Multifunctional vehicle for removing and treating periphytic algae on channel side slope

Abstract

The invention discloses a multifunctional vehicle for removing and treating periphytic algae on a channel side slope, a transfer case device is arranged between an automobile chassis gearbox and a drive axle, and a PTO (Power Take Off) power port of the transfer case device is in transmission connection with a hydraulic pump of a hydraulic system; the algae water recovery device comprises a recovery tank body, a compression separation dehydration mechanism is installed in the recovery tank body, the compression separation dehydration mechanism divides the interior of the recovery tank body into a sewage tank cavity and a sewage collection tank cavity, the filter element device is arranged in the sewage tank cavity, the sewage tank cavity is connected with an irrigation pump, and the irrigation pump is connected with a plurality of greening spraying nozzles through irrigation pipelines; the manipulator device is installed on an automobile chassis through a base, the tail end of the manipulator device is connected with the removing device, and the manipulator device is provided with a vacuum pipeline system in the length direction. The method is convenient to operate, overcomes the defects that in an existing periphytic algae removing technology, algae cannot be eradicated, the working efficiency is low, and secondary pollution is likely to be generated, and greatly improves the removing efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of water treatment equipment, and in particular relates to a multifunctional vehicle for removing and treating algae grown on a channel slope. Background Art

[0002] Most inter-basin water transfers are connected through newly built channels, but the ecosystem of the newly built channels needs a certain amount of time to reach a balanced and stable state, so there is a risk of abnormal growth of algae on the channel slopes. If the algae grow abnormally, it will affect the water supply safety, water quality safety, and engineering safety of the channel. Therefore, cleaning the algae attached to the slopes and eliminating the risks that the abnormal growth of algae may bring to the channel have become technical issues that need to be solved urgently.

[0003] At present, in the removal technology of algae on slopes at home and abroad, in order to avoid secondary pollution of water quality, physical removal methods are often used, mainly including manual cleaning, mechanical friction cleaning and other methods. Manual cleaning is not only labor-intensive and inefficient, but also causes a large amount of dirt to spread into the water, causing secondary pollution, and it cannot completely remove the algae buried in deep water and located in the visual blind spot. The mechanical friction cleaning method is widely used and has obvious effects. It can directly remove some algae in the water body. However, the existing mechanical removal device has a complex equipment structure. On the one hand, when the removal device is operating, there is a sealing problem caused by underwater mechanical transmission, which is easy to cause secondary pollution; on the other hand, it has the disadvantages of not being able to eradicate algae that proliferates abnormally in the short term and low efficiency in the operation area. Therefore, there is a need for a multifunctional vehicle for removing and treating algae on the channel slope with good cleaning effect, high operating efficiency and environmentally friendly removal process. Summary of the invention

[0004] The purpose of the present invention is to provide a multifunctional vehicle for removing and treating algae grown on channel slopes, which has good cleaning effect, high operating efficiency and environmentally friendly cleaning process, and can realize multiple functions such as deep ecological removal of algae grown on slopes, suction of algae-water mixture, compression and separation of algae-water, and spray irrigation for slope greening.

[0005] To achieve the above object, the present invention adopts the following technical solution: A multifunctional vehicle for removing and treating algae growing on the channel slope includes a truck, on the chassis of which are installed a transfer case device, an algae water recovery device, a manipulator device, a high-pressure water pump, a clean water tank, a filter element device, a vacuum pump, a hydraulic system, an electrical control system and a monitoring system; The transfer case device is installed between the gearbox and the drive axle of the automobile chassis, the PTO power port of the transfer case device is connected to the hydraulic pump of the hydraulic system, and the hydraulic system is connected to the algae water recovery device, the manipulator device, the high-pressure water pump system and the filter element device respectively; the algae water recovery device includes a recovery tank body, and a compression separation and dehydration mechanism is installed in the recovery tank body. The compression separation and dehydration mechanism separates the inside of the recovery tank body into a sewage tank cavity and a sewage collection tank cavity. The filter element device is arranged inside the sewage tank cavity, and the sewage tank cavity is connected to an irrigation pump, and the irrigation pump is connected to a plurality of greening spray nozzles through an irrigation pipeline; The manipulator device is installed on the automobile chassis through a base, and the end of the manipulator device is connected to the cleaning device. The manipulator device is provided with a vacuum pipeline system along the length direction, and the vacuum pipeline system includes a high-pressure pipeline assembly and a sewage suction pipeline assembly. The head end of the high-pressure pipeline assembly is connected to a high-pressure water pump, and the end of the high-pressure pipeline assembly is connected to a high-pressure water interface of the cleaning device. The head end of the sewage suction pipeline assembly is connected to a recovery tank body through a sewage inlet, and the sewage inlet is located above the compression, separation and dehydration mechanism. The recovery tank body is connected to a vacuum pump, and the end of the sewage suction pipeline assembly is connected to the sewage suction port of the cleaning device.

[0006] The cleaning device comprises a frame, a left side plate, a right side plate, an upper cover plate, a front side plate, a rear side plate, a cavitation jet mechanism and a roller brush mechanism, the left side plate and the right side plate are respectively mounted on the left and right sides of the frame, the front side plate and the rear side plate are respectively mounted on the front and rear sides of the frame, the upper cover plate is arranged above the frame, and the cavitation jet mechanism and the roller brush mechanism are mounted between the left side plate and the right side plate; The frame comprises a first upper cross bar, a second upper cross bar, a first lower cross bar, a second lower cross bar, a first vertical bar, a second vertical bar, a front oblique bar and a rear oblique bar; the first upper cross bar and the second upper cross bar are arranged in parallel front and back, the first vertical bar and the second vertical bar are arranged in parallel left and right between the first upper cross bar and the second upper cross bar, the front oblique bar is arranged low in front and high in back, the rear oblique bar is arranged high in front and low in back, the front lower end of the front oblique bar is connected to the first lower cross bar, the rear upper end of the front oblique bar is connected to the first upper cross bar, the front upper end of the rear oblique bar is connected to the second upper cross bar, and the rear lower end of the rear oblique bar is connected to the second lower cross bar; Universal wheels are respectively installed at both ends of the lower surfaces of the first lower cross bar and the second lower cross bar through mounting plates, and the upper surface of the upper cover plate is covered with a skin.

[0007] The roller brush mechanism includes a roller shaft, a wire rope brush, a left bearing, a right bearing, a hydraulic motor, a synchronous belt, a driven pulley, and a driving pulley; the left end of the roller shaft is installed on the left side plate through the left bearing, the left end of the roller shaft extends through the left side plate to be provided with an extended mounting portion, the driven pulley is installed on the extended mounting portion, the driving pulley is installed on the output shaft of the hydraulic motor, the synchronous belt is sleeved on the driven pulley and the driving pulley, the hydraulic motor is installed on the right side of the left side plate, and the wire rope brush is arranged in double spirals with equal spacing along the axial direction of the roller shaft; The cavitation jet mechanism comprises a spray rod and a plurality of cavitation jet nozzles. The left end of the spray rod is connected to a high-pressure water pipeline through a through hole on a left side plate, the right end of the spray rod is closed, and the cavitation jet nozzles are arranged on the spray rod.

