Novel anti-blocking dredging robot

Abstract

The invention is suitable for the technical field of dredging robots, and provides a novel anti-blocking dredging robot which comprises a robot body and a high-pressure water pipe arranged on one side of the robot body and used for preliminarily crushing sludge. The silt pumping hopper is arranged on one side of the high-pressure water pipe and used for pumping silt, and a cutter used for crushing sludge is rotationally mounted in the silt pumping hopper; the treatment box is mounted on the robot body; the group of crushing rollers are rotationally mounted in the treatment box and are used for crushing caked sludge; the connecting pipe is mounted on one side of the treatment box; the high-pressure nozzle is fixedly mounted on one side of the inner wall of the treatment box and is used for preventing the pipe orifice of the connecting pipe from being blocked; and the water supply mechanism is arranged on the robot body and used for supplying water to the high-pressure spray head. According to the novel anti-blocking dredging robot provided by the scheme, the problem of blocking caused by sludge caking in the silt pumping process of a traditional dredging robot is solved, so that the dredging efficiency and the anti-blocking effect are effectively improved.

Description

Technical Field

[0001] The invention belongs to the technical field of dredging robots, and in particular relates to a novel anti-clogging dredging robot. Background Art

[0002] During the sewage treatment process, a large amount of sludge is produced, which accounts for about 0.3% to 0.5% of the treated water volume (based on a water content of 97%). The sludge contains more toxic and harmful substances, such as parasite eggs, pathogenic microorganisms, bacteria, synthetic organic matter and heavy metal ions. When cleaning the sludge in the treatment pool, dredging robots are mostly used to clean it, which can effectively improve the dredging efficiency.

[0003] At present, most of the existing dredging robots extract sludge from the pool through a sludge extraction pipe to achieve the dredging effect. Since the sludge will clump during the sedimentation process, and the traditional dredging robots are unable to break up the clumped sludge, it is very easy for the clumped sludge to be blocked in the sludge extraction pipe during the sludge extraction process, affecting the dredging efficiency. Summary of the invention

[0004] The present invention provides a novel anti-clogging silt cleaning robot, aiming to solve the problem that the conventional silt cleaning robot mentioned in the above background technology cannot break up the agglomerated sludge, which easily causes the sludge to clog the silt extraction pipe.

[0005] To solve the above problems, the present invention is implemented as follows: a new type of anti-clogging silt cleaning robot comprises: a robot body and a high-pressure water pipe arranged on one side of the robot body for preliminarily crushing sludge; a silt extraction bucket arranged on one side of the high-pressure water pipe for extracting silt, a cutter for crushing sludge rotatably installed in the silt extraction bucket; a processing box installed on the robot body; a group of crushing rollers rotatably installed in the processing box for crushing agglomerated sludge; a connecting pipe installed on one side of the processing box; a high-pressure nozzle fixedly installed on one side of the inner wall of the processing box to prevent the pipe mouth of the connecting pipe from being blocked; and a water supply mechanism arranged on the robot body for supplying water to the high-pressure nozzle.

[0006] Preferably, the robot body consists of a vehicle body, a walking system, and a monitoring device. The walking system is arranged at the bottom of the vehicle body, the monitoring device is installed on the top of the vehicle body, a connecting pipe is installed on one side of the processing box, the connecting pipe is connected to the sludge suction bucket, and a connecting water pipe for supplying water to the high-pressure water pipe is installed on the high-pressure water pipe.

[0007] Preferably, a connecting block is fixedly installed on the top of the vehicle body, a connecting frame is rotatably installed on the connecting block, the connecting frame is fixedly connected to the sludge suction bucket, a hydraulic cylinder is hinged on the bottom of the vehicle body, and the other end of the hydraulic cylinder is hinged to the connecting frame.

[0008] Preferably, a driving mechanism for driving a group of crushing rollers to rotate is provided on the processing box, and the driving mechanism includes: a group of connecting gears all arranged on the top of the processing box, wherein a plurality of the connecting gears are fixedly connected to a group of output rods of the crushing rollers, and a group of the connecting gears are meshed; a motor fixedly mounted on one side of the processing box; pulleys fixedly mounted on the output shaft of the motor and any one of the output rods of the connecting gears; and a first belt mounted on the two pulleys.

[0009] Preferably, a connecting gear is rotatably installed on one side of the connecting block and the connecting frame, the two connecting gears are meshed with each other, the connecting gear on the connecting frame and the cutter output rod are fixedly sleeved with a first sprocket, and the two first sprockets are sleeved with a first chain.

[0010] Preferably, a round rod is rotatably installed on one side of the processing box, and a second sprocket is fixedly sleeved on the top of the round rod and any of the connecting gear output rods, and a second chain is sleeved on the two second sprockets. A connecting rod is rotatably installed on the top of the vehicle body, and a first bevel gear is fixedly sleeved on both ends of the connecting rod, the round rod and the connecting gear output rod, and two sets of the first bevel gears are meshed with each other.

[0011] Preferably, the water supply mechanism includes: a U-shaped frame fixedly installed on the top of the vehicle body, a filter box is installed on the top of the U-shaped frame; a plurality of filter screens that are detachably installed in the filter box for multi-stage filtering of sewage; a water pump fixedly installed on the top of the U-shaped frame, the drainage end of the water pump is fixedly connected to the filter box; a filter cartridge for extracting sewage is provided on one side of the vehicle body, and a connecting pipe is installed on the filter cartridge; a bellows installed at one end of the connecting pipe, and the bellows is connected to the pumping end of the water pump; a high-pressure pump installed on the top of the U-shaped frame, and the two ends of the high-pressure pump are respectively connected to the high-pressure nozzle and the filter box.

