Intelligent drainage robot and its water pump assembly

Abstract

The present invention relates to the technical field of drainage machines, and discloses an intelligent drainage robot and its water pump assembly, wherein the water pump assembly includes: a water inlet section, wherein one end of the water inlet section is provided with a water inlet, a drainage pump is provided inside the water inlet section, and a first pressure sensor is provided between the water inlet and the drainage pump; a water outlet section, wherein the water outlet section is connected to the drainage section, a second pressure sensor is provided on the water outlet section, and a water outlet is provided at the end of the water outlet section facing away from the water inlet section; and a first controller, wherein the first controller is electrically connected to the first pressure sensor, the second pressure sensor, and the drainage pump. By respectively providing the first pressure sensor and the second pressure sensor on the water inlet side and the water outlet side of the drainage pump, the water pressure before and after the drainage pump can be accurately monitored in real time during the series use of the drainage robot, and the drainage pump can be accurately adjusted to adapt to the drainage flow of the front-end drainage robot, thereby protecting the safety of the drainage pump's fan blades and motor and ensuring the life of the drainage assembly.

Description

Technical Field

[0001] The present invention relates to the technical field of waterlogging drainage machines, and in particular to an intelligent waterlogging drainage robot and a water pump assembly thereof. Background Art

[0002] Flood control robots are often used to combat urban flooding and firefighting. In urban flood control and drainage, they can be used in tandem to form a powerful drainage system. Especially under extreme weather conditions such as heavy rain and flooding, urban flooding is a serious problem, requiring rapid removal of accumulated water to ensure normal urban operations.

[0003] With the development of cities, more and more underground garages are being built with three or even four negative floors. In addition, when floods occur in areas such as subway tunnels, drainage equipment is needed to enter the bottom to drain water. Due to the large height difference, a single device may not be able to directly discharge the water to the ground. In this case, multiple drainage devices must be connected in series to increase pressure and increase lift. The pump components of multiple drainage robots are connected in series and work together to quickly pump accumulated water to a designated location, effectively mitigating the impact of waterlogging. However, when drainage robots are used in series, since the front and rear robots are independently controlled, their suction pump speeds are basically inconsistent. Therefore, it is easy for the front robot's fan blades to rotate quickly, resulting in excessive suction intensity, while the rear robot's fan blades rotate more slowly. The excessive flow of water will directly impact the rear robot's fan blades, causing damage to the rear robot's fan blades or motor. To avoid this, the rear robot needs to maintain high fan speed throughout the entire process, which also wastes energy and reduces the drainage robot's endurance. Summary of the Invention

[0004] The purpose of the present invention is to provide an intelligent drainage robot and its water pump assembly, which can protect the safety of the fan blades and motor of the drainage pump, ensure the life of the drainage assembly, and reduce the speed of the drainage pump when the flow rate is small, thereby reducing energy consumption and ensuring the endurance of the drainage robot.

[0005] In order to achieve the above object, the present invention provides a water pump assembly for a drainage robot, comprising:

[0006] a water inlet section, wherein a water inlet is provided at one end of the water inlet section, a drainage pump is provided inside the water inlet section, and a first pressure sensor is provided between the water inlet and the drainage pump;

[0007] a water outlet section, the water outlet section being connected to the water inlet section, the water outlet section being provided with a second pressure sensor, and the water outlet being provided at one end of the water outlet section facing away from the water inlet section;

[0008] A first controller is electrically connected to the first pressure sensor, the second pressure sensor and the drainage pump.

[0009] Compared with the prior art, the water pump assembly of an intelligent drainage robot in an embodiment of the present invention has the following beneficial effects: the water inlet section of the water pump assembly can be used for direct water inlet during the drainage process, and can also be connected to the water outlet of the water pump assembly of a front-end drainage robot connected in series with the water pump assembly. After the water flows into the water inlet section from the water inlet, the first pressure sensor detects the water pressure and sends the detected result to the first controller. The first controller adjusts the rotation speed of the drainage pump according to the water pressure detection result to match the flow rate and flow rate of the front-end drainage. The adjusted drainage pump sends the water flow to the water outlet section. The second pressure sensor in the water outlet section performs a second water pressure detection on the water flow sent by the drainage pump. The measured data is sent to the first controller for judgment and is used for comparison with the first pressure sensor and the preset value to obtain the overall water pressure of the drainage pump. If the difference after comparing with the value of the first pressure sensor is less than the preset value, it can be concluded that the speed of the drainage pump is in the normal working range at this time. If the difference after comparing with the value of the first pressure sensor is greater than the preset value, it is necessary to further increase the speed of the drainage pump to match the overall drainage flow rate. By respectively arranging the first pressure sensor and the second pressure sensor on the water inlet side and the water outlet side of the drainage pump, the water pressure before and after the drainage pump can be accurately monitored in real time during the series use of the drainage robot, and the drainage pump can be accurately adjusted to adapt to the drainage flow of the front-end drainage robot, thereby protecting the safety of the fan blades and motor of the drainage pump and ensuring the life of the drainage components. On the other hand, the speed of the drainage pump can also be reduced when the flow is small, which reduces energy consumption and ensures the endurance of the drainage robot.

[0010] The water pump assembly of the intelligent drainage robot in an embodiment of the present invention, the water outlet section includes a water pressure test section and a flow test section connected in sequence, the second pressure sensor is arranged in the water pressure test section, and the flow test section is provided with a flow sensor, and the flow sensor is electrically connected to the first controller.

[0011] In the water pump assembly of the intelligent flood drainage robot according to an embodiment of the present invention, the water inlet section is detachably connected to a water absorption cover at the water inlet, and a quick-release structure is provided between the water absorption cover and the water inlet section.

[0012] In the water pump assembly of the intelligent drainage robot according to an embodiment of the present invention, the water suction hood includes a water suction port for absorbing water, and the water suction port is arranged vertically downward.

[0013] In the water pump assembly of the intelligent drainage robot according to an embodiment of the present invention, the water outlet section is connected to a water hose joint at the water outlet, and the water hose joint is bent downward at one end facing away from the water outlet section.

[0014] The present invention provides an intelligent drainage robot, comprising:

[0015] a chassis, on which the water pump assembly described in any one of the above embodiments is arranged in parallel;

[0016] A housing, wherein the housing cover is disposed on the chassis, and a receiving cavity is formed in the housing;

[0017] a hydraulic system comprising an energy supply mechanism and a hydraulic integrated module, wherein the energy supply mechanism is disposed in the accommodating cavity and provides power to the hydraulic integrated module, and the hydraulic integrated module is connected to the water pump assembly, the traveling parts disposed on the chassis, and an external hydraulic device;

[0018] A second controller is electrically connected to the energy supply mechanism and the hydraulic integrated module.

