Dredging robot and dredging method thereof

Abstract

The invention provides a desilting robot and a desilting method thereof. The desilting robot comprises a moving body. The crushing mechanism is connected with the moving main body, and the crushing mechanism is arranged on the first side of the moving main body; the moving mechanism is connected with the moving main body, and the moving mechanism is used for driving the moving main body to move; and the collecting mechanism is connected with the moving main body, the collecting mechanism is arranged on the second side of the moving main body, and the smashing mechanism is opposite to the collecting mechanism. According to the technical scheme of the embodiment, the coverage range of dredging operation can be enlarged, deposits in the small pipeline can be effectively cleaned, and the construction operation cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of drainage pipe cleaning, and in particular to a silt clearing robot and a silt clearing method thereof. Background Art

[0002] At present, when there is too much water on the road or just after it rains, there are more solidified silt in the drainage pipes with smaller diameters. However, due to the limitations of the alleys and drainage pipes, the dredging equipment in the existing technology cannot effectively clean the solidified silt in the drainage pipes, resulting in low efficiency and high risk factors for workers when performing dredging operations. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a silt removal robot and a silt removal method thereof, which can avoid the limitations of lanes and drainage pipes and effectively clean the solidified silt in the drainage pipes.

[0004] In a first aspect, an embodiment of the present invention provides a dredging robot, comprising:

[0005] Moving subjects;

[0006] A crushing mechanism, the crushing mechanism is connected to the mobile body, and the crushing mechanism is arranged on a first side of the mobile body;

[0007] A moving mechanism, the moving mechanism is connected to the moving body, and the moving mechanism is used to drive the moving body to move;

[0008] A collecting mechanism is connected to the mobile body and is disposed on the second side of the mobile body, wherein the crushing mechanism is opposite to the collecting mechanism.

[0009] In some embodiments of the present invention, the crushing mechanism is provided with a connecting device and a destructive drill bit, the destructive drill bit is connected to the mobile body through the connecting device, at least three extension planes are provided on the side where the connecting device is connected to the destructive drill bit, each of the extension planes is provided with a curved portion, the inner surface of each extension plane is connected to the destructive drill bit, each of the destructive drill bits is provided with a plurality of rotating disks, the diameters of the plurality of rotating disks decrease successively from the outside to the inside, and the outer wall of each rotating disk is provided with a plurality of destructive teeth.

[0010] In some embodiments of the present invention, the moving mechanism is provided with a first moving device and a second moving device, the first moving device is provided on a third side of the moving body, and the second moving device is provided on a fourth side of the moving body, wherein the third side of the moving body is the opposite side of the fourth side of the moving body.

[0011] In some embodiments of the present invention, the first motion device and the second motion device are both provided with at least three pairs of wheel groups, a first control unit, a first gear bar, a second gear bar and a track arranged in sequence, a plurality of the wheel groups are arranged at the lower part of the first gear bar and the second gear bar, the track is wound around the outer surfaces of the wheel groups, the first gear bar and the second gear bar, and the first control unit is used to drive the wheel groups to rotate.

[0012] In some embodiments of the present invention, the first motion device and the second motion device are also provided with a first connecting member and a chain, and the track includes a plurality of second connecting members, an inner surface of each of the second connecting members is connected to one end of the first connecting member, the other end of the first connecting member is connected to one side of the chain, and the other side of the chain is connected to the wheel group.

[0013] In some embodiments of the present invention, a flushing device is also provided on the side of the mobile body connected to the collecting device, and the water outlet of the flushing device is aligned with the collecting device. The collecting mechanism is provided with a third connecting piece, a net bag and a chassis, and the bottom of the net bag is connected to the chassis, and the net bag is connected to the mobile body through the third connecting piece, wherein the net bag is provided with a plurality of openings, and the chassis is provided with a plurality of through holes.

[0014] In some embodiments of the present invention, the dredging robot is also provided with a ground processing station, the ground processing station is provided with a second control unit, the second control unit of the ground processing station is communicatively connected to the mobile mechanism, and the ground processing station is also provided with a control joystick, and the control joystick is communicatively connected to the mobile mechanism.