[0008] The manipulator device includes an arm assembly, a slewing drive mechanism and a base, the base is fixed to the chassis of the vehicle by bolts, the slewing drive mechanism is arranged on the base, the arm assembly is connected to the slewing drive mechanism by transmission, the arm assembly includes a base arm, a second telescopic arm, a third telescopic arm, a trolley connecting arm, and an arm head connecting frame, the second telescopic arm is slidably connected to the inside of the base arm, the third telescopic arm is slidably connected to the inside of the second telescopic arm, the upper end of the trolley connecting arm is connected to the end of the third telescopic arm through the arm head connecting frame, the lower end of the trolley connecting arm is hinged to the cleaning device, the head end of the base arm is provided with a connecting bracket, the connecting bracket is hinged to the slewing drive mechanism, and the side of the connecting bracket is provided with a connecting plate; A fixed bracket is arranged at the end of the base arm, a push-pull bracket is arranged at the end of the second telescopic arm, the end of the third telescopic arm is connected to the arm head connecting frame, a first telescopic oil cylinder is arranged between the fixed bracket and the push-pull bracket, the cylinder head end of the first telescopic oil cylinder is hinged to the fixed bracket, the cylinder end of the first telescopic oil cylinder is hinged to the push-pull bracket, a second telescopic oil cylinder is arranged between the push-pull bracket and the arm head connecting frame, the cylinder head end of the second telescopic oil cylinder is hinged to the push-pull bracket, and the cylinder end of the second telescopic oil cylinder is hinged to the arm head connecting frame; The slewing drive mechanism comprises a main connecting arm, a main arm oil cylinder and a telescopic arm oil cylinder, the upper end of the main connecting arm is hingedly connected to the bracket, the lower end of the main connecting arm is hingedly connected to the base, the upper end of the main arm oil cylinder is hingedly connected to the upper end of the main connecting arm, the lower end of the main arm oil cylinder is hingedly connected to the bracket, the upper end of the telescopic arm oil cylinder is hingedly connected to the bracket, and the lower end of the telescopic arm oil cylinder is hingedly connected to the lower end of the main connecting arm; The arm head connecting frame includes a front splint, a rear splint, an intermediate plate, a bottom connecting plate, a guide shaft, a compression spring, a front connecting plate, and a rear connecting plate. The front splint and the rear splint are relatively arranged on both sides of the end of the third telescopic arm, the front end of the intermediate plate is connected to the front splint, and the rear end of the intermediate plate is connected to the rear splint. The front connecting plate and the rear connecting plate are relatively arranged on both sides of the upper end of the trolley connecting arm, the front end of the bottom connecting plate is connected to the front connecting plate, and the rear end of the bottom connecting plate is connected to the rear connecting plate. A first long hole is opened on the intermediate plate, and a second long hole corresponding to the first long hole is opened on the bottom connecting plate. The guide shaft passes through the first long hole and the second long hole in sequence, and the compression spring is sleeved on the guide shaft. An outer circular portion is arranged on the upper end of the guide shaft, and the outer circular portion is supported on the upper surface of the first long hole. An adjusting nut is arranged on the lower end of the guide shaft, and the adjusting nut is supported on the lower surface of the second long hole.

[0009] The high-pressure pipeline assembly and the sewage suction pipeline assembly have the same structure, and both include an inner tube, an intermediate tube, an outer tube, a first pulley frame, a second pulley frame and a connecting wire rope; the head end of the inner tube is arranged on the connecting plate through a first flange, the head end of the intermediate tube is slidably connected to the outside of the inner tube, the head end of the outer tube is slidably connected to the outside of the intermediate tube, a second flange is arranged on the outside of the head end of the intermediate tube, the end of the outer tube is arranged on the arm head connecting frame through a third flange, the first pulley frame is arranged at the end of the base arm, the second pulley frame is arranged at the end of the second telescopic arm, the head end of the connecting wire rope is connected to the flange hole on the side of the second flange through a first rope clamp, and the end of the connecting wire rope is connected to the ear plate hole on the side of the second pulley frame through a second rope clamp; The first pulley frame and the second pulley frame have the same structure, both comprising a rectangular frame, a first hub, a second hub and a third hub, the first hub, the second hub and the third hub are sequentially installed in the rectangular frame, a connecting portion is provided on the front side of the rectangular frame, an ear plate is provided on the rear side of the rectangular frame, and an ear plate hole is provided on the ear plate.

[0010] A walking assistance device is arranged at the working side of the channel adjacent to the bottom of the chassis of the truck, and the walking assistance device comprises a left supporting wheel, a right supporting wheel, a supporting wheel shaft, a supporting base, a supporting telescopic oil cylinder, a first supporting assembly and a second supporting assembly. The left supporting wheel is rotatably connected to the left end of the supporting wheel shaft through a left supporting bearing, and the right supporting wheel is rotatably connected to the right end of the supporting wheel shaft through a right supporting bearing. The supporting base is arranged at the middle part of the supporting wheel shaft, the bottom of the supporting telescopic oil cylinder is vertically connected to the supporting base, and the top of the supporting telescopic oil cylinder is arranged below the sub-beam of the chassis of the truck; the tops of the first supporting assembly and the second supporting assembly are both arranged below the sub-beam of the chassis of the truck and are respectively located at the front and rear sides of the supporting telescopic oil cylinder, the first supporting assembly is hinged to the front of the supporting bottom plate through the first ear plate assembly, the bottom of the first supporting assembly is hinged to the supporting bottom plate front and rear along the hinge point, the second supporting assembly is hinged to the rear of the supporting chassis through the second ear plate assembly, and the bottom of the second supporting assembly is hinged to the supporting bottom plate left and right along the hinge point; The first support assembly includes a first outer support rod, a first inner support rod, a first ear plate seat, a first pin shaft, a second pin shaft and a third pin shaft, the top end of the first outer support rod is hinged to the first ear plate seat, the first ear plate seat includes a first top plate, a first front ear plate and a first rear ear plate, the top end of the first outer support rod is provided with a first connecting through hole along the front-to-back direction, the first outer support rod is provided with a plurality of first adjusting outer holes along the length direction, the first inner support rod is slidably arranged inside the first outer support rod, the bottom of the first inner support rod is hinged to the first ear plate assembly, the first inner support rod is provided with a plurality of first adjusting inner holes along the length direction, the first adjusting outer holes and the first adjusting inner holes correspond one to one, the first pin shaft passes through the first front ear plate, the first rear ear plate, the first connecting through hole, and the second pin shaft passes through the first adjusting outer hole and the first adjusting inner hole.

[0011] The second support assembly includes a second outer support rod, a second inner support rod, a second ear plate seat, a fourth pin shaft, a fifth pin shaft and a sixth pin shaft, the top end of the second outer support rod is hinged to the second ear plate seat, the second ear plate seat includes a second top plate, a second left ear plate and a second right ear plate, the top end of the second outer support rod is provided with a second connecting through hole along the left and right directions, the second outer support rod is provided with a plurality of second adjusting outer holes along the length direction, the second inner support rod is slidably arranged inside the second outer support rod, the bottom of the second inner support rod is hinged to the second ear plate assembly, the second inner support rod is provided with a plurality of second adjusting inner holes along the length direction, the second adjusting outer holes and the second adjusting inner holes correspond one to one, the fourth pin shaft passes through the second left ear plate, the second right ear plate, and the second connecting through hole, and the fifth pin shaft passes through the second adjusting outer hole and the second adjusting inner hole; The first ear plate assembly includes a first front hinge plate and a first rear hinge plate, a first hinge through hole is arranged at the bottom end of the first inner support rod along the front-to-back direction, and the third pin shaft passes through the first front hinge plate, the first hinge through hole and the first rear hinge plate; the second ear plate assembly includes a second left hinge plate and a second right hinge plate, a second hinge through hole is arranged at the bottom end of the second inner support rod along the front-to-back direction, and the sixth pin shaft passes through the second left hinge plate, the second hinge through hole and the second right hinge plate.

[0012] Clean water tanks are arranged on the left and right sides of the rear chassis of the truck, the recovery tank is arranged between the two clean water tanks, and a tank opening and closing device is arranged at the rear end of the recovery tank; left and right sliding guide rails and right sliding guide rails are arranged on the left and right sides of the recovery tank, respectively, and the compression separation and dehydration mechanism realizes forward and backward reciprocating motion through the left and right sliding slides sliding on the left and right sliding guide rails, and a push-pull oil cylinder is arranged at the lower part of the compression separation and dehydration mechanism; The tank opening and closing device includes an opening and closing bracket, a left opening and closing oil cylinder, a right opening and closing oil cylinder, a connecting frame, an opening and closing door assembly, a door lock oil cylinder, a turntable lock, and an opening and closing assembly. The opening and closing bracket is arranged on the rear end top of the recovery tank body, and the opening and closing bracket includes a first opening and closing plate arranged on the left and right sides, a second opening and closing plate arranged on the front and rear sides of the left side of the first opening and closing plate, and a third opening and closing plate arranged on the front and rear sides of the right side of the first opening and closing plate. The connecting frame includes a left vertical plate and a right vertical plate arranged on the upper and lower sides. The upper end of the left vertical plate is hinged to the rear end of the second opening and closing plate, and the right vertical plate is hinged to the rear end of the second opening and closing plate. The upper end of the forward plate is hinged to the rear end of the third opening and closing plate, the lower ends of the left vertical plate and the right vertical plate are connected to the opening and closing door assembly, the front end of the left opening and closing cylinder is connected to the front end of the second opening and closing plate, the rear end of the left opening and closing cylinder is connected to the upper end of the left vertical plate, the front end of the right opening and closing cylinder is connected to the front end of the third opening and closing plate, and the rear end of the right opening and closing cylinder is connected to the upper end of the right vertical plate; the turntable lock is arranged on the opening and closing door assembly, the opening and closing assembly is connected to the turntable lock and the outer contour of the rear end of the recovery tank body, one end of the door lock cylinder is connected to the turntable lock, and the turntable lock is pushed to rotate for opening and closing.