[0012] Preferably, an electric telescopic rod is installed on the top of the vehicle body, an L-shaped plate is fixedly installed on the electric telescopic rod, the L-shaped plate is fixedly connected to the filter cartridge, and a strap for fixing the connecting pipe is provided on one side of the L-shaped plate.

[0013] Preferably, a connecting cylinder is fixedly installed at the bottom of the inner wall of the filter cartridge, and hammer rods are rotatably provided on both sides of the connecting cylinder. The two hammer rods are respectively in rotational contact with the two sides of the inner wall of the filter cartridge, and an I-rod is slidably installed at the bottom of the filter cartridge. A reset spring is sleeved on the I-rod, and both ends of the reset spring are respectively fixedly connected to the I-rod and the bottom of the filter cartridge, and the top of the I-rod is in contact with the two hammer rods.

[0014] Preferably, a buffer spring is fixedly mounted on the top of the inner wall of the connecting cylinder, and a pressure plate is fixedly mounted on the bottom of the buffer spring, and the pressure plate contacts the surfaces of the two hammer rods.

[0015] Compared with the related art, the novel anti-clogging dredging robot provided by the present invention has the following beneficial effects:

[0016] Compared with the prior art, the new anti-clogging dredging robot provided by the present invention can ensure that the sludge is fully crushed during the silt extraction process through the initial crushing by the high-pressure water pipe and the cutter, and the secondary crushing by the crushing roller, thereby avoiding the problem of clogging of the silt extraction pipe caused by sludge agglomeration, thereby improving the dredging efficiency. High-pressure water is sprayed into the connecting pipe through the high-pressure nozzle and is extracted synchronously with the silt. This can not only enhance the fluidity of the sludge, but also effectively prevent the clogging of the connecting pipe and the silt extraction pipe, further improving the anti-clogging effect of the silt extraction pipe.

[0017] In summary, the novel anti-clogging dredging robot of the present invention solves the clogging problem of traditional dredging robots caused by sludge agglomeration during the silt extraction process, thereby effectively improving the dredging efficiency and anti-clogging effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the main cross-sectional structure of a novel anti-clogging dredging robot provided by the present invention;

[0019] Figure 2 It is a rear cross-sectional structural schematic diagram of a novel anti-clogging dredging robot provided by the present invention;

[0020] Figure 3 This is a schematic diagram of the main structure of a novel anti-clogging dredging robot provided by the present invention;

[0021] Figure 4 It is a side view cross-sectional structural schematic diagram of the filter box, U-shaped frame and sealing plate provided by the present invention;

[0022] Figure 5 It is a schematic diagram of the main cross-sectional structure of the filter box provided by the present invention;

[0023] Figure 6 It is a schematic diagram of a top view and a cross-sectional structure of a processing box and a crushing roller provided by the present invention;

[0024] Figure 7 It is a top view assembly diagram of the processing box and the connecting gear provided by the present invention;

[0025] Figure 8 It is a schematic diagram of the use of the hammer rod provided by the present invention to hammer the filter cartridge;

[0026] Fig. 9It is an assembly diagram of the third sprocket, the limiting wheel and the third chain provided by the present invention;

[0027] Fig.10 It is an assembly diagram of the middle round rod, the connecting rod and the first bevel gear provided by the present invention;

[0028] Fig.11 It is an assembly diagram of the second telescopic cylinder, the rotating rod and the two second circular plates provided by the present invention;

[0029] Fig.12 It is a schematic diagram of the three-dimensional structure of the middle connecting rod and the first telescopic cylinder provided by the present invention;

[0030] Fig.13 It is a three-dimensional structural schematic diagram of a set of differential sprockets provided by the present invention;

[0031] Fig.14 for Figure 2 An enlarged structural diagram of part A shown in FIG.

[0032] Fig.15 for Figure 5 An enlarged schematic diagram of the structure of part B shown in FIG.

[0033] Fig.16 for Figure 4 An enlarged schematic diagram of the structure of part C shown in FIG.

[0034] Fig.17 for Figure 1 Schematic diagram of the enlarged structure of part D shown in FIG.

[0035] Figure numerals: 1, robot body; 2, walking system; 3, high-pressure water pipe; 4, sludge extraction bucket; 5, cutter; 6, processing box; 7, crushing roller; 8, connecting pipe; 9, high-pressure nozzle; 10, connecting block; 11, connecting frame; 12, hydraulic cylinder; 13, monitoring equipment; 14, connecting water pipe; 15, connecting gear; 16, pulley; 17, first belt; 18, motor; 19, connecting gear; 20, first Sprocket; 21, first chain; 22, round rod; 23, second sprocket; 24, second chain; 25, connecting rod; 26, first bevel gear; 27, U-shaped frame; 28, filter box; 29, filter screen; 30, water pump; 31, electric telescopic rod; 32, L-shaped plate; 33, filter cartridge; 34, high-pressure pump; 35, bellows; 36, connecting tube; 37, hammer rod; 38, I-shaped rod; 39, return spring; 40, Buffer spring; 41, pressure plate; 42, connection box; 43, connection rod; 44, cleaning brush; 45, second bevel gear; 46, third sprocket; 47, limit wheel; 48, third chain; 49, differential wheel; 50, second belt; 51, support frame; 52, first telescopic cylinder; 53, first round plate; 54, first cylinder; 55, drain port; 56, sealing plate; 57, top block; 58, connecting cover; 59, Support plate; 60, fourth sprocket; 61, fourth chain; 62, support plate; 63, switch device; 64, differential gear; 65, rotating rod; 66, second telescopic cylinder; 67, second circular plate; 68, rotary encoder; 69, fixed plate; 70, annular plate; 71, second cylinder; 72, fifth sprocket; 73, fifth chain; 74, third bevel gear; 75, discharge pipe; 76, drain pipe; 77, protective cover. DETAILED DESCRIPTION