[0015] In a second aspect, an embodiment of the present invention provides a dredging method, which is applied to the dredging robot described in the first aspect, comprising:

[0016] Determine a first wellhead and a second wellhead of the drainage pipe, and use a high-pressure water gun to flush the sludge in the drainage pipe to below the second wellhead through the first wellhead;

[0017] Placing the dredging robot in the drainage pipe through the first wellhead, and aligning the crushing mechanism with the flushing direction of the high-pressure water gun;

[0018] Controlling the moving mechanism through the ground processing station drives the moving body to move along the flushing direction of the high-pressure water gun;

[0019] During the movement, the dredging robot crushes the solidified sediment in the drainage pipe through a crushing mechanism;

[0020] The dredging robot moves the consolidated silt to below the second wellhead through a collecting device.

[0021] In some embodiments of the present invention, the ground processing station controls the mobile body of the dredging robot to move along the flushing direction of the high-pressure water gun, including:

[0022] Obtaining the length information of the drainage pipe;

[0023] Determining the moving distance of the dredging robot according to the length of the drainage pipe;

[0024] When the second control unit is unable to obtain the length information of the drainage pipe, the moving mechanism of the dredging robot is controlled by a plurality of control joysticks to drive the moving body to move in the drainage pipe.

[0025] In some embodiments of the present invention, a flushing device is further provided on one side of the mobile body of the dredging robot connected to the collecting device, and a water outlet of the flushing device is aligned with the collecting device. The dredging method further includes:

[0026] The flushing device flushes the solidified sediment in the collecting device through the water outlet;

[0027] The flushing device dissolves the sludge on the surface of the solidified sediment into mud, and the mud flows into the drainage pipe through the opening of the net bag of the collecting device and the through holes arranged on the bottom plate.

[0028] The dredging robot according to the embodiment of the present invention has at least the following beneficial effects:

[0029] A mobile body; a crushing mechanism connected to the mobile body, the crushing mechanism is arranged on a first side of the mobile body; a mobile mechanism connected to the mobile body, the mobile mechanism is used to drive the mobile body to move; a collecting mechanism connected to the mobile body, the collecting mechanism is arranged on a second side of the mobile body, wherein the crushing mechanism is opposite to the collecting mechanism. According to the technical solution of this embodiment, the coverage of the dredging operation can be improved, the silt in the small pipe can be effectively cleaned, and the construction operation cost can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a schematic diagram of the overall structure of a dredging robot provided by an embodiment of the present invention;

[0031] Figure 2 It is a structural schematic diagram of a crushing mechanism provided by an embodiment of the present invention;

[0032] Figure 3is a schematic structural diagram of a first motion device provided by an embodiment of the present invention;

[0033] Figure 4 is a schematic structural diagram of a support wheel provided by an embodiment of the present invention;

[0034] Figure 5 is a flow chart of a dredging method provided by one embodiment of the present invention;

[0035] Figure 6 It is a flow chart of a ground processing station controlling a mobile body of a dredging robot to move along a flushing direction of a high-pressure water gun provided by an embodiment of the present invention;

[0036] Figure 7 This is a flow chart after the water outlet of the flushing device provided by one embodiment of the present invention is aligned with the collecting device.

[0037] Reference numerals

[0038] The movable body 100; the supporting wheel 110; the flushing device 120; the crushing mechanism 200; the connecting device 210; the breaking drill bit 220; the rotating disk 221; the breaking teeth 222; the extension plane 230; the bending part 231; the movable mechanism 300; the first moving device 310; the wheel set 311; the first control unit 312; the first gear bar 313; the second gear bar 314; the crawler track 315; the first connecting member 316; the chain 317; the second connecting member 318; the second moving device 320; the collecting mechanism 400; the third connecting member 410; the net bag 420; the opening 421; the chassis 430; the through hole 431. DETAILED DESCRIPTION

[0039] Embodiments of the present invention are described in detail below, examples of which 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 only used to explain the present invention, and cannot be understood as limiting the present invention.

[0040] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and 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, and therefore should not be understood as a limitation on the present invention.

[0041] In the description of the present invention, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed" etc. are understood as not including the number itself, and "above", "below", "within" etc. are understood as including the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0042] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. 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.

[0043] Reference Figures 1 to 4 An embodiment of the present invention provides a dredging robot, including a mobile body 100; a crushing mechanism 200, the crushing mechanism 200 is connected to the mobile body 100, and the crushing mechanism 200 is arranged on a first side of the mobile body 100; a mobile mechanism 300, the mobile mechanism 300 is connected to the mobile body 100, and the mobile mechanism 300 is used to drive the mobile body 100 to move; a collecting mechanism 400, the collecting mechanism 400 is connected to the mobile body 100, and the collecting mechanism 400 is arranged on a second side of the mobile body 100, wherein the crushing mechanism 200 is opposite to the collecting mechanism 400.