[0019] Compared with the prior art, the intelligent drainage robot according to the embodiment of the present invention has the following beneficial effects: the intelligent drainage robot includes a chassis and a shell arranged on the chassis, a housing for accommodating components such as the energy supply mechanism of the drainage robot is formed in the shell, and the chassis is provided with a water pump assembly. By respectively arranging a first pressure sensor and a second pressure sensor on the water inlet side and the water outlet side of the drainage pump, the water pressure before and after the drainage pump can be monitored in real time and accurately during the series use of the drainage robot, and the drainage pump can be accurately adjusted to adapt to the drainage flow of the front-end drainage robot, thereby protecting the safety of the fan blades and motor of the drainage pump and ensuring the life of the drainage assembly; the drainage robot also includes a hydraulic system, which controls the drainage of the water pump, the overall movement and the external hydraulic device through the hydraulic system, and the second controller receives information from the hydraulic system and adjusts the internal hydraulic parameters according to this information, thereby realizing the overall intelligence of the drainage robot and improving the degree of automation of the drainage robot and the degree of adaptability to external hydraulic tools.

[0020] In the intelligent drainage robot according to an embodiment of the present invention, the hydraulic system further comprises a sensor component and an adjustment component, wherein the sensor component and the adjustment component are electrically connected to the second controller;

[0021] The sensor component collects parameters in the hydraulic system and uploads them to the second controller, and the second controller sends signals to the adjustment component to adjust the parameters of the hydraulic integrated module.

[0022] In the intelligent drainage robot of an embodiment of the present invention, the sensor component includes a hydraulic flow sensor, a pressure sensor and a temperature sensor arranged in the hydraulic integrated module to detect the flow, pressure and temperature of the hydraulic integrated module, and the regulating component includes a throttle valve and a pressure regulating valve to regulate the flow and pressure of the hydraulic integrated module.

[0023] In the intelligent drainage robot of an embodiment of the present invention, the sensor assembly further includes a rotation speed sensor, and the second controller adjusts the rotation speed of the energy supply mechanism according to the signal of the rotation speed sensor.

[0024] In the intelligent drainage robot of an embodiment of the present invention, the hydraulic integrated module includes a valve body, which is fixed to the chassis. A plurality of output interfaces are provided on the valve body, and the plurality of output interfaces are respectively connected to the water pump assembly, the walking part and the external hydraulic device. The hydraulic integrated module can adjust the flow of each output interface according to the signal of the second controller.

[0025] In the intelligent drainage robot of the embodiment of the present invention, a fuel tank and a hydraulic oil tank are integrated on the chassis, the fuel tank is connected to the energy supply mechanism, and the hydraulic oil tank is connected to the hydraulic integrated module.

[0026] In the intelligent drainage robot of the embodiment of the present invention, two fuel tanks are provided, which are respectively arranged at the two ends of the width direction of the chassis, and the hydraulic oil tank is arranged at the front end of the chassis in the moving direction.

[0027] The intelligent drainage robot of the embodiment of the present invention is provided with a plurality of hydraulic output connectors on the chassis, the hydraulic output connectors are connected to the hydraulic integrated module, and a shock absorber seat is provided on the hydraulic oil tank, and the shock absorber seat is used to support the hydraulic oil pump of the hydraulic integrated module.

[0028] The intelligent drainage robot of an embodiment of the present invention, the walking part includes a crawler structure arranged on both sides of the width direction of the chassis, the crawler structure includes a truss and a crawler fixed to the truss, and the truss is provided with a driving wheel train, a buffer wheel train and an adjusting wheel train.

[0029] In the intelligent drainage robot of an embodiment of the present invention, the driving wheel system includes a driving motor and a driving wheel, the driving wheel is connected to the driving motor, the driving motor is connected to the hydraulic integrated module, and the driving wheel is engaged with the crawler track.

[0030] In the intelligent drainage robot of an embodiment of the present invention, the buffer wheel system includes a buffer wheel arranged at one end of the truss in the length direction and multiple groups of supporting wheel groups arranged at the bottom of the truss, the buffer wheel is connected to one end of the crawler in the length direction, and the supporting wheel group is connected to one end of the crawler in the width direction.

[0031] In the intelligent drainage robot of the embodiment of the present invention, a first buffer is provided on the truss near the buffer wheel, and an end of the first buffer away from the truss is connected to the rotating shaft of the buffer wheel.

[0032] In the intelligent drainage robot of an embodiment of the present invention, the supporting wheel group includes a supporting plate bent in the direction away from the truss, the bending point of the supporting plate is rotatably connected to the truss, both ends of the supporting plate are respectively connected to supporting wheels, the supporting wheels are connected to the crawler, and the truss is provided with a damping groove near the edge of the supporting wheel, and a second buffer member is provided in the damping groove.

[0033] In the intelligent drainage robot of an embodiment of the present invention, the adjusting wheel system includes a tensioning wheel and an adjusting wheel connected to the track, the tensioning wheel is connected to an adjusting plate, the adjusting plate is arranged at one end of the truss in the length direction, and the adjusting wheel is connected to an elastic member, and the elastic member is arranged at one end of the truss in the width direction.

[0034] In the intelligent drainage robot of an embodiment of the present invention, a fixing hole and a groove are provided on the adjustment plate, a fixing screw is inserted into the fixing hole, and an adjustment screw fixed to the truss is passed through the groove. The adjustment plate can be rotated along the extension direction of the groove with the fixing screw as the center to adjust the tensioning wheel.

[0035] In the intelligent drainage robot of an embodiment of the present invention, an adjustment slot is provided at one end of the truss in the width direction, an adjustment top rod is provided in the adjustment slot, the elastic member is sleeved on the outer side of the adjustment top rod, and the adjustment wheel is connected to the top of the elastic member.

[0036] The intelligent drainage robot of an embodiment of the present invention has a chassis provided with a water pump lifting assembly, which includes a driving member and a pull rope. The driving member is horizontally arranged, and the end of the driving member is connected to a horizontally movable pulley, the pull rope is wound around the movable pulley, and a pull rope opening is opened below the movable pulley, and the pull rope extends downward to the water pump assembly through the pull rope opening.

[0037] In the intelligent drainage robot of an embodiment of the present invention, partitions are provided on both sides of the energy supply mechanism in the accommodating chamber, and the partitions divide the accommodating chamber into a working chamber, a hydraulic oil heat dissipation chamber and an exhaust chamber. The exhaust chamber and the hydraulic oil heat dissipation chamber are arranged close to the outer shell and exhaust louvers are opened on the outer shell. The energy supply mechanism and the hydraulic integrated module are arranged in the working chamber.

[0038] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 2 is a schematic structural diagram of a water pump assembly of an intelligent drainage robot according to an embodiment of the present invention;

[0040] Figure 2 This is a schematic structural diagram of an intelligent drainage robot according to an embodiment of the present invention;

[0041] Figure 3 This is a schematic structural diagram of another aspect of the intelligent drainage robot according to an embodiment of the present invention;

[0042] Figure 4 2 is a schematic diagram of the structure inside the housing of the intelligent drainage robot according to an embodiment of the present invention;

[0043] Figure 5 is a schematic top view of the interior of the housing of the intelligent drainage robot according to an embodiment of the present invention;

[0044] Figure 6 This is a schematic diagram of the working process of the hydraulic system of the intelligent drainage robot according to an embodiment of the present invention.