[0013] The opening and closing door assembly comprises a circular outer frame, a first opening and closing cross bar, a second opening and closing cross bar, a first opening and closing vertical bar, an intermediate opening and closing vertical bar, and a second opening and closing vertical bar. The first opening and closing cross bar and the second opening and closing cross bar are arranged vertically and parallelly in the circular outer frame, the first opening and closing vertical bar, the intermediate opening and closing vertical bar and the second opening and closing vertical bar are arranged horizontally and parallelly in the circular outer frame, and the first opening and closing cross bar and the second opening and closing cross bar are arranged vertically between the first opening and closing vertical bar, the intermediate opening and closing vertical bar and the second opening and closing vertical bar; the turntable lock is arranged at the connection between the second opening and closing cross bar and the intermediate opening and closing cross bar by rotating through a rotating shaft; The bottom end of the left vertical plate is connected to the first opening and closing cross bar, a mounting cross bar is arranged between the middle opening and closing vertical bar and the left vertical plate, the top end of the door lock oil cylinder is arranged on the mounting cross bar, and the bottom end of the door lock oil cylinder is hinged to the turntable lock; The turntable lock is provided with a plurality of opening and closing components, which include a pin shaft seat, a guide sleeve, a Y-shaped joint, a two-way screw rod, a locking pin, and a hinge. One end of the hinge is hinged on the turntable lock, one end of the two-way screw rod is connected to the other end of the hinge, the other end of the two-way screw rod is connected to one end of the locking pin, the other end of the locking pin is connected to one end of the Y-shaped joint, and the other end of the Y-shaped joint is connected to the locking pin. The locking pin is slidably arranged in the guide sleeve, the guide sleeve is arranged on the rear side of the circular outer frame, and the pin shaft seat is installed on the recovery tank body.

[0014] The pin seat includes a first pin plate, a second pin plate, a pin locking plate, an opening and closing rolling shaft, and an opening and closing rolling sleeve. The first pin plate and the second pin plate are relatively arranged on the recovery tank body. The first pin plate and the second pin plate both include a bending portion, so that the circular outer frame is placed in the bending portion. The first pin plate and the second pin plate are respectively connected on both sides of one end of the pin locking plate. A special-shaped groove is provided at the other end of the pin locking plate. The opening and closing rolling shaft is installed on the other end of the pin locking plate. The opening and closing rolling sleeve is sleeved on the opening and closing rolling shaft. The opening and closing rolling sleeve cover is arranged on the special-shaped groove to form a through hole. When the locking pin passes through the through hole, the opening and closing rolling sleeve rotates accordingly.

[0015] The present invention adopts a combined removal process of cavitation jet and wire rope roller brush, and drives the combined algae removal device to complete the ecological removal task of algae through the hydraulic travel drive of the channel slope algae removal and treatment multifunctional vehicle, and sucks the algae-water mixture into the tank body (algae-water recovery and separation device) through the vacuum pipeline system for compression and dehydration. The compressed algae remain in the sewage collection box cavity, and the filtered sewage is passed through the greening spray irrigation device to achieve the slope greening irrigation function. The present invention uses biodegradable environmentally friendly hydraulic oil as the medium, and adopts a hydraulic transmission system to drive all working devices. It has the advantages of high operating efficiency, environmental protection and energy saving, safety and reliability, can eradicate algae growing on the slope, and will not cause secondary pollution to the water quality. The filtered sewage is passed through the greening spray irrigation device to achieve the slope greening irrigation function, avoiding backflow to the channel and causing secondary pollution of the water quality. The channel slope algae removal and treatment multifunctional vehicle has a good effect on removing algae on the channel slope, and the removal process is environmentally friendly.

[0016] The vacuum pipe assembly arranged on the side of the manipulator device of the present application is different from the traditional method of winding the vacuum conveying pipe with a reel device. The present invention adopts a steel pipe sleeve to achieve the steam and water sealing and movement and extension of the vacuum pipe system. The manipulator adopts a three-section telescopic arm structure, and the side of the telescopic arm is also arranged with three sections of pipes, and the large-diameter pipe is arranged at the lower part of the telescopic arm, and the small-diameter pipe is arranged at the upper part of the telescopic arm. The large and small diameters use a certain overlap margin (overlapping part). The telescopic vacuum pipe is synchronously extended and retracted under the traction of the telescopic arm. At the same time, the steam and water sealing is achieved by using the matching gap, and a small amount of leakage is avoided from overflowing due to the inclined arrangement during operation, thereby ensuring reliable sealing of steam and water in the case of movement and extension. Under the condition of multi-section telescopic arms, one end of the inner pipe of the vacuum pipe assembly with synchronous extension and retraction function is connected to the storage tank through a sewage suction hose, and one end of the outer pipe is connected to the sewage suction pipe of the cleaning trolley through a sewage suction hose.

[0017] The walking assist device of the present application is fixed under the chassis beam of the vehicle, and the working side support wheels arranged in the adjacent channel of the chassis of the vehicle can be synchronously extended and retracted to meet the requirements of different road conditions when the vehicle is walking; the walking assist device is flexible in extension and retraction, has high operating efficiency, and has good stability and safety. It can reduce the wear on the vehicle tires and avoid deformation of the chassis frame of the vehicle.

[0018] The tank opening and closing device of the present application can realize automatic locking and opening, which helps to improve working efficiency and has the characteristics of environmental protection and energy saving.

[0019] The vacuum pipeline system of the present application can realize actions such as pipeline extension and retraction, amplitude change, and rotation, so that the cleaning trolley device can meet the requirements of different channel slope operating conditions; the vacuum pipeline system with synchronous extension and retraction function under multi-section telescopic arm conditions is flexible in extension and retraction, has high operating efficiency, and has a good sealing effect, making the cleaning process more environmentally friendly.

[0020] In summary, the present invention is easy to operate, overcomes the defects of the existing algae removal technology, such as the inability to eradicate algae, low operating efficiency, and easy secondary pollution, and greatly improves the removal efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a three-dimensional structural schematic diagram of the present invention.

[0022] Figure 2 It is a front view of the present invention.

[0023] Figure 3 It is a side view of the present invention.

[0024] Figure 4 It is a top view of the present invention.

[0025] Figure 5 It is a three-dimensional structural schematic diagram of the manipulator device of the present invention.

[0026] Figure 6 It is a side view of the manipulator device of the present invention.

[0027] Figure 7 It is a structural schematic diagram of the inner tube of the present invention.

[0028] Figure 8 It is a schematic structural diagram of the intermediate tube of the present invention.

[0029] Fig. 9 It is a structural schematic diagram of the outer tube of the present invention.

[0030] Fig.10 It is a structural schematic diagram of the first pulley frame of the present invention.

[0031] Fig.11 It is a schematic structural diagram of the cleaning device of the present invention.

[0032] Fig.12 It is a bottom view of the cleaning device of the present invention.

[0033] Fig.13 It is a front view of the cleaning device of the present invention.

[0034] Fig.14 yes Fig.13 Enlarged view of the middle AA section.

[0035] Fig.15 It is a structural schematic diagram of the frame of the present invention.

[0036] Fig.16 It is a structural schematic diagram of the roller brush mechanism of the present invention.

[0037] Fig.17 It is a three-dimensional schematic diagram of the walking assist device of the present invention.

[0038] Fig.18 It is a side view of the walking assist device of the present invention.

[0039] Fig.19 yes Fig.18 Sectional view along line AA.

[0040] Fig. 20 It is a structural schematic diagram of the tank opening and closing device of the present invention.

[0041] Fig.21 It is a front view of the tank opening and closing device of the present invention.

[0042] Fig. 22 It is a structural schematic diagram of the opening and closing door assembly of the present invention.

[0043] Fig.23 It is a schematic diagram of the internal structure of the recovery tank of the present invention.