[0044] It should be noted that the silt removal robot is used to crush and collect the consolidated sediments with smaller diameters in the drainage pipes, wherein the consolidated sediments include but are not limited to hard sediments such as compacted mud, branches, stones, cement, etc.

[0045] It should be noted that the silt removal robot is also provided with a pump and a plurality of connection interfaces for connecting to a silt removal vehicle, so as to facilitate the transfer of silt and to connect to a silt removal vehicle provided with different connection interfaces, so that the silt removal vehicle can suck the silt in the siltation bin into the silt removal vehicle. Further, when the silt removal robot is placed in a drainage pipe, the silt removal robot is also connected to a siltation bin (not shown in the figure) outside the drainage pipe, and the silt extracted from the drainage pipe is sucked into the siltation bin by the pump, and the solidified silt other than the silt that appears during the suction process is grabbed out by grabbing and placed in the siltation bin (the siltation bin is provided with an openable lid), and a clean water bin is also provided in the mobile body 100, which is used to wash the remaining silt after the crushing mechanism 200 is crushed, and is placed in a suction position through the collecting mechanism 400, so as to suck the silt.

[0046] The crushing mechanism 200 is provided with a connecting device 210 and a destroying drill bit 220. The destroying drill bit 220 is connected to the mobile body 100 through the connecting device 210. At least three extension planes 230 are provided on the side where the connecting device 210 is connected to the destroying drill bit 220. Each extension plane 230 is provided with a bending portion 231. The inner surface of each extension plane 230 is connected to the destroying drill bit 220. Each destroying drill bit 220 is provided with a plurality of rotating disks 221. The diameters of the plurality of rotating disks 221 decrease successively from the outside to the inside. The outer wall of each rotating disk 221 is provided with a plurality of destroying teeth 222.

[0047] It should be noted that at least three extension planes 230 are provided on the side where the connecting device 210 in the crushing mechanism 200 is connected to the destroying drill bit 220, and the destroying drill bit 220 is installed on the inner surface of each extension plane 230, so that the extension plane 230 cooperates with the destroying drill bit 220 to ensure that the silt in the drainage pipe is cleaned without omission. Further, by providing a curved portion 231 on each extension plane 230, when the destroying drill bit 220 rotates, the outer surface of the crushing mechanism 200 is circular, ensuring that the crushing mechanism 200 will not damage the pipe wall of the drainage pipe when working. By providing multiple rotating disks 221 on each destroying drill bit 220, and the diameters of the multiple rotating disks 221 decrease from the outside to the inside, when the crushing device rotates, the rotating disks 221 of different diameters can cover the inside of the pipe, forming a multi-level pipe dredging. In addition, since the diameter of the rotating disk 221 decreases from the outside to the inside, the crushing drill bit can adapt to pipes of different diameters and shapes, thereby enhancing the versatility and adaptability of the dredging robot. Furthermore, the outer wall of each rotating disk 221 is provided with a plurality of breaking teeth 222. Under the rotation of the rotating disk 221, these breaking teeth 222 can effectively impact, shear and crush the dirt and blockages on the inner wall of the drainage pipe, thereby effectively removing the silt in the drainage pipe. At the same time, the provision of the breaking teeth 222 also enables the dredging robot to cope with different types of dirt and blockages, thereby further improving the adaptability of the dredging robot.

[0048] It is understandable to those skilled in the art that, compared with the conventional chemical cleaning method, the use of the pulverizing mechanism 200 of this embodiment for desilting the drainage pipe will not produce harmful chemicals and wastes, and is more environmentally friendly.

[0049] The moving mechanism 300 is provided with a first moving device 310 and a second moving device 320, wherein the first moving device 310 is provided on the third side of the moving body 100, and the second moving device 320 is provided on the fourth side of the moving body 100, wherein the third side of the moving body 100 is opposite to the fourth side of the moving body 100.