[0036] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field of the present application; the terms used in the specification of the application herein are only for the purpose of describing specific embodiments and are not intended to limit the present application; the terms "including" and "having" in the specification and claims of the present application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of the present application or the above-mentioned figures are used to distinguish different objects, rather than to describe a specific order; the terms "inside", "outside", "left", and "right" indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, which 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 direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0037] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0038] The embodiment of the present invention provides a novel anti-blocking dredging robot, such as Figure 1-17 As shown, the new anti-clogging silt cleaning robot comprises: a robot body 1 and a high-pressure water pipe 3 arranged on one side of the robot body 1 for preliminary crushing of sludge; a silt extraction bucket 4 arranged on one side of the high-pressure water pipe 3 for extracting silt, in which a cutter 5 for crushing sludge is rotatably installed; a processing box 6 installed on the robot body 1; a group of crushing rollers 7 rotatably installed in the processing box 6 for crushing agglomerated sludge; a connecting pipe 8 installed on one side of the processing box 6; a high-pressure nozzle 9 fixedly installed on one side of the inner wall of the processing box 6 for preventing the pipe mouth of the connecting pipe 8 from being blocked; and a water supply mechanism arranged on the robot body 1 for supplying water to the high-pressure nozzle 9.

[0039] In this embodiment, during the silt extraction process, the connecting pipe 8 is connected to the external silt extraction equipment through the silt extraction pipe, and the robot body 1 extracts the silt from the pool through the silt extraction bucket 4. At the same time, the high-pressure water pipe 3 sprays high-pressure water to the silt on one side of the silt extraction bucket 4 to perform preliminary impact and crushing of the sludge. In addition, the cutter 5 rotatably installed in the silt extraction bucket 4 will also cut the sludge, further achieving preliminary crushing of the sludge.

[0040] Secondary crushing: The sludge that has been initially crushed is pumped into the treatment box 6. In the treatment box 6, a group of rotatably installed crushing rollers 7 will perform secondary crushing on the sludge to ensure that the lumps in the sludge are completely broken up, thereby avoiding blockage in the subsequent silt extraction process. At the same time, the water supply mechanism supplies water to the high-pressure nozzle 9, so that the high-pressure nozzle 9 sprays high-pressure water into the connecting pipe 8. The high-pressure water and the silt are simultaneously extracted by the silt extraction pipe, which can not only enhance the fluidity of the sludge, but also effectively prevent the pipe openings of the connecting pipe 8 and the silt extraction pipe from being blocked;

[0041] Through the initial crushing of the high-pressure water pipe 3 and the cutter 5, and the secondary crushing of the crushing roller 7, the dredging robot can ensure that the sludge is fully crushed during the silt extraction process, avoiding the problem of clogging of the silt extraction pipe due to sludge agglomeration, thereby improving the dredging efficiency. High-pressure water is sprayed into the connecting pipe 8 through the high-pressure nozzle 9 and is extracted synchronously with the silt, which can not only enhance the fluidity of the sludge, but also effectively prevent the clogging of the connecting pipe 8 and the silt extraction pipe, further improving the anti-clogging effect of the silt extraction pipe.

[0042] In a further preferred embodiment of the present invention, the robot body 1 is composed of a body, a walking system 2, and a monitoring device 13. The walking system 2 is arranged at the bottom of the body, the monitoring device 13 is installed on the top of the body, a connecting pipe is installed on one side of the processing box 6, and the connecting pipe is connected to the sludge suction bucket 4. A connecting water pipe 14 for supplying water to the high-pressure water pipe 3 is installed on the high-pressure water pipe 3.

[0043] In this embodiment, the robot moves to the area to be desilted through the walking system 2, starts the monitoring device 13 for real-time monitoring, and the silt extraction bucket 4 starts to work, extracts the silt from the pool, and enters the processing box 6 through the connecting pipe. The monitoring device 13 is composed of a camera and a lighting device. The camera is used to take real-time photos of the desilting process and environmental conditions, and the lighting device ensures clear monitoring even in low light conditions. Through the monitoring device 13, the operator can remotely monitor the working status of the robot body 1, find problems in time and make adjustments. The camera and lighting equipment of the monitoring device 13 can monitor the desilting process and environmental conditions in real time, ensuring that the operator can remotely monitor the working status of the robot, find problems in time and make adjustments, thereby improving the safety and reliability of the desilting operation.

[0044] In a further preferred embodiment of the present invention, a connecting block 10 is fixedly installed on the top of the vehicle body, a connecting frame 11 is rotatably installed on the connecting block 10, the connecting frame 11 is fixedly connected to the sludge suction bucket 4, and a hydraulic cylinder 12 is hinged at the bottom of the vehicle body, and the other end of the hydraulic cylinder 12 is hinged to the connecting frame 11.

[0045] In this embodiment, when silt extraction is required, the hydraulic cylinder 12 is shortened, driving the connecting frame 11 and the silt extraction bucket 4 to descend, so that the silt extraction bucket 4 is immersed in the silt, and the silt extraction bucket 4 starts to work, extracting the silt from the pool and entering the processing box 6 through the connecting pipe;

[0046] After completing the silt extraction task, the hydraulic cylinder 12 extends, pushing the connecting frame 11 and the silt extraction bucket 4 to rise, so that the robot body 1 can move smoothly to the next silt removal point. Through the adjustment function of the hydraulic cylinder 12, the silt extraction bucket 4 can move up and down as needed, which not only facilitates the flexibility of the robot body 1 during walking, but also can adapt to silt environments of different depths, thereby improving the adaptability and practicality of the robot body 1.