[0044] Fig.24 yes Fig.23 Sectional view along line AA. DETAILED DESCRIPTION

[0045] like Figure 1-24 As shown, the multifunctional vehicle for removing and treating algae growing on the channel slope comprises a truck 1, on the chassis of which are mounted a transfer case device 2, an algae water recovery device, a manipulator device 4, a high-pressure water pump 5, a clean water tank 6, a filter element device 7, a vacuum pump, a hydraulic system, an electrical control system and a monitoring system; the monitoring system uses two high-definition cameras to monitor the operating conditions of the combined algae removal vehicle and the tank (algae water recovery and separation device) respectively. The electrical control system comprises a PLC controller to control the hydraulic system for hydraulic transmission.

[0046] The transfer case device 2 is installed between the chassis gearbox and the drive axle of the automobile. The PTO power port of the transfer case device 2 is connected to the hydraulic pump of the hydraulic system. The hydraulic system is connected to the algae water recovery device, the manipulator device 4, the high-pressure water pump 5 system and the filter device 7 respectively. The algae water recovery device includes a recovery tank body 3, and a compression separation and dehydration mechanism 67 is installed in the recovery tank body 3. The compression separation and dehydration mechanism 67 isolates the inside of the recovery tank body 3 into a sewage tank cavity and a sewage collection tank cavity. The filter device 7 is arranged inside the sewage tank cavity. The sewage tank cavity is connected to an irrigation pump, and the irrigation pump is connected to a plurality of greening spray nozzles 8 through an irrigation pipeline. The manipulator device 4 is installed on the automobile chassis through a base, and the end of the manipulator device 4 is connected to the cleaning device 64. The manipulator device 4 is provided with a vacuum pipeline system along the length direction, and the vacuum pipeline system includes a high-pressure pipeline assembly and a sewage suction pipeline assembly. The head end of the high-pressure pipeline assembly is connected to the high-pressure water pump 5, and the end of the high-pressure pipeline assembly is connected to the high-pressure water interface of the cleaning device 64. The head end of the sewage suction pipeline assembly is connected to the recovery tank body 3 through the sewage inlet, and the sewage inlet is located above the compression, separation and dehydration mechanism 67. The recovery tank body 3 is connected to the vacuum pump, and the end of the sewage suction pipeline assembly is connected to the sewage suction port of the cleaning device 64.

[0047] The cleaning device 64 includes a frame 9, a left side plate 10, a right side plate 11, an upper cover plate 12, a front side plate 13, a rear side plate 14, a cavitation jet mechanism and a rolling brush mechanism. The left side plate 10 and the right side plate 11 are respectively mounted on the left and right sides of the frame 9, the front side plate 13 and the rear side plate 14 are respectively mounted on the front and rear sides of the frame 9, the upper cover plate 12 is covered on the top of the frame 9, and the cavitation jet mechanism and the rolling brush mechanism are mounted between the left side plate 10 and the right side plate 11; The frame 9 includes a first upper cross bar, a second upper cross bar, a first lower cross bar, a second lower cross bar, a first vertical bar, a second vertical bar, a front oblique bar and a rear oblique bar; the first upper cross bar and the second upper cross bar are arranged in parallel front and back, the first vertical bar and the second vertical bar are arranged in parallel left and right between the first upper cross bar and the second upper cross bar, the front oblique bar is arranged low in front and high in the back, the rear oblique bar is arranged high in front and low in the back, the front lower end of the front oblique bar is connected to the first lower cross bar, the rear upper end of the front oblique bar is connected to the first upper cross bar, the front upper end of the rear oblique bar is connected to the second upper cross bar, and the rear lower end of the rear oblique bar is connected to the second lower cross bar; Universal wheels 65 are respectively installed at both ends of the lower surfaces of the first lower cross bar and the second lower cross bar through mounting plates, and the upper surface of the upper cover plate 12 is covered with a skin.

[0048] The roller brush mechanism includes a roller shaft 15, a wire rope brush 16, a left bearing, a right bearing, a hydraulic motor 17, a synchronous belt, a driven pulley, and a driving pulley; the left end of the roller shaft 15 is mounted on the left side plate 10 through the left bearing, the left end of the roller shaft 15 extends through the left side plate 10 and is provided with an extended mounting portion, the driven pulley is mounted on the extended mounting portion, the driving pulley is mounted on the output shaft of the hydraulic motor 17, the synchronous belt is sleeved on the driven pulley and the driving pulley, the hydraulic motor 17 is mounted on the right side of the left side plate 10, and the wire rope brush 16 is arranged in double spirals with equal spacing along the axial direction of the roller shaft 15; the outer side of the synchronous belt is sleeved with a cover plate 18.

[0049] The cavitation jet mechanism includes a spray rod 19 and a plurality of cavitation jet nozzles 20 . The left end of the spray rod 19 is connected to a high-pressure water pipeline through a through hole on the left side plate 10 . The right end of the spray rod 19 is closed. The cavitation jet nozzles 20 are arranged on the spray rod 19 .

[0050] The manipulator device 4 includes an arm assembly 21, a rotary drive mechanism 22 and a base, the base is fixed to the automobile chassis by bolts, the rotary drive mechanism 22 is arranged on the base, the arm assembly 21 is transmission-connected to the rotary drive mechanism 22, the arm assembly 21 includes a base arm 23, a second telescopic arm 24, a third telescopic arm 25, a trolley connecting arm 26, and an arm head connecting frame 27, the second telescopic arm 24 is slidably connected to the inside of the base arm 23, the third telescopic arm 25 is slidably connected to the inside of the second telescopic arm 24, the upper end of the trolley connecting arm 26 is connected to the end of the third telescopic arm 25 through the arm head connecting frame 27, the lower end of the trolley connecting arm 26 is hinged to the cleaning device 64, the head end of the base arm 23 is provided with a connecting bracket, the connecting bracket is hinged to the rotary drive mechanism 22, and the side of the connecting bracket is provided with a connecting plate; A fixed bracket is provided at the end of the base arm 23, a push-pull bracket is provided at the end of the second telescopic arm 24, the end of the third telescopic arm 25 is connected to the arm head connecting frame 27, a first telescopic oil cylinder is provided between the fixed bracket and the push-pull bracket, the cylinder head end of the first telescopic oil cylinder is hinged to the fixed bracket, the cylinder end of the first telescopic oil cylinder is hinged to the push-pull bracket, a second telescopic oil cylinder is provided between the push-pull bracket and the arm head connecting frame 27, the cylinder head end of the second telescopic oil cylinder is hinged to the push-pull bracket, and the cylinder end of the second telescopic oil cylinder is hinged to the arm head connecting frame 27; The slewing drive mechanism 22 includes a main connecting arm 28, a main arm oil cylinder 29 and a telescopic arm oil cylinder 30. The upper end of the main connecting arm 28 is hingedly connected to the bracket, and the lower end of the main connecting arm is hingedly connected to the base. The upper end of the main arm oil cylinder 29 is hingedly connected to the upper end of the main connecting arm 28, and the lower end of the main arm oil cylinder 29 is hingedly connected to the bracket. The upper end of the telescopic arm oil cylinder 30 is hingedly connected to the bracket, and the lower end of the telescopic arm oil cylinder 30 is hingedly connected to the lower end of the main connecting arm 28. The arm head connecting frame 27 includes a front splint, a rear splint, an intermediate plate, a bottom connecting plate, a guide shaft, a compression spring, a front connecting plate, and a rear connecting plate. The front splint and the rear splint are relatively arranged on both sides of the end of the third telescopic arm 25, the front end of the intermediate plate is connected to the front splint, and the rear end of the intermediate plate is connected to the rear splint. The front connecting plate and the rear connecting plate are relatively arranged on both sides of the upper end of the trolley connecting arm 26, the front end of the bottom connecting plate is connected to the front connecting plate, and the rear end of the bottom connecting plate is connected to the rear connecting plate. A first long hole is opened on the intermediate plate, and a second long hole corresponding to the first long hole is opened on the bottom connecting plate. The guide shaft passes through the first long hole and the second long hole in sequence. The compression spring is sleeved on the guide shaft, and an outer circular portion is arranged on the upper end of the guide shaft, and the outer circular portion is supported on the upper surface of the first long hole. An adjusting nut is arranged on the lower end of the guide shaft, and the adjusting nut is supported on the lower surface of the second long hole.