[0045] Figure 7 2 is a schematic structural diagram of a valve block of an intelligent drainage robot according to an embodiment of the present invention;

[0046] Figure 8 2 is a schematic structural diagram of the chassis of the intelligent drainage robot according to an embodiment of the present invention;

[0047] Figure 9 Schematic diagram of the structure of the walking parts of the intelligent drainage robot according to an embodiment of the present invention;

[0048] Figure 10 This is a schematic diagram of the structure of the regulating gear system of the intelligent drainage robot according to an embodiment of the present invention.

[0049] Figure 11 2 is a schematic structural diagram of a water pump lifting assembly of an intelligent drainage robot according to an embodiment of the present invention;

[0050] In the figure, 1. water pump assembly; 11. water inlet section; 12. water outlet section; 121. water pressure test section; 122. flow test section; 123. flow sensor; 13. water inlet; 14. water hood; 141. quick-release structure; 15. first pressure sensor; 16. second pressure sensor; 17. hose connector; 18. water outlet; 2. chassis; 21. fuel tank; 22. hydraulic oil tank; 23. oil inlet and outlet pipes; 24. hydraulic output connector; 25. shock absorber seat; 3. outer shell; 31. lighting warning light; 32. inspection port; 33. fuel filling port; 34. working chamber; 35. hydraulic oil heat dissipation chamber; 36. exhaust chamber; 37. exhaust louver; 38. air intake window; 39. maintenance hatch; 310. engine air intake area; 4. walking parts; 41. Belt; 42. Truss; 421. Damping groove; 422. Adjusting groove; 43. Driving motor; 44. Driving wheel; 45. Buffer wheel; 451. First buffer; 46. Support wheel assembly; 461. Support plate; 462. Support wheel; 463. Second buffer; 47. Tensioning wheel; 471. Adjusting plate; 472. Fixing hole; 473. Groove; 48. Adjusting wheel; 481. Adjusting push rod; 482. Elastic member; 483. Adjusting block; 5. Energy supply mechanism; 51. Partition; 6. Hydraulic integrated module; 61. Valve body; 611. Throttle valve; 612. Pressure regulating valve; 613. Receiving pipe; 614. Output interface; 615. Turbine flowmeter; 62. Hydraulic oil pump; 7. Water pump lifting assembly; 71. Driving member; 72. Pull rope; 73. Movable pulley. DETAILED DESCRIPTION

[0051] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0052] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0053] In the description of the present invention, "several" means one or more, "many" means more than two, "greater than," "less than," and "exceed" are understood to exclude the number itself, while "above," "below," and "within" are understood to include the number itself. The use of "first" and "second" in the description is solely for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, implicitly specifying the number of the indicated technical features, or implicitly specifying the order of the indicated technical features.

[0054] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0055] like Figure 1 As shown, a water pump assembly 1 of an intelligent drainage robot according to a preferred embodiment of the present invention includes an interconnected water inlet section 11 and a water outlet section 12, both of which are cylindrical in shape. A water inlet 13 is provided at one end of the water inlet section 11. The water inlet 13 can be connected to a water suction hood 14 for direct water intake during drainage, or it can be connected to the water outlet of the water pump assembly 1 of the front-end drainage robot connected in series with the water pump assembly 1. A drainage pump is provided inside the water inlet section 11, and the rotation of the drainage pump blades realizes the suction effect. A first pressure sensor 15 is provided between the water inlet 13 and the drainage pump to detect the water pressure of the water flow entering the water inlet section 11.

[0056] The water outlet section 12 is connected to the water inlet section 11. A second pressure sensor 16 is provided on the water outlet section 12 to detect the water pressure of the water flowing out of the water inlet section 11. A water outlet is provided at the end of the water outlet section 12 facing away from the water inlet section 11. The water outlet can be connected to the water inlet of the water pump assembly 1 of the next section of the drainage robot, and can also be connected to water receiving structures such as water hoses to directly discharge water out of the water pump assembly 1.

[0057] The water pump assembly 1 also includes a first controller, which includes a single chip microcomputer and a plc, etc. The first controller is electrically connected to the first pressure sensor 15, the second pressure sensor 16 and the drainage pump. During operation, after the water flows into the water inlet section 11 from the water inlet 13, the first pressure sensor 15 detects the water pressure and sends the detected result to the first controller. The first controller adjusts the rotation speed of the drainage pump according to the water pressure detection result to match the flow rate and flow rate of the front-end drainage. The adjusted drainage pump sends the water flow to the water outlet section 12. The second pressure sensor 16 in the water outlet section 12 performs a second water pressure detection on the water flow sent by the drainage pump. The measured data is sent to the first controller for judgment and is used to compare with the first pressure sensor 15 and the preset value to obtain the overall drainage situation of the drainage pump. If the difference after comparison with the value of the first pressure sensor 15 is less than the preset value, it can be concluded that the drainage at this time is normal. When the water pump speed is within the normal working range and the difference is greater than the preset value after comparison with the value of the first pressure sensor 15, the speed of the drainage pump needs to be further increased to match the overall drainage flow rate; by arranging the first pressure sensor 15 and the second pressure sensor 16 on both sides of the drainage pump, the water pressure before and after the drainage pump can be accurately monitored in real time during the series use of the drainage robot, and the drainage pump can be accurately adjusted to adapt to the drainage flow of the front-end drainage robot, thereby protecting the safety of the fan blades and motor of the drainage pump and ensuring the life of the drainage components; on the other hand, the speed of the drainage pump can also be reduced when the flow is small, reducing energy consumption and ensuring the endurance of the intelligent drainage robot.

[0058] In some embodiments of the present invention, the water outlet section 12 includes a water pressure test section 121 and a flow rate test section 122 connected in sequence. Both the water pressure test section 121 and the flow rate test section 122 are cylindrical, with the diameter of the water pressure test section 121 being slightly smaller than that of the flow rate test section 122. The water pressure test section 121 is used to test the water pressure flowing out of the drainage pump, and a second pressure sensor 16 is disposed on the water pressure test section 121. The flow rate test section 122 is used to test the water flow out of the drainage pump, and a flow rate sensor 123 is disposed on the flow rate test section 122. The flow rate sensor 123 is also electrically connected to the first controller. The first controller determines the water flow out of the drainage pump based on the data measured by the flow rate sensor 123 and the second pressure sensor 16, and further determines the comprehensive working condition of the entire water pump assembly 1 system based on the difference between the measured value and the value measured by the first pressure sensor 15, thereby achieving full-area monitoring of the water pump assembly 1 and strengthening the guarantee of the overall working condition of the water pump assembly 1.