[0050] It should be noted that the mobile body 100 can be moved more flexibly and stably by the coordinated work of the two motion devices (the first motion device 310 and the second motion device 320). The first motion device 310 and the second motion device 320 can be controlled independently or simultaneously. According to different working environments and needs, the first motion device 310 and the second motion device 320 can be controlled independently or collaboratively to realize the forward, backward or turning movement of the dredging robot in the drainage pipe; because the mobile mechanism 300 adopts a symmetrical and dual-drive design, the mobile body 100 is more stable during movement, reducing the risk of operational errors or equipment damage caused by shaking or tilting.

[0051] The first motion device 310 and the second motion device 320 are both provided with at least three pairs of wheel groups 311, a first control unit 312, a first gear bar 313, a second gear bar 314 and a track 315 arranged in sequence. Multiple wheel groups 311 are arranged at the lower part of the first gear bar 313 and the second gear bar 314, and the track 315 is wound around the outer surface of the wheel group 311, the first gear bar 313 and the second gear bar 314. The first control unit 312 is used to drive the wheel group 311 to rotate.

[0052] It should be noted that the design of multiple pairs of wheel groups 311 and crawler tracks 315 can greatly increase the contact area between the equipment and the ground and improve the stability of the equipment. When moving in complex terrain or in a pipeline, the equipment is not easy to slide or tilt, ensuring the smooth progress of dredging work; when the dredging robot encounters an obstacle in the drainage pipe, it can easily cross or bypass it through the crawler tracks 315, reducing the damage to the first motion device 310 and / or the second motion device 320 or the interruption of the dredging operation caused by the existence of obstacles in the drainage pipe. Further, the rotation speed and direction of the wheel group 311 can be accurately controlled by the first control unit 312, making the operation of the first motion device 310 and the second motion device 320 easier and more flexible. The operator can adjust the moving speed and direction of the first motion device 310 and the second motion device 320 at any time according to actual needs to adapt to different drainage pipe environments.

[0053] The first motion device 310 and the second motion device 320 are also provided with a first connecting member 316 and a chain 317. The track 315 includes a plurality of second connecting members 318. The inner surface of each second connecting member 318 is connected to one end of the first connecting member 316, the other end of the first connecting member 316 is connected to one side of the chain 317, and the other side of the chain 317 is connected to the wheel group 311.

[0054] It should be noted that the first connecting member 316 and the chain 317 are connected to the plurality of second connecting members 318 constituting the crawler 315 through the first motion device 310 and the second motion device 320, forming a complete transmission system. When the wheel set 311 rotates, the chain 317 moves accordingly, and drives the second connecting member 318 to move together through the first connecting member 316, so that the crawler 315 is driven by the wheel set 311 to perform a circular motion around the wheel set 311. Through the close connection and coordinated work between the crawler 315 and the wheel set 311, the dredging robot can obtain stronger stability and traction when moving in the drainage pipe.

[0055] The mobile body 100 is also provided with support wheels 110 and a flushing device 120. The support wheels 110 are arranged on both sides of the mobile body 100. The flushing device 120 is arranged on the side where the mobile body 100 is connected to the collecting device. The water outlet of the flushing device 120 is aligned with the collecting device. The collecting mechanism 400 is provided with a third connecting member 410, a net bag 420 and a chassis 430. The bottom of the net bag 420 is connected to the chassis 430. The net bag 420 is connected to the mobile body 100 through the third connecting member 410, wherein the net bag 420 is provided with a plurality of openings 421, and the chassis 430 is provided with a plurality of through holes 431.

[0056] It should be noted that the support wheel 110 is used to provide stability and balance for the mobile body 100. The support wheel 110 is close to the inner wall of the drainage pipe and applies a certain pressure to the surface of the drainage pipe, thereby ensuring that the mobile body 100 maintains balance when walking in the pipe and avoiding tilting or overturning of the mobile body 100 when moving in the drainage pipe. It can be understood by those skilled in the art that the support wheel 110 has a variable diameter structure so that the support wheel 110 can adapt to pipes of different diameters. Ensure that the dredging robot can work effectively in various pipe sizes. Further, the setting of the flushing device 120 can directly flush the collection device, remove the sludge and debris on the collection mechanism 400, so as to keep the collection device clean and unobstructed. Improve the dredging efficiency of the dredging robot and reduce the maintenance cost of the collection device; the net bag 420 and the chassis 430 cooperate with each other so that the sludge and debris crushed by the crushing device in the drainage pipe can enter the net bag 420, and the water can flow out through the through hole 431. The silt and water are effectively separated, which is convenient for the subsequent treatment and transportation of the solidified silt; the outlet direction and flushing intensity of the flushing device 120 are adjusted to meet the needs of different silt conditions in the drainage pipe. At the same time, the size of the net bag 420 and the chassis 430 can also be adjusted according to different pipe sizes and the accumulation of silt, thereby enhancing the adaptability and flexibility of the dredging robot.

