-clearing robot includes: a walkable frame A10, a mud hood A20 arranged on the walkable frame A10, a material turning crawling paddle A30, a mud loosening plow A40 and a mud scraper A50 arranged in the mud hood A20 in sequence according to the walking direction of the walkable frame A10, and a cutting-type mud conveying component A60 connected to the inside of the mud hood A20. It can be imagined that the through-type automatic crawling silt-clearing robot also includes other functional components and specific structures, such as electrical connection components, transmission components, control components, installation structures, etc., which are all technologies well known to those skilled in the art, so they will not be described in detail one by one here.

[0034] The through-type automatic crawling dredging robot is used in waterways with silt, such as rivers, breeding ponds, and ornamental ponds. When in use, the through-type automatic crawling dredging robot needs to be placed at the bottom of the waterway first.

[0035] The walkable frame A10, as an installation carrier, is convenient for assembling and installing various components, and the installation is compact and the connection is reliable. The walkable frame A10 is rotatably connected with at least three toothed walking wheels A11, and the toothed walking wheels A11 provide the walkable frame A10 with a stable walking fulcrum at the bottom of the waterway, making it difficult to tip over under force, thereby ensuring the stability of the through-type automatic crawling dredging robot during underwater movement.

[0036] The mud collecting cover A20 is arranged on the walkable frame A10, and the mud collecting cover A20 is a cover structure, and an opening A21 is arranged on the lower side of the mud collecting cover A20, and a mud inlet A22 is arranged on the front side of the mud collecting cover A20. It can be imagined that when the through-type automatic crawling dredging robot is placed at the bottom of the waterway, the mud collecting cover A20 contacts the bottom to form a mud collecting chamber A23 with a closed bottom, and the mud collecting chamber A23 is connected to the mud inlet A22. In this embodiment, the outer diameter of the mud collecting cover A20 gradually decreases toward the rear end along its length direction and a conical mud collecting chamber A23 is formed inside the mud collecting cover A20. The mud collecting cover A20 of this structure reduces the manufacturing material cost by reducing the external occupied volume. At the same time, the external contour of the mud collecting cover A20 is easier to fit close to the edge and corner of the bottom of the waterway. The conical silt collecting chamber A23 inside the mud collecting cover A20 allows the silt to gather in the narrow chamber at the rear end of the silt collecting chamber A23, which is convenient for the cutting silt conveying assembly A60 to convey, and reduces the dead space in the silt collecting chamber A23, preventing the silt from re-accumulating in the silt collecting chamber A23, and reducing the time for cleaning and maintenance of the silt collecting chamber A23 in the later stage. More optimally, the upper end of the silt collecting chamber A23 can also adopt an arc-shaped concave design to further reduce the dead space.

[0037] It can be imagined that in this embodiment, the walkable frame A10 also adopts the same structure as the mud cover A20, that is, the circumferential edge of the horizontal cross-section of the walkable frame A10 is flush with the edge of the horizontal cross-section of the mud cover A20, or the walkable frame A10 is an external frame structure of the mud cover A20. This structure can also reduce the manufacturing material cost, and the outer contour of the walkable frame A10 can more easily fit the edge and corner of the bottom of the waterway.

[0038] A more optimized solution, in order to adapt to the external contour structure of the above-mentioned walkable frame A10, in this embodiment, the walkable frame A10 is connected with three triangularly distributed toothed walking wheels A11, of which two toothed walking wheels A11 are relatively distributed and driven by the same drive shaft, and then the transmission is realized through, for example, a gear shaft structure, and the drive shaft is connected with a drive motor to provide the two toothed walking wheels A11 with forward and backward power, so that the through-type automatic crawling dredging robot can adjust the spacing when encountering obstacles. The remaining toothed walking wheel A11 is a steering wheel and is arranged at the rear end narrow part of the walkable frame A10. The toothed walking wheel A11 used as a steering wheel is connected to a rotating motor, and the rotating motor controls the toothed walking wheel A11 to realize the steering angle of the inverted triangular structure walkable frame A10, so that the through-type automatic crawling dredging robot has flexible steering and a small turning radius. It should also be noted that the toothed walking wheel A11 is made of hard metal or alloy material and has corresponding structural strength. The circumferential outer wall of the toothed walking wheel A11 has circumferentially distributed toothed protrusions, and the shapes of the toothed protrusions include cylindrical, conical, etc., which enhance the adhesion and walking ability of the toothed walking wheel A11 in a muddy environment and avoid the problem of slipping and getting stuck in the mud pile.