[0047] In a further preferred embodiment of the present invention, a driving mechanism for driving a group of crushing rollers 7 to rotate is provided on the processing box 6, and the driving mechanism includes: a group of connecting gears 15 all arranged on the top of the processing box 6, wherein a plurality of the connecting gears 15 are fixedly connected to a group of output rods of the crushing rollers 7, and a group of the connecting gears 15 are meshed; a motor 18 fixedly mounted on one side of the processing box 6; pulleys 16 respectively fixedly mounted on the output shaft of the motor 18 and the output rod of any one of the connecting gears 15; and a first belt 17 mounted on two of the pulleys 16.

[0048] In this embodiment, when the motor 18 is started, its output shaft drives a pulley 16 to rotate, and then drives another pulley 16 and the connecting gear 15 connected thereto to rotate through the first belt 17, and finally drives a group of crushing rollers 7 to rotate synchronously. The driving mechanism drives a group of crushing rollers 7 to rotate, and the sludge is secondary crushed to ensure that the lumps in the sludge are completely broken up, so that the subsequent connecting pipe 8 can extract the sludge in the processing box 6. By adopting a driving mechanism composed of a connecting gear 15, a pulley 16 and a first belt 17, the structure is compact and the transmission is reliable. It can stably drive a group of crushing rollers 7 to rotate synchronously, ensuring the secondary crushing effect of the sludge.

[0049] In a further preferred embodiment of the present invention, a connecting gear 19 is rotatably installed on one side of the connecting block 10 and the connecting frame 11, and the two connecting gears 19 are meshed with each other. The connecting gear 19 on the connecting frame 11 and the output rod of the cutter 5 are fixedly sleeved with a first sprocket 20, and the two first sprockets 20 are sleeved with a first chain 21.

[0050] In this embodiment, when the connecting gear 19 rotates, it drives the first sprocket 20 connected to it to rotate, and then drives another first sprocket 20 and the output rod of the cutter 5 to rotate through the first chain 21, so that the cutter 5 can initially crush the sludge. The automatic driving of the cutter 5 is achieved by utilizing the engagement of the connecting gear 19 on the connecting block 10 and the connecting frame 11, and the chain transmission mechanism composed of the first sprocket 20 and the first chain 21. This design not only simplifies the structure of the robot body 1, but also improves the driving efficiency and stability of the cutter 5.

[0051] In a further preferred embodiment of the present invention, a round rod 22 is rotatably installed on one side of the processing box 6, and a second sprocket 23 is fixedly sleeved on the top of the round rod 22 and any one of the output rods of the connecting gear 15, and a second chain 24 is sleeved on two of the second sprockets 23, and a connecting rod 25 is rotatably installed on the top of the vehicle body, and a first bevel gear 26 is fixedly sleeved on both ends of the connecting rod 25, the round rod 22 and the output rod of the connecting gear 19, and two sets of the first bevel gears 26 are meshed with each other.

[0052] In this embodiment, when the motor 18 is started, its output shaft drives a pulley 16 to rotate, and drives another pulley 16 and the connecting gear 15 connected thereto to rotate through the first belt 17. The rotating connecting gear 15 not only drives the crushing roller 7 to rotate for secondary crushing, but also transmits power to the round rod 22 through the second sprocket 23 and the second chain 24. The rotation of the round rod 22 drives the first bevel gear 26 fixed thereon to rotate. The first bevel gear 26 transmits power to the output rod of the connecting gear 19 by meshing with another set of first bevel gears 26. The rotation of the connecting gear 19 drives the cutter 5 to rotate through the chain transmission mechanism (the first sprocket 20 and the first chain 21), so that the cutter 5 performs preliminary crushing of the sludge. The power transmission between the crushing roller 7 and the cutter 5 is realized through the ingenious combination of the chain and the bevel gear. This design not only simplifies the structure of the robot body 1, but also improves the efficiency and stability of power transmission. At the same time, the synchronous rotation of the crushing roller 7 and the cutter 5 ensures that the sludge is fully crushed during the silt extraction process, avoids the problem of clogging of the silt extraction pipe due to sludge agglomeration, and significantly improves the dredging efficiency.

[0053] In a further preferred embodiment of the present invention, the water supply mechanism includes: a U-shaped frame 27 fixedly mounted on the top of the vehicle body, a filter box 28 is mounted on the top of the U-shaped frame 27; a plurality of filter screens 29 that are detachably mounted in the filter box 28 for multi-stage filtering of sewage; a water pump 30 fixedly mounted on the top of the U-shaped frame 27, the drainage end of the water pump 30 is fixedly connected to the filter box 28; a filter cartridge 33 provided on one side of the vehicle body for extracting sewage, a connecting pipe being mounted on the filter cartridge 33; a bellows 35 mounted at one end of the connecting pipe, and the bellows 35 is connected to the pumping end of the water pump 30; a high-pressure pump 34 mounted on the top of the U-shaped frame 27, and the two ends of the high-pressure pump 34 are respectively connected to the high-pressure nozzle 9 and the filter box 28.

[0054] In this embodiment, a plurality of filter screens 29 are provided in the filter box 28, and these filter screens 29 are used for multi-stage filtration of sewage to remove impurities and sludge therein. The pumping end of the water pump 30 is connected to the connecting pipe on the filter cartridge 33 through the bellows 35, and the drainage end is fixedly connected to the filter box 28. When the water pump 30 is started, it will extract sewage from the filter cartridge 33 and send it to the filter box 28 for filtration through the bellows 35. Then, the sewage in the filter box 28 is extracted by the high-pressure pump 34, and then sent to the high-pressure nozzle 9 for spraying. By extracting sewage and filtering it, and then using it for spraying with the high-pressure nozzle 9, water resources are effectively saved. The multi-stage filtration filter screen 29 and the filter cartridge 33 can effectively remove sludge and impurities in the sewage, avoiding the risk of these substances clogging the high-pressure nozzle 9. The high-pressure water sprayed by the high-pressure nozzle 9 can enhance the fluidity of the sludge, further prevent the clogging problem of the connecting pipe 8 and the silt extraction pipe, thereby improving the dredging efficiency.