[0059] In some embodiments of the present invention, when the water pump assembly 1 of the present application directly performs a water suction operation (i.e., a non-series working condition or a water suction mechanism as a series mechanism), the water inlet section 11 is detachably connected to a water suction hood 14 at the water inlet 13, so that the water pump assembly 1 can directly suck water. The front end of the water suction hood 14 facing the direction of travel is set to a downward curved arc, and the end of the water suction hood 14 is provided with a water suction port, which is set vertically downward. Specifically, the bending angle of the water suction hood 14 is greater than or equal to 90° so that the water suction port can be set vertically downward, and the inlet plane of the water suction port is parallel to the water surface. This can ensure that the water suction port is closed by the water surface during the suction process, maintain the vacuum setting inside the water suction hood 14, and is conducive to reducing the minimum water suction depth of the drainage pump and minimizing the residual water accumulation. On the other hand, the water suction hood 14 with an arc-shaped front end can also prevent debris floating on the water surface from being directly sucked into the drainage pump, causing damage to the drainage pump. It is understandable that the water absorption cover 14 can also be set to a square or other shape, so as to ensure that its water absorption port is set downward, and no specific limitation is made here.

[0060] Furthermore, a quick-release structure 141 is provided between the water suction hood 14 and the water inlet section 11. The provision of the quick-release structure 141 enables the water suction hood 14 of the water pump assembly 1 to be quickly disassembled and assembled, which is beneficial for the drainage robot to quickly assemble the serial water suction mode and the individual water suction mode without replacing the entire water pump assembly 1; specifically, the quick-release structure 141 includes multiple sets of positioning pins and tower buckles. The positioning pins can complete the radial fixation between the water inlet section 11 and the water suction hood 14, and the tower buckles can complete the axial tensioning between the water inlet section 11 and the water suction hood 14.

[0061] In some embodiments of the present invention, the water outlet section 12 is connected to a water hose connector 17 at the water outlet 18. When the water pump assembly 1 of the present application is used as the last section of a series structure or is used alone for drainage, a water hose is generally connected to the water outlet 18 to collect the sucked flood water; the water hose connector 17 is used to connect the water hose, and the water hose connector 17 is bent downward at one end facing away from the water outlet section 12. The bent water hose connector 17 prevents the water hose from excessively bending when connected to the horizontally arranged water outlet, thereby protecting the structure of the water hose, preventing the water hose from being damaged during operation, and ensuring the working efficiency of the water pump assembly 1.

[0062] like Figure 2-4As shown, an intelligent drainage robot according to a preferred embodiment of the present invention includes a chassis 2 and a shell 3, a walking part 4 is provided on the chassis 2, and a water pump assembly 1 of any one of the above embodiments is provided in parallel at the lower middle part of the chassis 2; the water pump assembly 1 is provided in at least two groups and is arranged in parallel with each other, and the multiple groups of water pump assemblies 1 are interconnected and can be raised and lowered synchronously; the shell 3 is covered on the chassis 2, and a accommodating cavity is formed in the shell 3 for accommodating the engine and other components of the drainage robot, and a plurality of lighting warning lights 31 are provided on the outside of the shell 3, which can light up when working to remind nearby workers that a drainage robot is working here; an inspection port 32 is also provided on the shell 3 to provide maintenance operations, and a fuel filling port 33 is also provided at the rear of the shell 3.

[0063] The drainage robot also includes a hydraulic system, which includes an energy supply mechanism 5 and a hydraulic integrated module 6. The energy supply mechanism 5 is arranged in the accommodating cavity and provides power to the hydraulic integrated module 6. Specifically, the energy supply mechanism 5 includes an engine, etc., which burns fuel to provide power for the hydraulic integrated module.

[0064] The hydraulic integrated module 6 connects the water pump assembly 1, the traveling parts 4 arranged on both sides of the chassis 2 and the external hydraulic device, and provides power to the water pump assembly 1, the traveling parts 4 and the external hydraulic device respectively; specifically, the hydraulic integrated module includes a hydraulic oil pump 62, which is used to deliver power to the traveling parts.

[0065] like Figure 6 As shown, the hydraulic integrated module 6 and the energy supply mechanism 5 are also connected to a second controller. The second controller includes a device controller, a wireless communication module, and a display module. Sensors within the hydraulic system transmit hydraulic system parameters to the second controller, which then transmits them to the operator's display module via the wireless communication module. This allows the operator to monitor the current hydraulic parameters within the system. If the hydraulic module parameters differ from those required by the external hydraulic device, the device controller can be used to adjust the hydraulic parameters within the device. Specifically, when adjusting the hydraulic parameters, the speed of the energy supply mechanism 5 can be increased or decreased to provide different power levels to the hydraulic integrated module 6. The device controller can also control the throttle valve and hydraulic pressure regulating valve within the hydraulic integrated module to remotely adjust the output power of the hydraulic integrated module. Furthermore, the wireless communication module offers control modes including remote control and terminal software control. Remote control uses the factory-installed remote control panel, which includes a built-in device status display screen for real-time device information. Terminal software control uses a 5G network-enabled device to enable control and real-time device information viewing via terminal software.

[0066] Furthermore, the second controller also includes an intelligent control system, which can intelligently adjust the working parameters of the equipment according to the different working environments of the equipment, abnormal conditions of the equipment (such as excessive internal temperature of the equipment, excessive hydraulic temperature, abnormal oil pressure, etc.) and different working conditions (walking, drainage, driving hydraulic tools with different parameters).

[0067] The drainage robot controls the drainage of the water pump, overall movement and external hydraulic devices through the equipment controller of the hydraulic integrated module. The second controller receives information from the hydraulic system and adjusts the internal hydraulic parameters based on this information, realizing the overall intelligence of the drainage robot and improving the degree of automation of the drainage robot and its compatibility with external hydraulic tools.

[0068] In some embodiments of the present invention, the hydraulic system also includes a sensor component and an adjustment component, which are electrically connected to a second controller. The sensor component serves as an information source for the second controller, and the adjustment component serves as an actuator of the second sensor to adjust the parameters of the hydraulic system. The sensor component collects parameters in the hydraulic system and uploads them to the second controller. The second controller sends a signal to the operator's display module through a wireless communication module. The staff transmits the parameters that need to be adjusted back to the second controller, and the equipment controller of the second controller controls the adjustment component to adjust the parameters of the hydraulic integrated module.

[0069] In some embodiments of the present invention, the sensor assembly includes a hydraulic flow sensor, a pressure sensor, and a temperature sensor. Multiple hydraulic flow sensors, pressure sensors, and temperature sensors are provided, and these multiple hydraulic flow sensors, pressure sensors, and temperature sensors are distributed throughout the pipelines of the hydraulic system to monitor the overall hydraulic parameters of the hydraulic system. The actuator assembly includes a throttle valve 611 and a pressure regulating valve 612. Both the throttle valve 611 and the pressure regulating valve 612 are electrically controlled proportional valves. The throttle valve 611 and the pressure regulating valve 612 are respectively used to adjust the flow rate and hydraulic pressure of the hydraulic oil output to the hydraulic integrated module to meet the hydraulic parameter requirements of the water pump assembly 1, the travel member 4, and the external hydraulic device. Specifically, the hydraulic flow sensor includes an ultrasonic flowmeter and a turbine flowmeter 615, etc., which are used to accurately detect the flow rate of the hydraulic integrated module.