[0039] The material turning and creeping paddle A30 is arranged at the mud inlet A22 of the mud collecting cover A20. Specifically, a material turning and creeping paddle A31 is arranged at the mud collecting cover A20 at the mud inlet A22. In this embodiment, the material turning and creeping paddle A31 is a through motor. The upper end of the material turning and creeping paddle A31 is connected to the mud collecting cover A20. The material turning and creeping paddle A30 has a plurality of output ends which are sleeved at both ends of the material turning and creeping paddle A31. The material turning and creeping paddle A30 is driven to rotate by the material turning and creeping paddle A31, acting on the silt at the front end of the material turning and creeping paddle A30 and sending the silt into the mud collecting cover A20. The material turning and creeping paddle A30 is mainly used for the upper loose silt layer.

[0040] The material-turning crawling paddle A30 includes a material-turning rod A32 that is circumferentially distributed and radially protrudes from the outside to the inside. It can be imagined that the rotation direction of the material-turning crawling paddle A30 is that the material-turning rod A32 located outside the mud hood A20 moves from top to bottom. In this embodiment, the material-turning rod A32 is in the shape of a rectangular sheet and a material-turning notch A33 is provided between the material-turning rods A32 of adjacent material-turning crawling paddles A30. The rectangular sheet-shaped material-turning rod A32 can act on the front sludge, stir the sludge and transport it backward to the mud hood A20. At the same time, the reverse thrust given by the sludge to the material-turning crawling paddle A30 during the material-turning process forces the through-type automatic crawling dredging robot to have greater forward power in the sludge pile. With the ability of the toothed walking wheel A11, it has greater obstacle-passing ability and is even suitable for waterway slope environments. The material turning notch A33 can make excess sludge leak out, reduce the power consumption of the material turning creeping paddle A30, and avoid the breakage problem of the material turning rod A32 caused by the large sludge resistance.

[0041] In this embodiment, the turning rods A32 of adjacent turning paddles A30 are aligned along the axis of the turning driver A31, and the aligned turning rods A32 form an integral turning structure at the mud inlet A22, so that the unit amount of mud turning is larger, thereby improving the mud cleaning efficiency.

[0042] In other embodiments, see Figure 4 The tipping rod A32 has an arc-shaped rod structure and a pointed end A34 is provided at the end of the tipping rod A32. The arc-shaped rod structure can vertically act on the surface of the sludge pile when the tipping rod A32 is used. Combined with the pointed end A34 at the end of the tipping rod A32, it is more convenient for the tipping rod A32 to be vertically inserted into the sludge pile. The maximum outer diameter of the pointed end A34 is greater than the width of the material turning rod A32. The pointed ends A34 of adjacent material turning crawling paddles A30 are connected, and a material turning notch A33 is provided between the material turning rods A32. The pointed end A34 is conducive to the insertion of the material turning rod A32 into the sludge pile. Increasing the width of the pointed end A34 can increase the contact surface between the material turning rod A32 and the sludge pile, increase the sludge turning amount of the material turning rod A32 and increase the driving force of the material turning rod A32. The retained material turning notch A33 can make excess sludge leak out, reduce the power consumption of the material turning crawling paddle A30, and avoid the breakage problem caused by the material turning rod A32 being subjected to greater sludge resistance. More optimally, the arcuate inner wall of the turning rod A32 is provided with a conical surface A35 protruding along the middle of the length direction of the turning rod A32. The conical surface A35 can break up the sludge pile vertically during the turning process, stir the sludge entering the mud collecting cover A20 to make it fine, and reduce the conveying pressure.