[0055] In a further preferred embodiment of the present invention, an electric telescopic rod 31 is installed on the top of the vehicle body, an L-shaped plate 32 is fixedly installed on the electric telescopic rod 31, the L-shaped plate 32 is fixedly connected to the filter cartridge 33, and a strap for fixing the connecting pipe is provided on one side of the L-shaped plate 32.

[0056] In this embodiment, when the robot needs to walk or move, the electric telescopic rod 31 can adjust the height of the filter cartridge 33 to keep it away from the ground or obstacles, thereby avoiding damage to the filter cartridge 33 or unnecessary wear during walking.

[0057] In a further preferred embodiment of the present invention, a connecting cylinder 36 is fixedly installed at the bottom of the inner wall of the filter cartridge 33, and hammer rods 37 are rotatably provided on both sides of the connecting cylinder 36. The two hammer rods 37 are respectively in rotational contact with the two sides of the inner wall of the filter cartridge 33, and an I-rod 38 is slidably installed at the bottom of the filter cartridge 33. A reset spring 39 is sleeved on the I-rod 38, and both ends of the reset spring 39 are respectively fixedly connected to the I-rod 38 and the bottom of the filter cartridge 33, and the top of the I-rod 38 is in contact with the two hammer rods 37.

[0058] In the present embodiment, the initial positions of the two hammer rods 37 are set in a V shape. When it is necessary to clean the sludge on the filter cartridge 33, the electric telescopic rod 31 is first started, so that the electric telescopic rod 31 drives the filter cartridge 33 to slide down, and at the same time, the I-shaped rod 38 slides down and contacts the ground, so that the I-shaped rod 38 compresses the return spring 39, and at the same time, the I-shaped rod 38 slides along the filter cartridge 33, so that the I-shaped rod 38 slides up, and when the I-shaped rod 38 slides up, the two hammer rods 37 are pushed to rotate downward. At this time, the two hammer rods rotate from the V shape to an inverted V shape, and the two hammer rods 37 hammer the filter cartridge 33 to remove the sludge adhered to the surface of the filter cartridge 33. The filter cartridge 33 is driven up and down by the electric telescopic rod 31, so that the hammer rod 37 hammers the filter cartridge 33, which can effectively shake out the sludge. The automatic cleaning function of the surface of the filter cartridge 33 is realized by the hammer rod 37, the I-shaped rod 38 and the return spring 39 and other components, and the adhered sludge can be removed without manual intervention, thereby improving the automation degree and dredging efficiency of the robot body 1.

[0059] In a further preferred embodiment of the present invention, a buffer spring 40 is fixedly installed on the top of the inner wall of the connecting tube 36 , and a pressure plate 41 is fixedly installed on the bottom of the buffer spring 40 , and the pressure plate 41 contacts the surfaces of the two hammer rods 37 .

[0060] In this embodiment, after the hammer rod 37 hammers the filter cartridge 33, the buffer spring 40 releases energy and presses down the top of the hammer rod 37 through the pressure plate 41, thereby assisting the hammer rod 37 to return to its initial V-shaped state. At the same time, the return spring 39 continues to push the I-beam 38 to slide down to its initial position to prepare for the next hammering action. By adding the buffer spring 40, the hammer rod 37 can be more stably returned to its initial state after hammering the filter cartridge 33, thereby avoiding the problem of the hammer rod 37 continuing to rotate or deviating from the predetermined position due to inertia.

[0061] In order to further improve the use effect of the device, in addition to the above scheme, this scheme also has the following embodiments:

[0062] In another embodiment of the present invention, the filter box 28 is provided with a cleaning mechanism for cleaning impurities on the filter screen 29, and the cleaning mechanism includes: a plurality of connecting boxes 42 fixedly installed in the filter box 28; a plurality of connecting rods 43 rotatably installed on the filter box 28 and the plurality of connecting boxes 42; a cleaning brush 44 rotatably installed on one side of the connecting box 42 for cleaning impurities on the filter screen 29; a second bevel gear 45 fixedly mounted on the output rod of the cleaning brush 44 and the connecting rod 43, respectively, and the two second bevel gears 45 are meshed with each other; a plurality of third sprockets 46 fixedly mounted on the plurality of connecting rods 43; a limiting wheel 47 rotatably arranged on the top of the filter box 28; a third chain 48 mounted on the plurality of third sprockets 46, and the third chain 48 is meshed with the third sprocket 46 and the limiting wheel 47; a differential wheel 49 provided on any of the connecting rods 43 and the connecting gear 15, and a second belt 50 is mounted on the two differential wheels 49.

[0063] In this embodiment, when the connecting gear 15 rotates, the differential wheel 49 is driven to rotate through the second belt 50, and the differential wheel 49 transmits power to the connecting rod 43 connected thereto, thereby driving the third sprocket 46 to rotate. The third sprocket 46 transmits power to all connecting rods 43 through the third chain 48 to achieve synchronous rotation. The rotation of the connecting rod 43 is transmitted to the cleaning brush 44 through the second bevel gear 45, so that it rotates and cleans the sludge on the filter screen 29. When cleaning the filter screen 29, the water pump 30 and the high-pressure pump 34 stop running. Through the design of the cleaning mechanism, the automatic cleaning function of the filter screen 29 is realized, the problem of clogging of the filter screen 29 is avoided, and the working efficiency and stability of the dredging robot are improved. By adopting a chain transmission system (the third sprocket 46 and the third chain 48) to simultaneously drive multiple cleaning brushes 44 to rotate, the synchronization and uniformity of the cleaning action are ensured, and the cleaning effect is improved. Through the design of the differential wheel 49 and the second belt 50, effective transmission and distribution of power are achieved, the power input structure is simplified, and the reliability and maintainability of the system are improved.