[0070] In some embodiments of the present invention, the sensor assembly also includes a speed sensor. The speed of the energy supply mechanism 5, that is, the speed of the engine, represents the power output by the engine at this time. The parameters of the speed sensor can represent the power of the engine at this time. The second controller adjusts the speed of the energy supply mechanism 5 according to the signal of the speed sensor, that is, adjusts the power of the engine according to the hydraulic requirements of the water pump assembly 1, the walking part 4 and the external hydraulic device, so that the power output of the engine meets the requirements of the water pump assembly 1, the walking part 4 and the external hydraulic device.

[0071] like Figure 6 As shown, in some embodiments of the present application, a plurality of hydraulic flow sensors, pressure sensors and temperature sensors are distributed in the hydraulic oil circuit of the present application, which respectively collect the hydraulic parameters of the hydraulic device leading to the water pump assembly 1, the walking part 4 and the outside, and a speed sensor is provided in the energy supply mechanism 5. During the collection process, the hydraulic flow sensor, the pressure sensor and the temperature sensor respectively transmit the flow, hydraulic pressure and temperature parameters of each part of the hydraulic integrated module 6 to the second controller, and the speed sensor also transmits the real-time speed of the energy supply mechanism 5 to the second controller; after the second controller collects the hydraulic oil information and speed information of each part, it transmits it to the operator through the wireless communication module. The display module allows the operator to know the hydraulic parameters and speed of the energy supply mechanism within the system at that time, and can compare these parameters with the hydraulic parameters required by the external hydraulic device. If the hydraulic parameters of the hydraulic integrated module 6 differ from those required by the external hydraulic device, the hydraulic parameters within the hydraulic integrated module 6 can be directly adjusted through the throttle valve 611 and pressure regulating valve 612 connected to the device controller to adapt to the hydraulic parameters required by the external hydraulic device. The second controller can also directly adjust the speed of the energy supply mechanism 5 to adjust the power input to the hydraulic integrated module 6, further adjusting the parameters within the hydraulic integrated module 6. The second controller receives information from the hydraulic system and adjusts the internal hydraulic parameters based on this information, thereby improving the drainage robot's degree of automation and its compatibility with external hydraulic tools.

[0072] like Figure 7 As shown, in some embodiments of the present invention, the hydraulic integrated module 6 includes a valve body 61, which is fixed to the chassis 2. The valve body 61 is provided with a receiving tube 613, which receives engine power and hydraulic oil. The receiving tube 613 is located within the valve body 61, which is a hydraulic channel. The hydraulic channel within the valve body 61 outputs the power provided by the engine to the hydraulic oil, and then outputs the hydraulic oil to the water pump assembly 1, the traveling member 4, and the external hydraulic device. The valve block is provided with multiple output interfaces 614, which are respectively connected to the water pump assembly 1, the traveling member 4, and the external hydraulic device. The hydraulic integrated module 6 can adjust the flow rate of each output interface 614 according to the signal of the second controller.

[0073] like Figure 8 As shown, in some embodiments of the present invention, a fuel tank 21 and a hydraulic oil tank 22 are integrated on the chassis 2. The arrangement of the fuel tank 21 and the hydraulic oil tank 22 on the chassis 2, on the one hand, strengthens the strength of the chassis 2. On the other hand, since the chassis 2 is immersed in water for a long time during operation, the fuel tank 21 and the hydraulic oil tank 22 can be subjected to a good heat dissipation effect. Furthermore, the pipeline connecting the fuel tank 21 and the hydraulic oil tank 22 is also immersed in water at the same time, which also has a good heat dissipation effect. The fuel tank 21 is connected to the energy supply mechanism 5 to provide power for the engine of the energy supply mechanism 5, and the hydraulic oil tank 22 is connected to the hydraulic integrated module to provide the hydraulic integrated module with circulating hydraulic oil. Specifically, an oil level sensor is designed in the fuel tank 21. The main function of the oil level sensor is to transmit the oil level information in the fuel tank to the control terminal in real time.

[0074] In some embodiments of the present invention, two fuel tanks 21 are provided, which are respectively arranged at the two ends of the width direction of the chassis 2. The two separate fuel tanks 21 are symmetrically arranged, which optimizes the layout of the chassis 2 and makes a lot of space for installing the water pump assembly 1 in the middle. Moreover, the fuel tanks 21 on both sides can obtain heat dissipation from water on both sides, which improves the heat dissipation effect compared with a single fuel tank 21; furthermore, the bottoms of the two fuel tanks 21 are connected to each other, which is conducive to the mutual flow of oil and prevents one fuel tank 21 from being used too much and the other fuel tank 21 from being used too little; the hydraulic oil tank 22 is arranged at the front end of the walking direction of the chassis 2, so that the hydraulic oil tank 22 shell 3 continuously has water flowing through its surface during the walking process of the drainage robot, which has a good convection heat dissipation effect and reduces the heat dissipation pressure of the hydraulic oil during the circulation process. Furthermore, the inlet and outlet oil pipes 23 of the water pump assembly 1 are made of steel pipes, which extend from the front of the chassis 2 to the rear of the chassis 2. When the water pump assembly 1 is draining water in the water, the hydraulic oil continuously flows in the steel pipes of the inlet and outlet oil pipes 23, and the heat therein is transferred to the surface of the steel pipe through heat conduction. When the external water flows, part of the temperature of the steel pipe surface is taken away, thereby improving the heat dissipation effect.

[0075] like Figure 3As shown, in some embodiments of the present invention, the chassis 2 is provided with multiple hydraulic output connectors 24. These connectors are used to connect to external hydraulic devices, including breakers, hydraulic shears, and other hydraulic tools. Different hydraulic tools have different hydraulic parameter requirements. The hydraulic output connectors 24 connect to the valve block within the accommodating chamber. The output interface 614 on the valve block is connected to the hydraulic output connector 24 on the chassis 2 via a pipeline. The output hydraulic parameters output by the output interface 614 can be intelligently controlled to meet the hydraulic parameter requirements of different hydraulic tools. The hydraulic oil tank 22 is provided with a shock absorber mount 25 corresponding to the hydraulic oil pump 62. The chassis 2 is also provided with a shock absorber mount 25 corresponding to the engine. The shock absorber mount 25 on the hydraulic oil tank 22 supports the hydraulic oil pump 62 in the hydraulic integrated module. The hydraulic oil pump 62 is connected to the running gear 4. The shock absorber mount 25 isolates the hydraulic oil pump 62 from vibration during operation, preventing the chassis 2 and the hydraulic oil tank 22 from being affected by the vibration of the hydraulic oil pump 62. The shock absorber mount 25 on the chassis 2 is also used to isolate the chassis 2 from engine vibration. Specifically, the shock absorbing seat 25 is provided with elements such as a spring inside.