[0043] It should be noted that, in order to protect the material turning drive A31 and clean the sludge below the material turning drive A31, the material turning creeping paddle A30 also includes two L-shaped rods A36 symmetrically arranged on the output shaft of the material turning drive A31. Specifically, the L-shaped rod A36 is arranged at one end close to the material turning drive A31 and the end of the L-shaped rod A36 is located below the material turning drive A31. There is a space between the rotation ranges of the two L-shaped rods A36 for the installation end of the material turning drive A31 to pass through.

[0044] In this embodiment, the mud plow A40 has several and is arranged at intervals on the inner wall of the mud hood A20 away from the mud inlet A22. The mud plow A40 protrudes radially along the inner wall of the mud hood A20. The mud plow A40 is shaped like a moldboard plow or a columnar spiked plow. The setting height of the mud plow A40 is lower than the setting height of the material turning and crawling paddle A30. The mud plow A40 is aimed at the lower hard silt layer. During the forward movement of the through-type automatic crawling dredging robot, the mud plow A40 crushes the lower hard silt layer and the crushed silt blocks are directly retained in the silt collection chamber A23, and the sludge collection efficiency is high.

[0045] In this embodiment, if Figure 2As shown, the scraper A50 is made of rubber or silicone material, the scraper A50 is elastic and is arranged along the circumferential edge of the bottom of the mud hood A20. It can be imagined that, under normal circumstances, the height of the scraper A50 before deformation should not be higher than the height of the toothed walking wheel A11. When actually used underwater, the toothed walking wheel A11 sinks into the sludge pile, the scraper A50 is elastic and vertically fits the bottom of the waterway, and the height of the scraper A50 is deformed according to the height of the sludge pile. Due to the inconsistent height of the sludge pile, the elastic scraper A50 still maintains good passability. During the forward movement of the through-type automatic crawling dredging robot, the sludge turned over by the front-end material-turning crawling paddle A30 and the sludge blocks broken by the mud plow A40 are completely retained in the sludge collection chamber A23, thereby improving the dredging effect, leaving a smooth and clean dredging path, and reducing the problem of residual sludge reflux.

[0046] Through the coordination of the dredging structures of the turning and crawling paddle A30, the loosening plough A40 and the scraper A50, dredging is carried out in sequence in the horizontal direction, with linked dredging and no mutual interference. At the same time, in the vertical direction, the upper loose silt layer and the lower hard silt blocks are turned and crushed respectively. The scraper A50 realizes full material collection and cooperates with the silt collection chamber A23 with the sealed circumferential edge at the bottom to improve the dredging efficiency.

[0047] The cutting type sludge conveying assembly A60 includes a sludge discharge pipeline A61 which is arranged at the upper end of the sludge hood A20 and connected to the sludge collecting chamber A23. The sludge discharge pipeline A61 is used to connect to the outside world and discharge the collected fine sludge in time to ensure that the sludge collecting chamber A23 has sufficient collection space. A conveying pump A62 is provided on the sludge discharge pipeline A61. In this embodiment, the conveying pump A62 is arranged on the sludge hood A20. The conveying pump A62 provides power for sludge conveying. A cutting tool A63 is provided at one end of the conveying pump A62 close to the sludge collecting chamber A23.

[0048] Example 2, please refer to Figures 5 to 11The present invention also provides a dredging system, which has a through-type automatic crawling dredging robot as described above. The dredging system includes a dredging carrier A70, which includes a sludge processor and an energy supply station arranged on a hull structure or a shore structure. In a large-scale river environment, a hull structure is used, and in a small-area pond environment, a shore structure is used. In this embodiment, the sludge processor is a sludge press, which is a prior art, and has a built-in sludge storage chamber A72 connected to a sludge discharge pipeline A61. The sludge is transported from the mud hood A20 to the sludge storage chamber A72 for squeezing treatment, and the water is squeezed out and returned to the water area. The obtained dry mud is stored to reduce the weight of the stored sludge. The through-type automatic crawling dredging robot is powered by an energy supply station, which is a generator, or an external power grid. When the through-type automatic crawling dredging robot is used in a swimming pool or a small pond, it can also be equipped with a battery for use.