[0064] In another embodiment of the present invention, a support frame 51 is fixedly installed on the top of the filter box 28, and the support frame 51 is rotatably connected to the output rod of the differential wheel 49. A first telescopic cylinder 52 is fixedly installed on the top of the connecting rod 43, and a first circular plate 53 is fixedly installed on the top of the first telescopic cylinder 52 and the output rod of the differential wheel 49, and the two first circular plates 53 are in close contact. A first cylinder 54 is fixedly installed on one side of the support frame 51, and a connecting seat is installed on the first cylinder 54, and the connecting seat is rotatably connected to the first telescopic cylinder 52.

[0065] In this embodiment, when the filter screen 29 needs to be cleaned, the two first circular plates 53 are in close contact, so that the crushing roller and the cleaning brush 44 rotate synchronously. When the filter screen 29 does not need to be cleaned, the first cylinder 54 drives the first telescopic cylinder 52 to contract, so that the two first circular plates 53 are disconnected, and the connecting rod 43 loses the power source, so that the cleaning brush 44 stops rotating, saving energy and reducing unnecessary wear of the cleaning brush 44. The telescopic movement of the first telescopic cylinder 52 is controlled by the first cylinder 54, so that the cleaning brush 44 can be started and stopped on demand, saving energy and reducing unnecessary wear.

[0066] In another embodiment of the present invention, a connection port is provided at the top of the U-shaped frame 27, and a plurality of drainage ports 55 are provided at the bottom of the filter box 28, and the plurality of drainage ports 55 are all communicated with the connection port. A sealing plate 56 for sealing the plurality of drainage ports 55 is hinged at the bottom of the filter box 28, and a connecting cover 58 is installed in the U-shaped frame 27, and the connecting cover 58 separates a discharge cavity and a connection cavity in the U-shaped frame 27, and a top block 57 is provided in the discharge cavity, and the top block 57 is in close contact with the sealing plate 56 for fixing the sealing plate 56, and a discharge pipe 75 is fixedly installed on one side of the U-shaped frame 27, and the discharge pipe 75 is communicated with the discharge cavity.

[0067] In this embodiment, the sealing plate 56 is fixed to the bottom of the filter box 28 through the close contact of the top block 57, thereby sealing the plurality of drainage ports 55. At this time, the sewage is introduced into the filter box 28, and the sludge is trapped on the filter screen 29 after being filtered by the filter screen 29.

[0068] When it is necessary to discharge the filtered sewage, the top block 57 is moved so as to keep it away from the sealing plate 56. At this time, the sealing plate 56 will rotate downward due to the loss of the support of the top block 57, exposing the drain port 55. As the sealing plate 56 rotates, the sewage in the filter box 28 can enter the discharge cavity of the U-shaped frame 27 through the drain port 55. Since the connecting cover 58 divides the U-shaped frame 27 into a discharge cavity and a connecting cavity, the sewage can only flow along the discharge cavity and finally be discharged through the discharge pipe 75. At the same time, the cleaning brush 44 and the drain pipe 76 start to work to clean the sludge adhered to the filter screen 29 to ensure the continuous and effective filtration of the filter screen 29. Through the setting of the filter box 28 and the filter screen 29, the sewage is effectively filtered and the sludge and other impurities therein are removed. At the same time, through the cooperation of the top block 57 and the sealing plate 56, the sewage is discharged quickly and efficiently.

[0069] In another embodiment of the present invention, a support plate 59 is fixedly installed on the bottom of the inner wall of the connecting cover 58, and two groups of fourth sprockets 60 are rotatably installed on one side of the support plate 59. Two fourth chains 61 are respectively sleeved on the two groups of the fourth sprockets 60, and the two fourth chains 61 are respectively fixedly connected to the two top blocks 57. A support plate 62 for supporting the fourth chains 61 is fixedly installed on one side of the support plate 59, and a support plate is fixedly installed on one side of the support plate 59. A switch device 63 for controlling the start of the high-pressure pump 34 and the water pump 30 is installed on one side of the support plate. Differential gears 64 are provided on one side of the connecting cover 58 and the fourth sprocket 60, and a group of differential gears 64 are meshed with each other.

[0070] In this embodiment, when drainage operation is required, the control system of the robot body 1 turns off the high-pressure pump 34 and the water pump 30. At the same time, the fourth sprocket 60 is rotated through the rotating rod 65. As the fourth sprocket 60 rotates, the fourth chain 61 starts to transmit. Since the top block 57 is fixedly connected to the fourth chain 61, the top block 57 will also move with the movement of the fourth chain 61. During this process, the roller on the top of the top block 57 slides along the bottom of the sealing plate 56, ensuring the smoothness and accuracy of the movement of the top block 57.

[0071] When the top block 57 moves to the bottom of the fourth sprocket 60, it loses its support for the sealing plate 56. At this time, the sealing plate 56 rotates downward due to gravity, exposing the drain port 55. At the same time, the sewage in the filter box 28 enters the discharge cavity of the U-shaped frame 27 through the drain port 55 and is finally discharged through the discharge pipe 75.

[0072] The differential gears 64 arranged on one side of the fourth sprocket 60 and the connecting cover 58 are meshed with each other. Their function is to ensure that during the transmission of the two fourth chains 61, the two top blocks 57 can move synchronously and smoothly, which helps to maintain the consistency of opening and closing of the sealing plate 56, thereby improving the efficiency and accuracy of liquid drainage. The design of the roller sliding on the bottom of the sealing plate 56 reduces the friction and noise during the movement of the top block 57. At the same time, the meshing of the differential gear 64 also ensures the stability of the chain transmission.