[0076] like Figure 9 As shown, in some embodiments of the present invention, the walking member 4 includes track structures disposed on both sides of the chassis 2 in the width direction. The track structures are arranged parallel to each other, and the rotation of the track structures can drive the drainage robot forward or backward. The track structure includes a truss 42 and a track 41 fixed to the truss 42. The track 41 has an inverted V-shaped structure. The truss 42 serves as the framework of the track 41 structure and is fixed to the chassis 2. The track 41 is rotatably connected to the track 41 around the truss 42. When the track 41 rotates around the truss 42, the drainage robot moves. The truss 42 is equipped with a drive gear train, a buffer gear train, and an adjustment gear train. The drive gear train is located at the rear end of the truss 42 to drive the track 41. The buffer gear train is located at the bottom and front end of the truss 42 to reduce impact during movement and protect the track 41 and truss 42. The adjustment gear train is located at the top of the truss 42 to adjust the tightness of the truss 42 to adapt to different walking requirements.

[0077] In some embodiments of the present invention, the drive wheel system includes a drive motor 43 and a drive wheel 44. The drive wheel 44 is connected to the drive motor 43. The drive motor 43 is fixed to the truss 42 and connected to the hydraulic oil pump 62 in the hydraulic integrated module. During operation, the hydraulic oil pump 62 distributes power to the drive motors 43 of the crawler mechanisms on both sides. The drive motor 43 drives the drive wheel 44 to rotate, and the drive wheel 44 engages with the crawler tracks 41. The rotating drive wheel 44 can provide power to the crawler tracks 41, maintaining the stable movement of the drainage robot.

[0078] In some embodiments of the present invention, the buffer wheel system includes a buffer wheel 45 arranged at one end of the truss 42 in the length direction. The buffer wheel 45 is connected to one end of the track 41 in the length direction, specifically located at the front end of the track 41 in the traveling direction. When the track 41 encounters an obstacle and is impacted during its movement, a buffer is provided between the track 41 and the truss 42 to prevent the impact from directly acting on the truss 42 rigidly connected to the chassis 2, and also prevents many mechanical components on the chassis 2 from being subjected to a large impact; the buffer wheel 45 system also includes multiple groups of supporting wheel groups 46 arranged at the bottom of the truss 42. The supporting wheel group 46 is used to filter the fine vibrations at the bottom of the track 41 during movement. The supporting wheel group 46 is evenly arranged at one end in the width direction of the track 41 to provide a buffer between the bottom track 41 and the truss 42.

[0079] In some embodiments of the present invention, a first buffer member 451 is provided near the buffer wheel 45 of the truss 42. The end of the first buffer member 451 away from the truss 42 is connected to the rotating shaft of the buffer wheel 45. Since the track 41 corresponding to the buffer wheel 45 is the first to be hit when the equipment moves forward and the impact force is the largest, the first buffer member 451 is designed to reduce the impact force and protect the track 41 and the truss 42. Specifically, the first buffer member 451 includes a damping member or a spring member, etc.

[0080] In some embodiments of the present invention, the supporting wheel group 46 includes a supporting plate 461 bent in the direction away from the truss 42, the bending point of the supporting plate 461 is rotatably connected to the truss 42, and the two ends of the supporting plate 461 are respectively connected to the supporting wheels 462, and the supporting wheels 462 are connected to the crawler 41. A damping groove 421 is opened on the edge of the truss 42 near the supporting wheels 462, and a second buffer member 463 is provided in the damping groove 421. When the supporting wheel 462 on one side of the bottom of the crawler 41 is impacted, the supporting plate 461 rotates, causing the supporting wheel 462 to move upward to the damping groove At 421, the second buffer member 463 has a buffering effect, which prevents the supporting wheels 462 from causing a large impact on the truss 42, thereby protecting the truss 42; and due to the rotatable design of the supporting wheel group 462 46, when the bottom track 41 goes over an obstacle, the supporting wheels 462 can also ensure that the track 41 is always in close contact with the ground under the action of gravity or the reverse force of the second buffer member 463, thereby preventing the track 41 from driving the truss 42 directly to the ground after going over a higher obstacle, causing a large impact on the truss 42, and providing a better buffering effect when going over an obstacle.

[0081] like Figure 9 and 10As shown, in some embodiments of the present invention, the adjusting wheel system includes a tensioning wheel 47 and an adjusting wheel 48 connected to the track 41. The tensioning wheel 47 is connected to an adjusting plate 471, and the adjusting plate 471 is set at one end in the length direction of the truss 42. The tensioning wheel 47 completes the tensioning of the track 41 through the adjusting action of the adjusting plate 471; the adjusting wheel 48 is connected to an elastic member 482, and the elastic member 482 is set at one end in the width direction of the truss 42. The adjusting wheel 48 cooperates with the tensioning wheel 47 to further automatically adjust the tightness of the track 41, so that the track 41 still has the ability to self-adjust after the tensioning wheel 47 is fixed.

[0082] In some embodiments of the present invention, the adjustment plate 471 is provided with a fixing hole 472 and a groove 473. A fixing screw is inserted into the fixing hole 472, and an adjusting screw fixed to the truss 42 is inserted into the groove 473. Multiple fixing grooves 473 may be provided, and the multiple fixing grooves 473 have the same curvature and their corresponding centers are all located at the fixing hole 472. The adjustment plate 471 can rotate along the extension direction of the groove 473 with the fixing screw as the center. The rotation of the adjustment plate 471 drives the rotation of the tensioning wheel 47, and the rotation of the tensioning wheel 47 can adjust the tightness of the crawler 41. During the rotation of the adjustment plate 471, the adjusting screw moves along the extension direction of the groove 473. When the tensioning wheel 47 reaches the appropriate position, the adjusting screw is locked by a nut, so that the tensioning wheel 47 and the adjustment plate 471 are fixed to the truss 42, completing the tensioning process of the crawler 41.

[0083] like Figure 10 As shown, in some embodiments of the present invention, an adjustment slot 422 is provided at one end of the truss 42 in the width direction. The adjustment slot 422 is provided at the end of the truss 42 facing away from the supporting wheel group 46, specifically at the top middle part of the truss 42; an adjustment top rod 481 is fixed in the adjustment slot 422, an elastic member 482 is sleeved on the lower outer side of the adjustment top rod 481, and an adjustment block 483 is sleeved on the upper outer side of the adjustment top rod 481. The two sides of the adjustment block 483 are rotatably connected to the rotating shaft of the adjusting wheel 48, and the bottom of the adjustment block 483 is connected to the The elastic members 482 are in contact with each other; when the track 41 is tight, pressure is generated on the adjusting wheel 48. After being pressurized, the adjusting wheel 48 presses against the adjusting block 483 on the adjusting push rod 481 and applies pressure to the elastic member 482. After working for a period of time, if the track 41 becomes loose, the elastic member 482 loses its downward pressure and provides reverse pressure toward the track 41, so that the adjusting wheel 48 provides tension to the track 41, ensuring that the track 41 always maintains a tensioned state during operation; specifically, the elastic member 482 includes a spring.