[0049] In this embodiment, the dredging carrier A70 is arranged above the through-type automatic crawling dredging robot and is connected through a lifting device A71. The lifting device A71 includes a winch arranged on the dredging carrier A70 and a chain connected to the upper end of the through-type automatic crawling dredging robot. The through-type automatic crawling dredging robot is placed at the bottom of the waterway or recovered to the dredging carrier A70 through the lifting device A71.

[0050] It can be imagined that an obstacle clearing component B is also provided at the front end of the walkable frame A10. In the present embodiment, the obstacle clearing component B is directly arranged at the position of the walkable frame A10 at the mud inlet A22. The upper end is used to clear large-sized stones, trees, magnets or scrap metals. The bottom still retains the sludge feeding channel, which plays a role in protecting the material turning and crawling paddle A30. Specifically, the obstacle clearing component B includes a screen-type cleaning bucket 1, which is rotatably connected to at least three walking wheels 4, and the front side of the obstacle clearing bottom 2 of the screen-type cleaning bucket 1 has an arc concave surface 3. When the device clears stones, trees, magnets or scrap metals in the sludge, the obstacle clearing bottom 2 structure can effectively reduce the resistance of the water body and sludge to the screen-type cleaning bucket 1, thereby making the cleaning more labor-saving. Secondly, the walking wheels 4 can facilitate the smooth advancement of the screen-type cleaning bucket 1 during cleaning, thereby achieving a better cleaning effect.

[0051] In other embodiments, Figure 8 , Fig.11As shown, the obstacle clearing bottom 2 is formed by a plurality of rod bodies 22 with pointed portions 21 at the front end, and the axial length of the rod bodies 22 gradually increases from the center position of the obstacle clearing bottom 2 to both sides. When cleaning stones, trees, magnets or scrap metals in the mud, the obstacle clearing bottom 2 structure can effectively reduce the resistance of the water body and mud, thereby making the cleaning more labor-saving. Secondly, the mud falls from the gaps between the plurality of rod bodies 22, while the stones, trees, magnets or scrap metals in the mud are cleaned onto the obstacle clearing bottom 2;

[0052] like Figure 8 As shown, the screen-type cleaning bucket 1 also includes a left side portion 5 connected to the left side of the obstacle removal bottom 2, a right side portion 6 connected to the right side of the obstacle removal bottom 2, and a rear side portion 7 connected to the rear side of the obstacle removal bottom 2, and the rear side portion 7 is any one of a grid structure and a mesh structure. In this embodiment, the left side portion 5, the right side portion 6 and the rear side portion 7 are all grid structures, and of course, they can also be mesh structures. The left side portion 5 is any one of a grid structure and a mesh structure. In this embodiment, the left side portion 5 is a grid structure, and the right side portion 6 is any one of a grid structure and a mesh structure. In this embodiment, the right side portion 6 is a grid structure;

[0053] like Figure 7 , Fig. 9 As shown, the screen cleaning bucket 1 is fixed on the traveling frame 8, and a plurality of hooks 11 are arranged on the traveling frame 8. In this embodiment, three hooks 11 are arranged and distributed in a triangular shape. After cleaning stones, trees, magnets or scrap metals, it is convenient to pull the screen cleaning bucket 1 out of the silt, and the triangular distribution of the hooks 11 makes it more stable during the process of pulling the screen cleaning bucket 1 up.

[0054] like Figure 7 , Fig. 9 As shown, the walking frame 8 is rotatably connected to three walking wheel bodies 4, each of which has a plurality of convex nails 41 in the circumferential direction. The diameter of the walking wheel body 4 is set according to actual needs, so that the screen-type cleaning bucket 1 will not slip when cleaning in the silt. The three walking wheel bodies 4 are triangularly distributed, two of which are relatively distributed and driven by a driving force, and the remaining walking wheel body 4 is a steering wheel. The triangular distribution can ensure that the screen-type cleaning bucket 1 can move forward smoothly in the silt.