[0051] The high-pressure pipeline assembly and the sewage suction pipeline assembly have the same structure, and both include an inner tube 31, an intermediate tube 32, an outer tube 33, a first pulley frame 34, a second pulley frame 35 and a connecting wire rope 36; the head end of the inner tube 31 is arranged on the connecting plate through a first flange 37, the head end of the intermediate tube 32 is slidably connected to the outside of the inner tube 31, the head end of the outer tube 33 is slidably connected to the outside of the intermediate tube 32, the head end of the intermediate tube 32 is provided with a second flange 38, the end of the outer tube 33 is arranged on the arm head connecting frame 27 through a third flange 39, and the first sliding The wheel frame 34 is arranged at the end of the base arm 23, the second pulley frame 35 is arranged at the end of the second telescopic arm 24, the head end of the connecting wire rope 36 is connected to the flange hole on the side of the second flange 38 through the first rope clamp, and the end of the connecting wire rope 36 is connected to the ear plate hole on the side of the second pulley frame 35 through the second rope clamp; the manipulator adopts a three-section telescopic arm structure, and the side of the telescopic arm is also arranged with three sections of pipes, and the large diameter pipe is arranged at the lower part of the telescopic arm, and the small diameter pipe is arranged at the upper part of the telescopic arm, and the large and small diameters use a certain overlap margin (overlapping part). The telescopic vacuum pipe is synchronously extended and retracted under the traction of the telescopic arm. At the same time, the matching gap is used to achieve steam-water sealing, and a small amount of leakage is avoided from overflowing due to the inclined arrangement during operation, thereby ensuring reliable sealing of steam and water in the case of movement and extension.

[0052] The first pulley frame 34 and the second pulley frame 35 have the same structure, and both include a rectangular frame 40, a first hub 41, a second hub 42 and a third hub 43. The first hub 41, the second hub 42 and the third hub 43 are sequentially installed in the rectangular frame 40, a connecting portion is provided on the front side of the rectangular frame 40, an ear plate is provided on the rear side of the rectangular frame 40, and an ear plate hole is provided on the ear plate.

[0053] A walking assist device is provided at the working side of the channel adjacent to the bottom of the chassis of the truck 1, and the walking assist device includes a left support wheel 44, a right support wheel 45, a support axle, a support base 46, a support telescopic oil cylinder 47, a first support assembly 48, and a second support assembly 49. The left support wheel 44 is rotatably connected to the left end of the support axle through a left support bearing, and the right support wheel 45 is rotatably connected to the right end of the support axle through a right support bearing. The support base 46 is provided in the middle of the support axle, and the bottom of the support telescopic oil cylinder 47 is vertically connected to the support base. The seat 46 supports the top end of the telescopic oil cylinder 47 and is arranged below the sub-beam of the automobile chassis; the top ends of the first support assembly 48 and the second support assembly 49 are both arranged below the sub-beam of the automobile chassis and are respectively located at the front and rear sides of the telescopic oil cylinder 47, the first support assembly 48 is hingedly supported by the first ear plate assembly at the front of the bottom plate, the bottom of the first support assembly 48 is hingedly supported along the hinge point front and back to support the bottom plate, the second support assembly 49 is hingedly supported by the second ear plate assembly at the rear of the chassis, and the bottom of the second support assembly 49 is hingedly supported by the hinge point left and right to support the bottom plate; The first support assembly 48 includes a first outer support rod, a first inner support rod, a first ear plate seat, a first pin shaft, a second pin shaft and a third pin shaft. The top end of the first outer support rod is hinged to the first ear plate seat. The first ear plate seat includes a first top plate, a first front ear plate and a first rear ear plate. The top end of the first outer support rod is provided with a first connecting through hole along the front-to-back direction. The first outer support rod is provided with a plurality of first adjusting outer holes along the length direction. The first inner support rod is slidably arranged inside the first outer support rod. The bottom of the first inner support rod is hinged to the first ear plate assembly. The first inner support rod is provided with a plurality of first adjusting inner holes along the length direction. The first adjusting outer holes and the first adjusting inner holes correspond to each other one by one. The first pin shaft passes through the first front ear plate, the first rear ear plate and the first connecting through hole. The second pin shaft passes through the first adjusting outer hole and the first adjusting inner hole.

[0054] The second support assembly 49 includes a second outer support rod, a second inner support rod, a second ear plate seat, a fourth pin shaft, a fifth pin shaft and a sixth pin shaft, the top end of the second outer support rod is hinged to the second ear plate seat, the second ear plate seat includes a second top plate, a second left ear plate and a second right ear plate, the top end of the second outer support rod is provided with a second connecting through hole along the left-right direction, the second outer support rod is provided with a plurality of second adjusting outer holes along the length direction, the second inner support rod is slidably provided inside the second outer support rod, the bottom of the second inner support rod is hinged to the second ear plate assembly, the second inner support rod is provided with a plurality of second adjusting inner holes along the length direction, the second adjusting outer holes and the second adjusting inner holes correspond one to one, the fourth pin shaft passes through the second left ear plate, the second right ear plate and the second connecting through hole, and the fifth pin shaft passes through the second adjusting outer hole and the second adjusting inner hole; The first ear plate assembly includes a first front hinge plate and a first rear hinge plate, the bottom end of the first inner support rod is provided with a first hinge through hole along the front-back direction, and the third pin passes through the first front hinge plate, the first hinge through hole and the first rear hinge plate; the second ear plate assembly includes a second left hinge plate and a second right hinge plate, the bottom end of the second inner support rod is provided with a second hinge through hole along the front-back direction, and the sixth pin passes through the second left hinge plate, the second hinge through hole and the second right hinge plate. The left and right support wheels adopt a set of solid tires, and the rubber material is wear-resistant, pressure-resistant, has a long service life and is stable in driving. The inner and outer support rods adopt carbon alloy steel square tubes, which are light in weight, rigid and high in strength. When the inner support rod is extended and retracted, the outer support rod plays a guiding role. Both ends of the inner and outer support rods are hinged. Synchronous extension and retraction are achieved when the oil cylinder is extended and retracted. The support base 46 adopts an inverted trapezoidal structure, so that it can bear a large load and has the best supporting effect during use, which can reduce the squeezing of the ground by the tires and reduce the possibility of ground subsidence.

[0055] Clean water tanks 6 are arranged on the left and right sides of the rear chassis of the truck 1, the recovery tank body 3 is arranged between the two clean water tanks 6, and a tank body opening and closing device is arranged at the rear end of the recovery tank body 3; the left and right sides of the recovery tank body 3 are respectively provided with corresponding left and right sliding guide rails, and the compression separation and dehydration mechanism 67 realizes forward and backward reciprocating motion by sliding the left and right sliding guide rails on the left and right sliding guide rails, and the lower part of the compression separation and dehydration mechanism 67 is provided with a push-pull oil cylinder 66; The tank opening and closing device includes an opening and closing bracket 50, a left opening and closing cylinder 51, a right opening and closing cylinder 52, a connecting frame 53, an opening and closing door assembly 54, a door lock cylinder 55, a turntable lock 56, and an opening and closing assembly 57. The opening and closing bracket 50 is arranged at the top of the rear end of the recovery tank 3. The opening and closing bracket 50 includes a first opening and closing plate arranged on the left and right sides, a second opening and closing plate arranged on the front and rear sides of the left side of the first opening and closing plate, and a third opening and closing plate arranged on the front and rear sides of the right side of the first opening and closing plate. The connecting frame 53 includes a left vertical plate and a right vertical plate arranged on the upper and lower sides. The upper end of the left vertical plate is hinged to the rear end of the second opening and closing plate, and the right vertical plate is hinged to the rear end of the second opening and closing plate. The upper end of the plate is hinged to the rear end of the third opening and closing plate, and the lower ends of the left vertical plate and the right vertical plate are both connected to the opening and closing door assembly 54. The front end of the left opening and closing cylinder 51 is connected to the front end of the second opening and closing plate, and the rear end of the left opening and closing cylinder 51 is connected to the upper end of the left vertical plate. The front end of the right opening and closing cylinder 52 is connected to the front end of the third opening and closing plate, and the rear end of the right opening and closing cylinder 52 is connected to the upper end of the right vertical plate; the turntable lock 56 is arranged on the opening and closing door assembly 54, and the opening and closing assembly 57 connects the turntable lock 56 and the outer contour of the rear end of the recovery tank body 3. One end of the door lock cylinder 55 is connected to the turntable lock 56, which pushes the turntable lock 56 to rotate for opening and closing.