[0084] like Figure 11As shown, in some embodiments of the present invention, a water pump lifting assembly 7 is provided on the chassis 2 to provide a lifting effect for one end of the water inlet 13 of the water pump to adjust the height of the water inlet 13 of the water pump so that it can maintain a stable water suction effect on different slopes and prevent sewage backflow or insufficient suction on different slopes; the water pump lifting assembly 7 includes a driving member 71 and a pull rope 72. The driving member 71 includes a horizontally arranged electric push rod, a gas push rod or a hydraulic push rod. The driving member 71 is horizontally arranged. The end of the driving member 71 is connected to a movable pulley 73 which can move horizontally, and the driving member 71 can drive the movable pulley 73 to move horizontally; one end of the pull rope 72 passes around the movable pulley 73 and is fixed to the water pump lifting assembly 7, and the other end is connected to the water inlet section 11 of the water pump assembly 1; a pull rope opening is opened at the chassis 2 below the movable pulley 73, and the pull rope opening is arranged just above the water inlet section 11. The pull rope 72 extends downward to the water pump assembly 1 through the pull rope opening, so that the pull rope 72 can be stably provided at the pull rope opening to provide tension to the water pump assembly 1. A fixed pulley is also provided at the pull rope opening for winding the pull rope 72; further, since there is a rigid connection between the multiple groups of water pump assemblies 1, the lifting of one of the water pump assemblies 1 can drive all the water pump assemblies 1 to lift and lower at the same time.

[0085] like Figure 4 As shown, in some embodiments of the present invention, a partition 51 is provided on both sides of the energy supply mechanism 5 in the accommodating chamber, and the partition 51 is arranged perpendicular to the chassis 2. The partition 51 divides the accommodating chamber into a working chamber 34, a hydraulic oil heat dissipation chamber 35 and an exhaust chamber 36. The working chamber 34 is located in the middle, and the hydraulic oil heat dissipation chamber 35 and the exhaust chamber 36 are located on both sides of the working chamber 34. The chambers isolated from each other also isolate heat during exhaust to prevent the heat generated by the engine from affecting the exhaust or the heat dissipation of the hydraulic oil. The exhaust chamber 36 and the hydraulic oil heat dissipation chamber 35 are arranged close to the shell 3 and an exhaust louver 37 is opened on the shell 3. The energy supply mechanism 5 is provided in the working chamber 34. The valve body 61 is provided with an air intake window 38 at the front end, and an engine cooling assembly is provided at the end of the energy supply mechanism 5. After the cold air enters the working chamber 34 through the air intake window 38, it first dissipates heat for the hydraulic oil pump 62 and provides fresh air for the engine's air filter. The cold air then enters the engine area, the exhaust chamber 36, and the hydraulic oil cooling chamber 35. The fresh air entering the engine area provides cold air for the engine cooling assembly at the rear of the engine. The cold air entering the exhaust chamber 36 helps to discharge the engine exhaust gas and is discharged by the exhaust louvers 37. The cold air entering the hydraulic oil cooling chamber 35 provides heat for the hydraulic oil cooling module therein and is discharged by the exhaust louvers 37. Furthermore, the side walls of the working chamber 34 are covered with a sound-absorbing material, which includes sound-absorbing cotton, etc., to ensure that the engine noise is not directly transmitted to the outside world. Moreover, the airflow in the exhaust chamber 36 and the hydraulic oil cooling chamber 35 will be blocked by the exhaust louvers 37, reducing the noise brought out of the chamber by the airflow, further improving the silent performance of the drainage robot.

[0086] The top of the housing 3 is also equipped with at least two maintenance hatches 39, which are pivotally connected via hinges and support beams located in the center of the top of the housing 3, allowing for quick opening to access the equipment for maintenance. An engine air intake area 310 is also located on one side of the valve body 61. The air filter of the energy supply mechanism 5 is connected to the engine air intake area 310 to directly supply air to the engine.

[0087] The working process of the present invention is as follows: the water inlet section 11 of the water pump assembly 1 can be used for direct water inlet during the drainage process, and can also be connected to the water outlet 18 of the water pump assembly 1 of the front-end drainage robot connected in series with the water pump assembly 1. After the water flows into the water inlet section 11 from the water inlet 13, the first pressure sensor 15 detects the water pressure and sends the detected result to the first controller. The first controller adjusts the speed of the drainage pump according to the water pressure detection result to match the flow rate and flow rate of the front-end drainage. The adjusted drainage pump sends the water flow to the water outlet section 12. The second pressure sensor 16 in the water outlet section 12 performs a second water pressure detection on the water flow sent by the drainage pump. The measured data is sent to the first controller for judgment and is used to compare with the first pressure sensor 15 and the preset value to obtain the overall drainage situation of the drainage pump. If the difference after comparison with the value of the first pressure sensor 15 is less than the preset value, it can be concluded that the speed of the drainage pump is within the normal working range at this time. If the difference after comparison with the value of the first pressure sensor 15 is greater than the preset value, then It is necessary to further increase the speed of the drainage pump to match the overall drainage flow rate; the drainage robot includes a chassis 2 and a shell 3 arranged on the chassis 2, and a accommodating cavity for accommodating the engine and other components of the drainage robot is formed in the shell 3. A water pump assembly 1 is arranged in the chassis 2. By arranging a first pressure sensor 15 and a second pressure sensor 16 on both sides of the drainage pump, the water pressure before and after the drainage pump can be accurately monitored in real time during the series use of the drainage robot, and the drainage pump can be accurately adjusted to adapt to the drainage flow of the front-end drainage robot, thereby protecting the safety of the blades and motor of the drainage pump and ensuring the life of the drainage assembly; the drainage robot also includes a hydraulic system, which controls the drainage of the water pump, the overall movement and the external hydraulic device through the hydraulic system. The second controller receives information from the hydraulic system and adjusts the internal hydraulic parameters according to this information, thereby realizing the overall intelligence of the drainage robot and improving the degree of automation of the intelligent drainage robot and the degree of adaptability to external hydraulic tools.

[0088] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be regarded as the scope of protection of the present invention.