[0055] like Fig.10 As shown, the screen-type cleaning bucket 1 is provided with an adsorption magnet 9 to adsorb and clean the waste metal in the sludge;

[0056] In other embodiments, a vibrator is further provided on the screen-type cleaning bucket 1 , and the vibrator is used to vibrate and sieve out the residues in the screen-type cleaning bucket 1 , thereby reducing the load-bearing burden of the screen-type cleaning bucket 1 .

[0057] like Figure 7As shown, at least one traction hook 10 is provided on the front side of the obstacle removal bottom 2, which can pull the screen-type cleaning bucket 1 forward in the mud to clean stones, trees, magnets or scrap metals, etc. in the mud.

[0058] The specific embodiments described herein are merely examples of the spirit of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, but they will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

Claims

1. A through-type automatic crawling dredging robot, characterized in that: include: A walkable frame (A10), wherein the walkable frame (A10) is rotatably connected to at least three toothed walking wheels (A11); A mud collecting cover (A20), the mud collecting cover (A20) being arranged on the walkable frame (A10), an opening (A21) being arranged on the lower side of the mud collecting cover (A20), and a mud inlet (A22) being arranged on the front side of the mud collecting cover (A20), the outer diameter of the mud collecting cover (A20) gradually decreasing toward the rear end along its length direction and forming a conical closed mud collecting chamber (A23) between the mud collecting cover (A20) and the bottom of the waterway; According to the walking direction of the walkable frame (A10), a material turning and crawling paddle (A30), a mud loosening plow (A40) and a mud scraper (A50) are sequentially arranged in the mud collecting cover (A20); and a cutting mud conveying assembly (A60) for conveying the mud in the mud collecting cover (A20) to the outside is arranged in the mud collecting cover (A20); The mud collecting cover (A20) is provided with a material turning driver (A31) at the mud inlet (A22), the material turning creeping paddle (A30) has a plurality of output ends which are sleeved on both ends of the material turning driver (A31), the material turning creeping paddle (A30) comprises a material turning rod (A32) which is circumferentially distributed and radially protrudes outward and inward, the material turning rod (A32) is an arc-shaped rod structure, and the end of the material turning rod (A32) is provided with a pointed end (A34), the The maximum outer diameter of the pointed end (A34) is greater than the width of the tipping rod (A32); the arc-surface inner wall of the tipping rod (A32) is provided with a conical surface (A35) protruding along the middle of the length direction of the tipping rod (A32); the mud loosening plow (A40) has a plurality of radially protruding inner walls arranged on the side of the mud collecting cover (A20) away from the mud inlet (A22); the mud scraper (A50) is elastic and is arranged along the circumferential edge of the bottom of the mud collecting cover (A20).

2. The through-type automatic crawling dredging robot according to claim 1 is characterized in that: The three toothed running wheels (A11) are distributed in a triangle, wherein two of the toothed running wheels (A11) are distributed relative to each other and driven by a driving force, and the remaining toothed running wheel (A11) is a steering wheel.

3. The through-type automatic crawling dredging robot according to claim 1 is characterized in that: A material turning notch (A33) is provided between the material turning rods (A32) of adjacent material turning creeping paddles (A30).

4. The through-type automatic crawling dredging robot according to claim 1 is characterized in that: The cutting type sludge conveying assembly (A60) comprises a sludge discharge pipeline (A61) arranged at the upper end of the sludge collecting hood (A20) and connected to the sludge collecting chamber (A23), a conveying pump (A62) arranged on the sludge discharge pipeline (A61), and a cutting tool (A63) arranged at one end of the conveying pump (A62) close to the sludge collecting chamber (A23).

5. A dredging system, characterized in that: A dredging system having at least two through-type automatic crawling dredging robots as described in any one of claims 1 to 4, wherein the dredging system comprises a dredging carrier (A70) and an obstacle clearing component (B) arranged at the front end of the walkable frame (A10), the dredging carrier (A70) being arranged above the through-type automatic crawling dredging robot and being connected via a hanging device (A71), and the dredging carrier (A70) is also provided with a sludge storage chamber (A72).

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