[0056] The opening and closing door assembly 54 includes a circular outer frame, a first opening and closing cross bar, a second opening and closing cross bar, a first opening and closing vertical bar, an intermediate opening and closing vertical bar, and a second opening and closing vertical bar. The first opening and closing cross bar and the second opening and closing cross bar are arranged vertically and parallelly in the circular outer frame, the first opening and closing vertical bar, the intermediate opening and closing vertical bar and the second opening and closing vertical bar are arranged horizontally and parallelly in the circular outer frame, and the first opening and closing cross bar and the second opening and closing cross bar are arranged vertically between the first opening and closing vertical bar, the intermediate opening and closing vertical bar and the second opening and closing vertical bar; the turntable lock 56 is rotatably arranged at the connection between the second opening and closing cross bar and the intermediate opening and closing cross bar through a rotating shaft; The bottom end of the left vertical plate is connected to the first opening and closing cross bar, a mounting cross bar is arranged between the middle opening and closing vertical bar and the left vertical plate, the top end of the door lock cylinder 55 is arranged on the mounting cross bar, and the bottom end of the door lock cylinder 55 is hinged to the turntable lock 56; The turntable lock 56 is provided with a plurality of opening and closing components 57, which include a pin shaft seat 58, a guide sleeve 59, a Y-shaped joint 60, a bidirectional screw rod 61, a locking pin 62, and a hinge 63. One end of the hinge 63 is hinged to the turntable lock 56, one end of the bidirectional screw rod 61 is connected to the other end of the hinge 63, the other end of the bidirectional screw rod 61 is connected to one end of the locking pin 62, the other end of the locking pin 62 is connected to one end of the Y-shaped joint 60, and the other end of the Y-shaped joint 60 is connected to the locking pin 62. The locking pin 62 is slidably arranged in the guide sleeve 59, the guide sleeve 59 is arranged on the rear side of the circular outer frame, and the pin shaft seat 58 is installed on the recovery tank 3. At least four opening and closing components 57 are arranged on the turntable lock 56, and are arranged at a certain angle.

[0057] The pin seat 58 includes a first pin plate, a second pin plate, a pin lock plate, an opening and closing rolling shaft, and an opening and closing rolling sleeve. The first pin plate and the second pin plate are relatively arranged on the recovery tank body 3. The first pin plate and the second pin plate both include a bending portion, so that the circular outer frame is placed in the bending portion. The first pin plate and the second pin plate are connected to the first pin plate and the second pin plate on both sides of one end of the pin lock plate, respectively. The other end of the pin lock plate is provided with a special-shaped groove. The opening and closing rolling shaft is installed on the other end of the pin lock plate. The opening and closing rolling sleeve is sleeved on the opening and closing rolling shaft. The opening and closing rolling sleeve cover is provided on the special-shaped groove to form a through hole. When the lock pin 62 passes through the through hole, the opening and closing rolling sleeve rotates accordingly. The opening and closing rolling sleeve and the opening and closing rolling shaft adopt clearance fit to make the opening and closing rolling sleeve rotate flexibly, ensuring that the lock pin 62 is inserted into the lock pin 62 seat without jamming. The opening and closing rolling shaft is connected to the lock pin 62 seat by bolts. The lock pin 62 seat is welded around the tank body. The radial clearance between the lock pin 62 and the opening and closing rolling sleeve is adjusted by adding or removing gaskets between the opening and closing rolling sleeve and the lock pin 62 seat. That is, the eccentricity between the center of the lock pin 62 and the center of the upper arc of the lock pin 62 seat is adjusted, and the axial pressure is generated on the storage tank door when the lock pin 62 is inserted. The opening and closing device can effectively ensure that the tank is sealed without leakage.

[0058] All working devices of the whole machine are hydraulically driven, and the hydraulic oil is biodegradable and environmentally friendly hydraulic oil to reduce the impact of leakage of the hydraulic system of the main engine on the shore on water pollution. The return oil of each working device of the hydraulic system passes through the hydraulic oil radiator to control the hydraulic oil temperature within the allowable working range. In the non-operating state, the mechanical arm frame is fully retracted, and the arm frame is supported on the mechanical arm bracket in a horizontal state. The trolley connecting arm 26 is folded back to place the combined algae removal trolley on the top of the clean water tank 6. The present invention adopts a cavitation jet and a wire rope roller brush combined removal process, and drives the combined algae removal device to complete the ecological removal task of algae through the hydraulic travel drive of the channel slope algae removal and treatment multifunctional vehicle, and sucks the algae-water mixture into the tank body (algae water recovery and separation device) through the vacuum pipeline system for compression and dehydration. The compressed algae remain in the sewage collection box cavity, and the filtered sewage is used to realize the slope greening irrigation function through the greening spray irrigation device. The present invention uses biodegradable environmentally friendly hydraulic oil as a medium and a hydraulic transmission system to drive all working devices. It has the advantages of high operating efficiency, environmental protection, energy saving, safety and reliability. It can eradicate algae growing on the slopes and will not cause secondary pollution to the water quality. The filtered sewage is used to realize the slope greening irrigation function through the greening spray irrigation device to avoid backflow into the channel and cause secondary water pollution. The multifunctional vehicle for removing and treating algae growing on the channel slope has a good effect on removing algae growing on the channel slope, and the removal process is environmentally friendly.

[0059] The method of using the present invention comprises the following steps: The first step is to put the combined algae removal device 64 in place: adjust the rotation, amplitude change and telescopic mechanism of the manipulator to place the combined algae removal device 64 at the position where the algae removal operation is to be performed; The second step is to fill the clean water tank 6 with water: fill the clean water tank 6 cavity with water by carrying a submersible pump; The third step is to remove the algae: start the high-pressure water pump 5, vacuum pump, irrigation pump, greening spray irrigation device and vehicle hydraulic driving travel device in turn. The combined algae removal vehicle is driven by the travel mechanism to complete the algae removal task, and the algae-water mixture is sucked into the tank (algae-water recovery and separation device) through the vacuum pipeline system for compression and dehydration. The compressed algae are left in the sewage collection tank, and the filtered sewage is used for slope greening irrigation through the greening spray irrigation device.

[0060] The fourth step is to repeat the second step after the clean water in the clean water tank 6 is used up.

[0061] The fifth step is that after the garbage collection tank is full, the vehicle is driven by high-speed machinery to the designated algae collection location, and the bracket lifts the tank body with the oil cylinder. At this time, the tank body opening and closing device and the opening and closing door assembly 54 are opened by the oil cylinder to remove the algae, and then the vehicle returns to the work site to carry out the next cycle of operation.

[0062] The walking assist device of the present application is fixed under the chassis beam of the vehicle and is arranged on the working side of the vehicle chassis adjacent to the channel. The supporting wheels can be synchronously extended and retracted to meet the requirements of different road conditions when the vehicle is walking. The walking assist device is flexible in extension and retraction, has high operating efficiency, and has good stability and safety. It can reduce the wear on the vehicle tires and avoid deformation of the vehicle chassis frame.

[0063] The tank opening and closing device of the present application can realize automatic locking and opening, which helps to improve working efficiency and has the characteristics of environmental protection and energy saving.

[0064] The vacuum pipeline system of the present application can realize actions such as pipeline extension and retraction, amplitude change, and rotation, so that the cleaning trolley device can meet the requirements of different channel slope operating conditions; the vacuum pipeline system with synchronous extension and retraction function under multi-section telescopic arm conditions is flexible in extension and retraction, has high operating efficiency, and has a good sealing effect, making the cleaning process more environmentally friendly.

[0065] In summary, the present invention is easy to operate, overcomes the defects of the existing algae removal technology, such as the inability to eradicate algae, low operating efficiency, and easy secondary pollution, and greatly improves the removal efficiency.