Claims

1. An intelligent drainage robot, characterized in that: include: A chassis, wherein a water pump assembly is arranged in parallel with the chassis, and a fuel tank and a hydraulic oil tank are integrated on the chassis. Two fuel tanks are provided, which are respectively arranged at both ends in the width direction of the chassis, and the bottoms of the two fuel tanks are interconnected. The water pump assembly is installed between the two fuel tanks, and the hydraulic oil tank is arranged at the front end of the chassis in the traveling direction; A housing, wherein the housing cover is disposed on the chassis, and a receiving cavity is formed in the housing; a hydraulic system comprising an energy supply mechanism and a hydraulic integrated module, the fuel tank being connected to the energy supply mechanism, the hydraulic oil tank being connected to the hydraulic integrated module, the energy supply mechanism being disposed within the accommodating cavity and providing power to the hydraulic integrated module, the hydraulic integrated module being connected to the water pump assembly, the traveling parts disposed on the chassis, and an external hydraulic device; a second controller electrically connected to the energy supply mechanism and the hydraulic integrated module; Wherein, the water pump assembly includes: A water inlet section, one end of which is provided with a water inlet, a drainage pump is provided inside the water inlet section, a first pressure sensor is provided between the water inlet and the drainage pump, a water absorption cover is detachably connected to the water inlet, and a quick-release structure is provided between the water absorption cover and the water inlet section; when multiple drainage robots are used in series, the water inlet of the water pump assembly of the rear drainage robot is connected to the water outlet of the water pump assembly of the front drainage robot; a water outlet section, the water outlet section being connected to the water inlet section, the water outlet section being provided with a second pressure sensor, and the water outlet being provided at one end of the water outlet section facing away from the water inlet section; a first controller electrically connected to the first pressure sensor, the second pressure sensor, and the drain pump; Among them, the first pressure sensor performs water pressure detection on the water flow sent by the drainage pump, and sends the detection result to the first controller. The first controller adjusts the speed of the drainage pump according to the water pressure detection result to match the flow rate and flow rate of the front-end drainage. The adjusted drainage pump sends the water flow to the water outlet section. The second pressure sensor in the water outlet section performs a second water pressure detection on the water flow sent by the drainage pump. The measured data is sent to the first controller for judgment and is used for comparison with the numerical value of the first pressure sensor and the preset value; if the difference after comparison with the numerical value of the first pressure sensor is less than the preset value, it can be concluded that the speed of the drainage pump is in the normal working range at this time. If the difference after comparison with the numerical value of the first pressure sensor is greater than the preset value, it is necessary to increase the speed of the drainage pump to adapt to the drainage flow of the water pump component of the front-end drainage robot.

2. The intelligent drainage robot according to claim 1, characterized in that: The water outlet section includes a water pressure test section and a flow test section connected in sequence. The second pressure sensor is arranged on the water pressure test section. The flow test section is provided with a flow sensor. The flow sensor is electrically connected to the first controller.

3. The intelligent drainage robot according to claim 1, characterized in that: The water absorption hood comprises a water absorption port for absorbing water, and the water absorption port is arranged vertically downward.

4. The intelligent drainage robot according to claim 1, characterized in that: The water outlet section is connected to a water hose joint at the water outlet, and the water hose joint is bent downward at one end facing away from the water outlet section.

5. The intelligent drainage robot according to claim 1, characterized in that: The hydraulic system further includes a sensor assembly and an adjustment assembly, wherein the sensor assembly and the adjustment assembly are electrically connected to the second controller; The sensor component collects parameters in the hydraulic system and uploads them to the second controller, and the second controller sends signals to the adjustment component to adjust the parameters of the hydraulic integrated module.

6. The intelligent drainage robot according to claim 5, characterized in that: The sensor assembly includes a hydraulic flow sensor, a pressure sensor and a temperature sensor arranged on the hydraulic integrated module to detect the flow, pressure and temperature of the hydraulic integrated module. The regulating assembly includes a throttle valve and a pressure regulating valve to regulate the flow and pressure of the hydraulic integrated module.

7. The intelligent drainage robot according to claim 5, characterized in that: The sensor assembly further includes a rotation speed sensor for acquiring the rotation speed of the energy supply mechanism, and the second controller adjusts the rotation speed of the energy supply mechanism according to a signal from the rotation speed sensor.

8. The intelligent drainage robot according to claim 1, characterized in that: The hydraulic integrated module includes a valve body and a drive motor. The valve body is fixed to the chassis. Multiple output interfaces are provided on the valve body. The multiple output interfaces are respectively connected to the water pump assembly, the walking parts and the external hydraulic device. The hydraulic integrated module can adjust the flow of each output interface according to the signal of the second controller.

9. The intelligent drainage robot according to claim 1, characterized in that: The chassis is provided with a plurality of hydraulic output joints, the hydraulic output joints are connected to the hydraulic integrated module, and the hydraulic oil tank is provided with a shock absorber seat, the shock absorber seat is used to support the hydraulic oil pump of the hydraulic integrated module.

10. The intelligent drainage robot according to claim 1, characterized in that: The walking member includes a crawler structure provided on both sides of the chassis in the width direction. The crawler structure includes a truss and a crawler fixed to the truss. The truss is provided with a driving wheel train, a buffer wheel train and an adjusting wheel train.

11. The intelligent drainage robot according to claim 10, characterized in that: The driving wheel system includes a driving motor and a driving wheel, wherein the driving wheel is connected to the driving motor, the driving motor is connected to the hydraulic integrated module, and the driving wheel is engaged with the crawler track.

12. The intelligent drainage robot according to claim 10, characterized in that: The buffer wheel system includes a buffer wheel arranged at one end of the truss in the length direction and multiple groups of supporting wheel groups arranged at the bottom of the truss. The buffer wheel is connected to one end of the crawler in the length direction, and the supporting wheel group is connected to one end of the crawler in the width direction.

13. The intelligent drainage robot according to claim 12, characterized in that: The truss is provided with a first buffer component near the buffer wheel, and one end of the first buffer component away from the truss is connected to the rotating shaft of the buffer wheel.

14. The intelligent drainage robot according to claim 12, characterized in that: The supporting wheel group includes a supporting plate bent in the direction away from the truss, the bending point of the supporting plate is rotatably connected to the truss, both ends of the supporting plate are respectively connected to supporting wheels, and the supporting wheels are connected to the crawler track. The truss is provided with a damping groove on the edge near the supporting wheel, and a second buffer is provided in the damping groove.

15. The intelligent drainage robot according to claim 10, characterized in that: The adjusting wheel system includes a tensioning wheel connected to the track and an adjusting wheel, the tensioning wheel is connected to an adjusting plate, the adjusting plate is arranged at one end in the length direction of the truss, and the adjusting wheel is connected to an elastic member, and the elastic member is arranged at one end in the width direction of the truss.

16. The intelligent drainage robot according to claim 15, characterized in that: The adjustment plate is provided with a fixing hole and a groove, a fixing screw is inserted into the fixing hole, and an adjusting screw fixed to the truss is passed through the groove. The adjustment plate can be rotated along the extension direction of the groove with the fixing screw as the center to adjust the tensioning wheel.

17. The intelligent drainage robot according to claim 15, characterized in that: An adjustment slot is provided at one end of the truss in the width direction. An adjustment push rod is provided in the adjustment slot. The elastic member is sleeved on the outer side of the adjustment push rod. The adjustment wheel is connected to the top of the elastic member.

18. The intelligent drainage robot according to claim 1, characterized in that: The chassis is provided with a water pump lifting assembly, which includes a driving member and a pull rope. The driving member is horizontally arranged, and the end of the driving member is connected to a horizontally movable pulley. The pull rope is wound around the movable pulley, and a pull rope opening is opened below the movable pulley. The pull rope extends downward to the water pump assembly through the pull rope opening.

19. The intelligent drainage robot according to claim 14, characterized in that: The accommodating chamber is provided with partitions located on both sides of the energy supply mechanism, and the partitions divide the accommodating chamber into a working chamber, a hydraulic oil heat dissipation chamber and an exhaust chamber. The exhaust chamber and the hydraulic oil heat dissipation chamber are arranged close to the outer shell and exhaust louvers are opened on the outer shell. The energy supply mechanism and the hydraulic integrated module are arranged in the working chamber.

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