[0057] The dredging robot is also provided with a ground processing station, which is provided with a second control unit. The second control unit of the ground processing station is communicatively connected with the mobile mechanism 300 . The ground processing station is also provided with a control joystick, which is communicatively connected with the mobile mechanism 300 .

[0058] It should be noted that a communication connection is established between the second control unit and the mobile mechanism 300 (including the first motion device 310 and the second motion device 320) to ensure the real-time and accurate transmission of the instructions sent by the ground processing station to the mobile body 100; the ground processing station is also provided with a control rocker so that the staff can directly control the movement and operation of the dredging robot through manual operation. Every action of the staff will be converted into an electrical signal through the rocker, transmitted to the second control unit, and then parsed and converted by the second control unit into a control instruction for the mobile mechanism 300. Through the ground processing station and the control rocker, the operator can grasp the working state and position of the dredging robot in the drainage pipe in real time and intuitively, so as to control its movement and operation more accurately. This direct human-computer interaction method greatly reduces the difficulty of operation and response time, and improves the efficiency of dredging work in the drainage pipe; by setting up the ground processing station, the staff can complete the dredging operation without entering the drainage pipe. At the same time, through real-time monitoring and remote control, the operator can promptly discover and handle abnormal situations to ensure the safe progress of the dredging operation. It will be understood by those skilled in the art that the second control unit enables the dredging robot to autonomously complete various complex drainage pipe dredging tasks through preset programs and autonomous decision-making capabilities.

[0059] The control method of the embodiment of the present invention is further described below based on the accompanying drawings.

[0060] Reference Figure 5 , Figure 5 A flow chart of a dredging method provided in an embodiment of the present invention, the dredging method includes but is not limited to the following steps:

[0061] Step S11, determining a first wellhead and a second wellhead of the drainage pipe, and flushing the sludge in the drainage pipe to below the second wellhead through the first wellhead with a high-pressure water gun;

[0062] It should be noted that by determining the first wellhead and the second wellhead of the drainage pipe, the range of the drainage pipe where the dredging robot needs to perform dredging operations is determined, and the high-pressure water gun flushes the silt in the drainage pipe to the bottom of the second wellhead through the first wellhead to remove the silt in the drainage pipe. After the silt in the drainage pipe is flushed, the solidified silt in the drainage pipe is displayed.

[0063] Step S12, placing the dredging robot in the drainage pipe through the first wellhead, and aligning the crushing mechanism 200 with the flushing direction of the high-pressure water gun;

[0064] It should be noted that the dredging robot placed above the first wellhead is moved through the first wellhead to the inside of the drainage pipe, and the dredging mechanism is aligned with the flushing direction of the high-pressure water gun to determine the movement direction of the mobile body 100 in the drainage pipe, thereby ensuring that the mobile body 100 can perform dredging operations in the drainage pipe to be cleaned.

[0065] Step S13, controlling the moving mechanism 300 through the ground processing station to drive the moving body 100 to move along the flushing direction of the high-pressure water gun;

[0066] It should be noted that when the crushing mechanism 200 is aligned with the flushing direction of the high-pressure water gun, the mobile mechanism 300 is controlled by the ground processing station to drive the mobile body 100 to move along the flushing direction of the high-pressure water gun, and then the solidified silt in the drainage pipe is crushed by the crushing mechanism 200. Furthermore, the first drive device and the second drive device controlled by the ground processing station can operate independently or simultaneously. According to different working environments and needs, the first drive device and the second drive device can be independently or cooperatively controlled to realize the forward, backward or turning movement of the mobile body 100 in the drainage pipe.

[0067] Step S14, during the movement, the silt removal robot crushes the solidified sediment in the drainage pipe by means of the crushing mechanism 200;

[0068] It should be noted that during the movement of the mobile body 100, the three destructive drill bits 220 rotate sequentially or reversely, thereby driving the multiple rotating teeth on the rotating disk 221 to move, thereby crushing the solidified sediment in the drainage pipe into smaller fragments or particles, thereby improving the dredging efficiency of the dredging robot in the drainage pipe.