[0066] The above embodiments are only used to illustrate rather than limit the technical solutions of the present invention. Although the present invention is described in detail with reference to the above embodiments, those skilled in the art should understand that the present invention can still be modified or replaced by equivalents. Any modification or partial replacement that does not depart from the spirit and scope of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A multifunctional vehicle for removing and treating algae growing on channel slopes, including a truck, characterized in that: The chassis of the truck is equipped with a transfer case device, an algae water recovery device, a manipulator device, a high-pressure water pump, a clean water tank, a filter element device, a vacuum pump, a hydraulic system, an electrical control system and a monitoring system; The transfer case device is installed between the gearbox and the drive axle of the automobile chassis, the PTO power port of the transfer case device is connected to the hydraulic pump of the hydraulic system, and the hydraulic system is connected to the algae water recovery device, the manipulator device, the high-pressure water pump system and the filter element device respectively; the algae water recovery device includes a recovery tank body, and a compression separation and dehydration mechanism is installed in the recovery tank body. The compression separation and dehydration mechanism separates the inside of the recovery tank body into a sewage tank cavity and a sewage collection tank cavity. The filter element device is arranged inside the sewage tank cavity, and the sewage tank cavity is connected to an irrigation pump, and the irrigation pump is connected to a plurality of greening spray nozzles through an irrigation pipeline; The manipulator device is installed on the automobile chassis through a base, and the end of the manipulator device is connected to the cleaning device. The manipulator device is provided with a vacuum pipeline system along the length direction, and the vacuum pipeline system includes a high-pressure pipeline assembly and a sewage suction pipeline assembly. The head end of the high-pressure pipeline assembly is connected to a high-pressure water pump, and the end of the high-pressure pipeline assembly is connected to a high-pressure water interface of the cleaning device. The head end of the sewage suction pipeline assembly is connected to a recovery tank body through a sewage inlet, and the sewage inlet is located above the compression, separation and dehydration mechanism. The recovery tank body is connected to a vacuum pump, and the end of the sewage suction pipeline assembly is connected to the sewage suction port of the cleaning device.

2. The multifunctional vehicle for removing and treating algae growing on channel slopes according to claim 1, characterized in that: The cleaning device comprises a frame, a left side plate, a right side plate, an upper cover plate, a front side plate, a rear side plate, a cavitation jet mechanism and a roller brush mechanism, the left side plate and the right side plate are respectively mounted on the left and right sides of the frame, the front side plate and the rear side plate are respectively mounted on the front and rear sides of the frame, the upper cover plate is arranged above the frame, and the cavitation jet mechanism and the roller brush mechanism are mounted between the left side plate and the right side plate; The frame comprises a first upper cross bar, a second upper cross bar, a first lower cross bar, a second lower cross bar, a first vertical bar, a second vertical bar, a front oblique bar and a rear oblique bar; the first upper cross bar and the second upper cross bar are arranged in parallel front and back, the first vertical bar and the second vertical bar are arranged in parallel left and right between the first upper cross bar and the second upper cross bar, the front oblique bar is arranged low in front and high in back, the rear oblique bar is arranged high in front and low in back, the front lower end of the front oblique bar is connected to the first lower cross bar, the rear upper end of the front oblique bar is connected to the first upper cross bar, the front upper end of the rear oblique bar is connected to the second upper cross bar, and the rear lower end of the rear oblique bar is connected to the second lower cross bar; Universal wheels are respectively installed at both ends of the lower surfaces of the first lower cross bar and the second lower cross bar through mounting plates, and the upper surface of the upper cover plate is covered with a skin.

3. The multifunctional vehicle for removing and treating algae growing on channel slopes according to claim 2 is characterized in that: The roller brush mechanism includes a roller shaft, a wire rope brush, a left bearing, a right bearing, a hydraulic motor, a synchronous belt, a driven pulley, and a driving pulley; the left end of the roller shaft is installed on the left side plate through the left bearing, the left end of the roller shaft extends through the left side plate to be provided with an extended mounting portion, the driven pulley is installed on the extended mounting portion, the driving pulley is installed on the output shaft of the hydraulic motor, the synchronous belt is sleeved on the driven pulley and the driving pulley, the hydraulic motor is installed on the right side of the left side plate, and the wire rope brush is arranged in double spirals with equal spacing along the axial direction of the roller shaft; The cavitation jet mechanism comprises a spray rod and a plurality of cavitation jet nozzles. The left end of the spray rod is connected to a high-pressure water pipeline through a through hole on a left side plate, the right end of the spray rod is closed, and the cavitation jet nozzles are arranged on the spray rod.

4. The multifunctional vehicle for removing and treating algae growing on the channel slope according to claim 3, characterized in that: The manipulator device includes an arm assembly, a slewing drive mechanism and a base, the base is fixed to the chassis of the vehicle by bolts, the slewing drive mechanism is arranged on the base, the arm assembly is connected to the slewing drive mechanism by transmission, the arm assembly includes a base arm, a second telescopic arm, a third telescopic arm, a trolley connecting arm, and an arm head connecting frame, the second telescopic arm is slidably connected to the inside of the base arm, the third telescopic arm is slidably connected to the inside of the second telescopic arm, the upper end of the trolley connecting arm is connected to the end of the third telescopic arm through the arm head connecting frame, the lower end of the trolley connecting arm is hinged to the cleaning device, the head end of the base arm is provided with a connecting bracket, the connecting bracket is hinged to the slewing drive mechanism, and the side of the connecting bracket is provided with a connecting plate; A fixed bracket is arranged at the end of the base arm, a push-pull bracket is arranged at the end of the second telescopic arm, the end of the third telescopic arm is connected to the arm head connecting frame, a first telescopic oil cylinder is arranged between the fixed bracket and the push-pull bracket, the cylinder head end of the first telescopic oil cylinder is hinged to the fixed bracket, the cylinder end of the first telescopic oil cylinder is hinged to the push-pull bracket, a second telescopic oil cylinder is arranged between the push-pull bracket and the arm head connecting frame, the cylinder head end of the second telescopic oil cylinder is hinged to the push-pull bracket, and the cylinder end of the second telescopic oil cylinder is hinged to the arm head connecting frame; The slewing drive mechanism comprises a main connecting arm, a main arm oil cylinder and a telescopic arm oil cylinder, the upper end of the main connecting arm is hingedly connected to the bracket, the lower end of the main connecting arm is hingedly connected to the base, the upper end of the main arm oil cylinder is hingedly connected to the upper end of the main connecting arm, the lower end of the main arm oil cylinder is hingedly connected to the bracket, the upper end of the telescopic arm oil cylinder is hingedly connected to the bracket, and the lower end of the telescopic arm oil cylinder is hingedly connected to the lower end of the main connecting arm; The arm head connecting frame includes a front splint, a rear splint, an intermediate plate, a bottom connecting plate, a guide shaft, a compression spring, a front connecting plate, and a rear connecting plate. The front splint and the rear splint are relatively arranged on both sides of the end of the third telescopic arm, the front end of the intermediate plate is connected to the front splint, and the rear end of the intermediate plate is connected to the rear splint. The front connecting plate and the rear connecting plate are relatively arranged on both sides of the upper end of the trolley connecting arm, the front end of the bottom connecting plate is connected to the front connecting plate, and the rear end of the bottom connecting plate is connected to the rear connecting plate. A first long hole is opened on the intermediate plate, and a second long hole corresponding to the first long hole is opened on the bottom connecting plate. The guide shaft passes through the first long hole and the second long hole in sequence, and the compression spring is sleeved on the guide shaft. An outer circular portion is arranged on the upper end of the guide shaft, and the outer circular portion is supported on the upper surface of the first long hole. An adjusting nut is arranged on the lower end of the guide shaft, and the adjusting nut is supported on the lower surface of the second long hole.

5. The multifunctional vehicle for removing and treating algae growing on channel slopes according to claim 4, characterized in that: The high-pressure pipeline assembly and the sewage suction pipeline assembly have the same structure, and both include an inner tube, an intermediate tube, an outer tube, a first pulley frame, a second pulley frame and a connecting wire rope; the head end of the inner tube is arranged on the connecting plate through a first flange, the head end of the intermediate tube is slidably connected to the outside of the inner tube, the head end of the outer tube is slidably connected to the outside of the intermediate tube, a second flange is arranged on the outside of the head end of the intermediate tube, the end of the outer tube is arranged on the arm head connecting frame through a third flange, the first pulley frame is arranged at the end of the base arm, the second pulley frame is arranged at the end of the second telescopic arm, the head end of the connecting wire rope is connected to the flange hole on the side of the second flange through a first rope clamp, and the end of the connecting wire rope is connected to the ear plate hole on the side of the second pulley frame through a second rope clamp; The first pulley frame and the second pulley frame have the same structure, both comprising a rectangular frame, a first hub, a second hub and a third hub, the first hub, the second hub and the third hub are sequentially installed in the rectangular frame, a connecting portion is provided on the front side of the rectangular frame, an ear plate is provided on the rear side of the rectangular frame, and an ear plate hole is provided on the ear plate.