[0073] In another embodiment of the present invention, a rotating rod 65 is rotatably installed on the top of the inner wall of the U-shaped frame 27, a second telescopic cylinder 66 is installed on the output rod of the fourth sprocket 60, and a second circular plate 67 is fixedly installed on one end of the second telescopic cylinder 66 and the rotating rod 65, the two second circular plates 67 are in close contact, and a rotary encoder 68 is installed on the other end of the rotating rod 65.

[0074] In this embodiment, when the rotating rod 65 rotates, the rotation of the rotating rod 65 will be transmitted to the fourth sprocket 60 through the second circular plate 67, thereby driving the top block 57 to rotate. Since there is a definite mathematical relationship between the rotation of the rotating rod 65 and the rotation of the fourth sprocket 60, the position of the top block 57 can be indirectly known through the reading of the rotary encoder 68. Through the setting of the rotary encoder 68, the robot body 1 can obtain the position information of the top block 57 in real time, thereby realizing precise control of the entire sewage treatment process, which helps to improve the degree of automation and operating efficiency of the device.

[0075] In another embodiment of the present invention, a fixing plate 69 is installed at one end of the second telescopic cylinder 66, and an annular plate 70 is rotatably installed on the second telescopic cylinder 66, and the annular plate 70 is arranged opposite to the fixing plate 69. A second cylinder 71 is fixedly installed on one side of the connecting cover 58, and the second cylinder 71 is fixedly connected to the annular plate 70. A fixing rod is rotatably installed on the top of the filter box 28, and a fifth sprocket 72 is fixedly sleeved on one end of the fixing rod and the rotating rod 65, and a fifth chain 73 is sleeved on the two fifth sprockets 72, and a third bevel gear 74 is fixedly sleeved on the other end of the fixing rod and the connecting rod 43, and the two third bevel gears 74 are meshed with each other.

[0076] In this embodiment, when the top block 57 needs to be moved to a specified position, the control system of the robot body 1 will determine the current position of the top block 57 according to the predetermined value of the rotary encoder 68. Once the predetermined position is reached, the control system will automatically start the second cylinder 71, and the piston rod of the second cylinder 71 will extend to push the annular plate 70 closer to the fixed plate 69, and finally make the annular plate 70 in close contact with the fixed plate 69. Since the annular plate 70 is connected to the second telescopic cylinder 66, the second telescopic cylinder 66 will shrink at this time, and the two second circular plates 67 will break contact. In this way, the rotation of the rotating rod 65 is no longer restricted by the second telescopic cylinder 66, but Due to the close contact between the annular plate 70 and the fixed plate 69, the position of the top block 57 is fixed. Through the arrangement of the fifth sprocket 72, the fifth chain 73 and the third bevel gear 74, the synchronous rotation operation of the cleaning brush 44 and the top block 57 is realized, which not only improves the work efficiency, but also ensures the coordination and consistency of the cleaning brush 44 and the top block 57 during the operation. Through the coordinated use of the rotary encoder 68 and the second cylinder 71, the position of the top block 57 is accurately controlled, which helps to ensure that the top block 57 can be accurately moved to the specified position during the drainage operation, thereby avoiding damage to the filter box 28 and the sealing plate 56.

[0077] In another embodiment of the present invention, an anti-skid pad is fixedly installed on any one of the first circular plate 53, the second circular plate 67 and the fixed plate 69, and a clamping strip is installed on another one of the first circular plate 53, the second circular plate 67 and the annular plate 70, and the clamping strip is used in combination with the anti-skid pad.

[0078] In this embodiment, the use of anti-slip pads and clamping strips effectively increases the connection strength and stability between the first circular plate 53, the second circular plate 67, the fixed plate 69 and the annular plate 70, which helps to reduce the wear caused by the relative sliding of the components during the transmission process and improve the service life and performance of the equipment. At the same time, due to the close contact and stable connection between them, the problem of inaccurate position of the top block 57 caused by transmission errors is reduced, thereby improving the transmission accuracy and automation level of the entire equipment.

[0079] In another embodiment of the present invention, a drain pipe 76 for flushing the filter screen 29 is fixedly installed on the top of the inner wall of the filter box 28, a branch pipe is installed on the drain pipe 76, the branch pipe is fixedly connected to the connecting water pipe 14, and a valve is sleeved on the branch pipe, a protective cover 77 is installed on the vehicle body, and the protective cover 77 is covered on the processing box 6 and the filter box 28.

[0080] In this embodiment, when the sealing plate 56 is in the open state, the valve is opened at the same time (achieved through electromagnetic control or other automated means to ensure that the opening of the sealing plate 56 is synchronized with the opening of the valve), and the water pipe 14 is connected as a water source, and is connected to the drain pipe 76 through a branch pipe. When the valve is opened, the water in the connected water pipe 14 will flow into the drain pipe 76, and then spray out from the water outlet of the drain pipe 76 to flush the filter screen 29 in the filter box 28. During the flushing process, the cleaning brush 44 simultaneously cleans the sludge on the filter screen 29, and then the water flow will take away the dirt and impurities accumulated on the filter screen 29, keeping the filter screen 29 clean and unobstructed, thereby improving the sewage treatment efficiency and the service life of the filter screen 29.

[0081] In summary, compared with related technologies, this dredging robot solves the blockage problem caused by sludge agglomeration in the process of traditional dredging robots pumping silt, thereby effectively improving the dredging efficiency and anti-blocking effect.

[0082] In the several embodiments provided in this application, it should be understood that the disclosed device can be implemented in other ways.

[0083] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the scope of protection of the invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on these embodiments, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in this field can still combine, add, delete or make other adjustments to the features in the various embodiments of the present invention according to the circumstances without conflict, without making creative work, so as to obtain different other technical solutions that do not deviate from the concept of the present invention in essence, and these technical solutions also belong to the scope of protection of the present invention.