[0069] Step S15: The dredging robot moves the solidified silt to below the second wellhead through the collecting device.

[0070] It should be noted that after the crushing mechanism 200 crushes the solidified sludge, the crushed solidified sludge falls to the bottom of the drainage pipe. After the mobile body 100 passes through the solidified sludge, the net bag 420 and the chassis 430 cooperate with each other to move the solidified sludge to the bottom of the second inlet, thereby facilitating the subsequent treatment of the solidified sludge using a suction pump.

[0071] It should be noted that the operation and cleaning of the dredging robot in the small pipe is controlled by the ground processing station. Before the dredging robot starts working, a high-pressure water gun is used to flush the drainage pipe for the first time to flush the silt in the drainage pipe to the bottom of the second wellhead, so as to facilitate the crushing mechanism 200 of the dredging robot to crush the solidified silt in the drainage pipe. The crushed solidified silt and the drainage pipe are flushed a second time to avoid the situation where the collection device is blocked due to excessive silt or it is impossible to confirm whether there is solidified silt in the drainage pipe. The dredging robot of this embodiment can effectively improve the coverage of the dredging operation, can effectively clean the silt in the small pipe, and has a high cleaning efficiency, thereby reducing the construction cost.

[0072] In addition, in one embodiment, referring to Figure 6 ,exist Figure 5 Step S13 of the illustrated embodiment also includes but is not limited to the following steps:

[0073] Step S21, obtaining the length information of the drainage pipe;

[0074] Step S22, determining the moving distance of the dredging robot according to the length of the drainage pipe;

[0075] Step S23, when the second control unit cannot obtain the length information of the drainage pipe, the moving mechanism 300 of the dredging robot is controlled by a plurality of control joysticks to drive the moving body 100 to move in the drainage pipe.

[0076] It should be noted that, by obtaining the length information of the drainage pipe, the second control unit can accurately determine the position of the dredging robot in the pipe, realize the accurate positioning of the mobile body 100 and control the moving distance, avoid the situation that the solidified sediment in the drainage pipe cannot be completely cleaned due to excessive or insufficient movement, and the second control unit can plan the best moving path of the mobile body 100 of the dredging robot according to the length information of the drainage pipe, ensure that the entire pipe length can be efficiently covered during the cleaning process of the solidified sediment, improve the cleaning efficiency, optimize the operation process, reduce the unnecessary movement of the mobile body 100 in the drainage pipe, thereby saving the time and resources required for cleaning the solidified sediment in the drainage pipe, and improve the operation efficiency. In addition, by accurately obtaining the pipe length information, the second control unit can avoid misoperation and unnecessary risks, ensure that the mobile body 100 of the dredging robot moves and cleans safely and efficiently in the pipe, and ensure that the internal area of ​​the drainage pipe can be fully cleaned, improve the operation quality, and reduce the possibility of secondary cleaning.

[0077] In addition, in one embodiment, referring to Figure 7 The dredging method also includes but is not limited to the following steps:

[0078] Step S31, the flushing device 120 flushes the solidified sediment in the collection device through the water outlet;

[0079] In step S32, the flushing device 120 dissolves the sludge on the surface of the solidified sludge into slurry, and the slurry flows into the drainage pipe through the opening 421 of the net bag 420 of the collecting device and the through hole 431 provided on the bottom plate 430.

[0080] It should be noted that the surface of the solidified sludge is flushed by the flushing device 120, and the silt and dirt on the surface of the solidified sludge are peeled off to form a muddy substance, which flows into the drainage pipe through the opening 421 provided in the net bag 420 and the through hole 431 provided in the chassis 430. After the mud on the solidified sludge flows into the drainage pipe, the drainage pipe is flushed for the second time using a high-pressure water gun to flush the mud in the drainage pipe to the bottom of the second wellhead, thereby completing the dredging operation of the drainage pipe.

[0081] The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the above-mentioned implementation mode. Technical personnel familiar with the field can also make various equivalent deformations or substitutions under the shared conditions without violating the spirit of the present invention. These equivalent deformations or substitutions are all included in the scope defined by the claims of the present invention.