6. The multifunctional vehicle for removing and treating algae growing on the channel slope according to claim 5, characterized in that: A walking assistance device is arranged at the working side of the channel adjacent to the bottom of the chassis of the truck, and the walking assistance device comprises a left supporting wheel, a right supporting wheel, a supporting wheel shaft, a supporting base, a supporting telescopic oil cylinder, a first supporting assembly and a second supporting assembly. The left supporting wheel is rotatably connected to the left end of the supporting wheel shaft through a left supporting bearing, and the right supporting wheel is rotatably connected to the right end of the supporting wheel shaft through a right supporting bearing. The supporting base is arranged at the middle part of the supporting wheel shaft, the bottom of the supporting telescopic oil cylinder is vertically connected to the supporting base, and the top of the supporting telescopic oil cylinder is arranged below the sub-beam of the chassis of the truck; the tops of the first supporting assembly and the second supporting assembly are both arranged below the sub-beam of the chassis of the truck and are respectively located at the front and rear sides of the supporting telescopic oil cylinder, the first supporting assembly is hinged to the front of the supporting bottom plate through the first ear plate assembly, the bottom of the first supporting assembly is hinged to the supporting bottom plate front and rear along the hinge point, the second supporting assembly is hinged to the rear of the supporting chassis through the second ear plate assembly, and the bottom of the second supporting assembly is hinged to the supporting bottom plate left and right along the hinge point; The first support assembly includes a first outer support rod, a first inner support rod, a first ear plate seat, a first pin shaft, a second pin shaft and a third pin shaft, the top end of the first outer support rod is hinged to the first ear plate seat, the first ear plate seat includes a first top plate, a first front ear plate and a first rear ear plate, the top end of the first outer support rod is provided with a first connecting through hole along the front-to-back direction, the first outer support rod is provided with a plurality of first adjusting outer holes along the length direction, the first inner support rod is slidably arranged inside the first outer support rod, the bottom of the first inner support rod is hinged to the first ear plate assembly, the first inner support rod is provided with a plurality of first adjusting inner holes along the length direction, the first adjusting outer holes and the first adjusting inner holes correspond one to one, the first pin shaft passes through the first front ear plate, the first rear ear plate, the first connecting through hole, and the second pin shaft passes through the first adjusting outer hole and the first adjusting inner hole.

7. The multifunctional vehicle for removing and treating algae growing on the channel slope according to claim 6, characterized in that: The second support assembly includes a second outer support rod, a second inner support rod, a second ear plate seat, a fourth pin shaft, a fifth pin shaft and a sixth pin shaft, the top end of the second outer support rod is hinged to the second ear plate seat, the second ear plate seat includes a second top plate, a second left ear plate and a second right ear plate, the top end of the second outer support rod is provided with a second connecting through hole along the left and right directions, the second outer support rod is provided with a plurality of second adjusting outer holes along the length direction, the second inner support rod is slidably arranged inside the second outer support rod, the bottom of the second inner support rod is hinged to the second ear plate assembly, the second inner support rod is provided with a plurality of second adjusting inner holes along the length direction, the second adjusting outer holes and the second adjusting inner holes correspond one to one, the fourth pin shaft passes through the second left ear plate, the second right ear plate, and the second connecting through hole, and the fifth pin shaft passes through the second adjusting outer hole and the second adjusting inner hole; The first ear plate assembly includes a first front hinge plate and a first rear hinge plate, a first hinge through hole is arranged at the bottom end of the first inner support rod along the front-to-back direction, and the third pin shaft passes through the first front hinge plate, the first hinge through hole and the first rear hinge plate; the second ear plate assembly includes a second left hinge plate and a second right hinge plate, a second hinge through hole is arranged at the bottom end of the second inner support rod along the front-to-back direction, and the sixth pin shaft passes through the second left hinge plate, the second hinge through hole and the second right hinge plate.

8. The multifunctional vehicle for removing and treating algae growing on channel slopes according to claim 7, characterized in that: Clean water tanks are arranged on the left and right sides of the rear chassis of the truck, the recovery tank is arranged between the two clean water tanks, and a tank opening and closing device is arranged at the rear end of the recovery tank; left and right sliding guide rails and right sliding guide rails are arranged on the left and right sides of the recovery tank, respectively, and the compression separation and dehydration mechanism realizes forward and backward reciprocating motion through the left and right sliding slides sliding on the left and right sliding guide rails, and a push-pull oil cylinder is arranged at the lower part of the compression separation and dehydration mechanism; The tank opening and closing device includes an opening and closing bracket, a left opening and closing oil cylinder, a right opening and closing oil cylinder, a connecting frame, an opening and closing door assembly, a door lock oil cylinder, a turntable lock, and an opening and closing assembly. The opening and closing bracket is arranged on the rear end top of the recovery tank body, and the opening and closing bracket includes a first opening and closing plate arranged on the left and right sides, a second opening and closing plate arranged on the front and rear sides of the left side of the first opening and closing plate, and a third opening and closing plate arranged on the front and rear sides of the right side of the first opening and closing plate. The connecting frame includes a left vertical plate and a right vertical plate arranged on the upper and lower sides. The upper end of the left vertical plate is hinged to the rear end of the second opening and closing plate, and the right vertical plate is hinged to the rear end of the second opening and closing plate. The upper end of the forward plate is hinged to the rear end of the third opening and closing plate, the lower ends of the left vertical plate and the right vertical plate are connected to the opening and closing door assembly, the front end of the left opening and closing cylinder is connected to the front end of the second opening and closing plate, the rear end of the left opening and closing cylinder is connected to the upper end of the left vertical plate, the front end of the right opening and closing cylinder is connected to the front end of the third opening and closing plate, and the rear end of the right opening and closing cylinder is connected to the upper end of the right vertical plate; the turntable lock is arranged on the opening and closing door assembly, the opening and closing assembly is connected to the turntable lock and the outer contour of the rear end of the recovery tank body, one end of the door lock cylinder is connected to the turntable lock, and the turntable lock is pushed to rotate for opening and closing.

9. The multifunctional vehicle for removing and treating algae growing on the channel slope according to claim 8, characterized in that: The opening and closing door assembly comprises a circular outer frame, a first opening and closing cross bar, a second opening and closing cross bar, a first opening and closing vertical bar, an intermediate opening and closing vertical bar, and a second opening and closing vertical bar. The first opening and closing cross bar and the second opening and closing cross bar are arranged vertically and parallelly in the circular outer frame, the first opening and closing vertical bar, the intermediate opening and closing vertical bar and the second opening and closing vertical bar are arranged horizontally and parallelly in the circular outer frame, and the first opening and closing cross bar and the second opening and closing cross bar are arranged vertically between the first opening and closing vertical bar, the intermediate opening and closing vertical bar and the second opening and closing vertical bar; the turntable lock is arranged at the connection between the second opening and closing cross bar and the intermediate opening and closing cross bar by rotating through a rotating shaft; The bottom end of the left vertical plate is connected to the first opening and closing cross bar, a mounting cross bar is arranged between the middle opening and closing vertical bar and the left vertical plate, the top end of the door lock oil cylinder is arranged on the mounting cross bar, and the bottom end of the door lock oil cylinder is hinged to the turntable lock; The turntable lock is provided with a plurality of opening and closing components, which include a pin shaft seat, a guide sleeve, a Y-shaped joint, a two-way screw rod, a locking pin, and a hinge. One end of the hinge is hinged on the turntable lock, one end of the two-way screw rod is connected to the other end of the hinge, the other end of the two-way screw rod is connected to one end of the locking pin, the other end of the locking pin is connected to one end of the Y-shaped joint, and the other end of the Y-shaped joint is connected to the locking pin. The locking pin is slidably arranged in the guide sleeve, the guide sleeve is arranged on the rear side of the circular outer frame, and the pin shaft seat is installed on the recovery tank body.

10. The multifunctional vehicle for removing and treating algae growing on channel slopes according to claim 9, characterized in that: The pin seat includes a first pin plate, a second pin plate, a pin locking plate, an opening and closing rolling shaft, and an opening and closing rolling sleeve. The first pin plate and the second pin plate are relatively arranged on the recovery tank body. The first pin plate and the second pin plate both include a bending portion, so that the circular outer frame is placed in the bending portion. The first pin plate and the second pin plate are respectively connected on both sides of one end of the pin locking plate. A special-shaped groove is provided at the other end of the pin locking plate. The opening and closing rolling shaft is installed on the other end of the pin locking plate. The opening and closing rolling sleeve is sleeved on the opening and closing rolling shaft. The opening and closing rolling sleeve cover is arranged on the special-shaped groove to form a through hole. When the locking pin passes through the through hole, the opening and closing rolling sleeve rotates accordingly.

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