Claims

1. A new type of anti-blocking dredging robot, characterized in that: include: A robot body (1) and a high-pressure water pipe (3) provided on one side of the robot body (1) for initially crushing sludge; A sludge extraction bucket (4) for extracting sludge is arranged on one side of the high-pressure water pipe (3), and a cutter (5) for crushing sludge is rotatably installed in the sludge extraction bucket (4); A processing box (6) mounted on the robot body (1); A group of crushing rollers (7) rotatably installed in the processing box (6) for crushing agglomerated sludge; A connecting pipe (8) installed on one side of the processing box (6); A high-pressure nozzle (9) fixedly mounted on one side of the inner wall of the processing box (6) to prevent the opening of the connecting pipe (8) from being blocked; A water supply mechanism is provided on the robot body (1) and is used to supply water to the high-pressure nozzle (9).

2. The novel anti-blocking dredging robot according to claim 1 is characterized in that: The robot body (1) is composed of a body, a walking system (2), and a monitoring device (13); the walking system (2) is arranged at the bottom of the body, the monitoring device (13) is installed on the top of the body, a connecting pipe is installed on one side of the processing box (6), the connecting pipe is connected to the sludge extraction bucket (4), and a connecting water pipe (14) for supplying water to the high-pressure water pipe (3) is installed on the high-pressure water pipe (3).

3. The novel anti-blocking dredging robot according to claim 2 is characterized in that: A connecting block (10) is fixedly mounted on the top of the vehicle body, a connecting frame (11) is rotatably mounted on the connecting block (10), the connecting frame (11) is fixedly connected to the sludge suction bucket (4), a hydraulic cylinder (12) is hingedly mounted on the bottom of the vehicle body, and the other end of the hydraulic cylinder (12) is hingedly mounted to the connecting frame (11).

4. The novel anti-clogging dredging robot according to claim 3 is characterized in that: The processing box (6) is provided with a driving mechanism for driving a group of crushing rollers (7) to rotate, and the driving mechanism comprises: a group of connecting gears (15) all arranged on the top of the processing box (6), wherein a plurality of the connecting gears (15) are fixedly connected to an output rod of a group of the crushing rollers (7), and a group of the connecting gears (15) are meshed; A motor (18) fixedly mounted on one side of the processing box (6); A pulley (16) fixedly mounted on the output shaft of the motor (18) and the output rod of any one of the connecting gears (15); A first belt (17) is sleeved on the two belt pulleys (16).

5. The novel anti-blocking dredging robot according to claim 4 is characterized in that: A connecting gear (19) is rotatably mounted on one side of the connecting block (10) and the connecting frame (11), and the two connecting gears (19) are meshed with each other. The connecting gear (19) on the connecting frame (11) and the output rod of the cutter (5) are both fixedly sleeved with a first sprocket (20), and the two first sprockets (20) are sleeved with a first chain (21).

6. The novel anti-blocking dredging robot according to claim 5 is characterized in that: A round rod (22) is rotatably mounted on one side of the processing box (6); a second sprocket (23) is fixedly sleeved on the top of the round rod (22) and on the output rod of any one of the connecting gears (15); a second chain (24) is sleeved on the two second sprockets (23); a connecting rod (25) is rotatably mounted on the top of the vehicle body; first bevel gears (26) are fixedly sleeved on both ends of the connecting rod (25), the round rod (22) and the output rod of the connecting gear (19); and two sets of the first bevel gears (26) are meshed with each other.

7. The novel anti-clogging dredging robot according to claim 2 is characterized in that: The water supply mechanism comprises: A U-shaped frame (27) is fixedly mounted on the top of the vehicle body, and a filter box (28) is mounted on the top of the U-shaped frame (27); A plurality of filter screens (29) which are detachably mounted in the filter box (28) and are used for multi-stage filtering of sewage; A water pump (30) is fixedly mounted on the top of the U-shaped frame (27), wherein a drainage end of the water pump (30) is fixedly connected to the filter box (28); A filter cartridge (33) is provided on one side of the vehicle body and is used to extract sewage, and a connecting pipe is installed on the filter cartridge (33); A bellows (35) installed at one end of the connecting pipe, and the bellows (35) is connected to the water pumping end of the water pump (30); A high-pressure pump (34) is installed on the top of the U-shaped frame (27), and two ends of the high-pressure pump (34) are respectively connected to the high-pressure nozzle (9) and the filter box (28).

8. The novel anti-clogging dredging robot according to claim 7 is characterized in that: An electric telescopic rod (31) is installed on the top of the vehicle body, an L-shaped plate (32) is fixedly installed on the electric telescopic rod (31), the L-shaped plate (32) is fixedly connected to the filter cartridge (33), and a strap for fixing the connection pipe is provided on one side of the L-shaped plate (32).

9. The novel anti-blocking dredging robot according to claim 8, characterized in that: A connecting cylinder (36) is fixedly mounted on the bottom of the inner wall of the filter cartridge (33), hammer rods (37) are rotatably mounted on both sides of the connecting cylinder (36), and the two hammer rods (37) are respectively in rotatable contact with the two sides of the inner wall of the filter cartridge (33), an I-shaped rod (38) is slidably mounted on the bottom of the filter cartridge (33), a return spring (39) is sleeved on the I-shaped rod (38), two ends of the return spring (39) are respectively fixedly connected to the I-shaped rod (38) and the bottom of the filter cartridge (33), and the top of the I-shaped rod (38) is in contact with the two hammer rods (37).

10. The novel anti-clogging dredging robot according to claim 9, characterized in that: A buffer spring (40) is fixedly mounted on the top of the inner wall of the connecting cylinder (36), and a pressure plate (41) is fixedly mounted on the bottom of the buffer spring (40), wherein the pressure plate (41) contacts the surfaces of the two hammer rods (37).

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