Claims

1. A dredging robot, characterized in that: include: Moving subjects; A crushing mechanism, the crushing mechanism is connected to the mobile body, and the crushing mechanism is arranged on a first side of the mobile body; A moving mechanism, the moving mechanism is connected to the moving body, and the moving mechanism is used to drive the moving body to move; A collecting mechanism is connected to the mobile body and is disposed on the second side of the mobile body, wherein the crushing mechanism is opposite to the collecting mechanism.

2. The dredging robot according to claim 1, characterized in that: The crushing mechanism is provided with a connecting device and a destructive drill bit, the destructive drill bit is connected to the mobile body through the connecting device, at least three extension planes are provided on the side where the connecting device is connected to the destructive drill bit, each of the extension planes is provided with a curved portion, the inner surface of each extension plane is connected to the destructive drill bit, each of the destructive drill bits is provided with a plurality of rotating disks, the diameters of the plurality of rotating disks decrease successively from the outside to the inside, and the outer wall of each rotating disk is provided with a plurality of destructive teeth.

3. The dredging robot according to claim 1, characterized in that: The moving mechanism is provided with a first moving device and a second moving device, wherein the first moving device is provided on a third side of the moving body, and the second moving device is provided on a fourth side of the moving body, wherein the third side of the moving body is the opposite side of the fourth side of the moving body.

4. The dredging robot according to claim 3, characterized in that: The first motion device and the second motion device are both provided with at least three pairs of wheel groups arranged in sequence, a first control unit, a first gear bar, a second gear bar and a track, multiple wheel groups are arranged at the lower part of the first gear bar and the second gear bar, the track is wound around the outer surfaces of the wheel group, the first gear bar and the second gear bar, and the first control unit is used to drive the wheel group to rotate.

5. The dredging robot according to claim 4, characterized in that: The first moving device and the second moving device are also provided with a first connecting member and a chain. The track includes a plurality of second connecting members, the inner surface of each second connecting member is connected to one end of the first connecting member, the other end of the first connecting member is connected to one side of the chain, and the other side of the chain is connected to the wheel group.

6. The dredging robot according to claim 1, characterized in that: A flushing device is also provided on the side where the mobile body is connected to the collecting device, and the water outlet of the flushing device is aligned with the collecting device. The collecting mechanism is provided with a third connecting piece, a net bag and a chassis, and the bottom of the net bag is connected to the chassis, and the net bag is connected to the mobile body through the third connecting piece, wherein the net bag is provided with a plurality of openings, and the chassis is provided with a plurality of through holes.

7. The dredging robot according to claim 1, characterized in that: The dredging robot is also provided with a ground processing station, the ground processing station is provided with a second control unit, the second control unit is communicatively connected with the mobile mechanism, and the ground processing station is provided with a control joystick, the control joystick is communicatively connected with the mobile mechanism.

8. A dredging method, applied to the dredging robot according to any one of claims 1 to 7, characterized in that: The dredging method comprises: Determine a first wellhead and a second wellhead of the drainage pipe, and use a high-pressure water gun to flush the sludge in the drainage pipe to below the second wellhead through the first wellhead; Placing the dredging robot in the drainage pipe through the first wellhead, and aligning the crushing mechanism with the flushing direction of the high-pressure water gun; The ground processing station controls the moving mechanism to drive the moving body to move along the flushing direction of the high-pressure water gun; During the movement, the dredging robot crushes the solidified sediment in the drainage pipe through a crushing mechanism; The dredging robot moves the consolidated silt to below the second wellhead through a collecting device.

9. The dredging method according to claim 8, characterized in that: The ground processing station controls the mobile body of the dredging robot to move along the flushing direction of the high-pressure water gun, including: Obtaining the length information of the drainage pipe; Determining the moving distance of the dredging robot according to the length of the drainage pipe; When the second control unit is unable to obtain the length information of the drainage pipe, the moving mechanism of the dredging robot is controlled by a plurality of control joysticks to drive the moving body to move in the drainage pipe.

10. The dredging method according to claim 8, characterized in that: A flushing device is also provided on one side of the mobile body of the dredging robot connected to the collecting device, and a water outlet of the flushing device is aligned with the collecting device. The dredging method further includes: The flushing device flushes the solidified sediment in the collecting device through the water outlet; The flushing device dissolves the sludge on the surface of the solidified sediment into mud, and the mud flows into the drainage pipe through the opening of the net bag of the collecting device and the through holes arranged on the bottom plate.

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