A new anti-clogging dredging robot

Abstract

The present invention is applicable to the technical field of silt-clearing robots and provides a new type of anti-clogging silt-clearing robot, comprising a robot body and a high-pressure water pipe provided on one side of the robot body for initially crushing sludge; a silt extraction bucket provided on one side of the high-pressure water pipe for extracting silt, wherein a cutter for crushing sludge is rotatably installed in the silt extraction bucket; a processing box installed on the robot body; a set 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 for preventing clogging of the connecting pipe; and a water supply mechanism provided on the robot body for supplying water to the high-pressure nozzle. The new anti-clogging silt-clearing robot provided by this solution solves the problem of clogging caused by sludge agglomeration in traditional silt-clearing robots during silt extraction, thereby effectively improving the silt-clearing efficiency and the advantages of anti-clogging effect.

Description

Technical Field

[0001] The present 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 a large number of 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 dredging pipe to achieve the dredging effect. Since the sludge will clump during the sedimentation process, and traditional dredging robots are unable to break up the clumped sludge, it is very easy for the clumped sludge to be blocked in the dredging pipe during the dredging process, affecting the dredging efficiency. Summary of the Invention

[0004] The present invention provides a novel anti-clogging dredging robot, which aims to solve the problem in the above background technology that the traditional dredging robot cannot break up the agglomerated sludge, which easily causes the sludge to clog the dredging pipe.

[0005] To solve the above problems, the present invention is implemented as follows: a new type of anti-clogging dredging robot includes: a robot body and a high-pressure water pipe provided on one side of the robot body for preliminarily crushing sludge; a sludge extraction bucket provided on one side of the high-pressure water pipe for extracting sludge, a cutter for crushing sludge being rotatably installed in the sludge 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 for preventing the pipe mouth of the connecting pipe from being blocked; and a water supply mechanism provided 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, the processing box is provided with a driving mechanism for driving a group of crushing rollers to rotate, and the driving mechanism includes: a group of connecting gears all provided on the top of the processing box, wherein a plurality of the connecting gears are fixedly connected to the output rods of a group of crushing rollers, and a group of the connecting gears are engaged with each other; 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 mounted on the top of the vehicle body, with a filter box mounted on the top of the U-shaped frame; a plurality of filter screens that are detachably mounted in the filter box for multi-stage filtration of sewage; a water pump fixedly mounted on the top of the U-shaped frame, with the drainage end of the water pump fixedly connected to the filter box; a filter cartridge for extracting sewage provided on one side of the vehicle body, with a connecting pipe mounted on the filter cartridge; a bellows mounted at one end of the connecting pipe, and the bellows connected to the pumping end of the water pump; a high-pressure pump mounted on the top of the U-shaped frame, with both ends of the high-pressure pump 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 on 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 on 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 installed on the top of the inner wall of the connecting cylinder, and a pressure plate is fixedly installed on the bottom of the buffer spring, and the pressure plate contacts the surfaces of the two hammer rods.

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

[0016] Compared with the existing technology, the new anti-clogging dredging robot provided by this solution uses the initial crushing of high-pressure water pipes and cutters, and the secondary crushing of crushing rollers. The dredging robot can ensure that the sludge is fully crushed during the sludge extraction process, avoiding the problem of clogging of the sludge extraction pipe caused by sludge agglomeration, thereby improving the dredging efficiency. High-pressure water is sprayed into the connecting pipe through a high-pressure nozzle and is extracted synchronously with the sludge. This not only enhances the fluidity of the sludge, but also effectively prevents the clogging of the connecting pipe and the sludge extraction pipe, further improving the anti-clogging effect of the sludge 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 This 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 This is a schematic diagram of a rear cross-sectional structure 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 new anti-clogging dredging robot provided by the present invention;

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

[0022] Figure 5 This 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 cross-section of the processing box and the crushing roller provided by the present invention;

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

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

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

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

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

[0029] Figure 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] Figure 13 It is a three-dimensional structural schematic diagram of a set of differential sprockets provided by the present invention;

[0031] Figure 14 for Figure 2 Schematic diagram of the enlarged structure of part A shown in FIG;

[0032] Figure 15 for Figure 5 Schematic diagram of the enlarged structure of part B shown in FIG;

[0033] Figure 16 for Figure 4 Schematic diagram of the enlarged structure of part C shown in;

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

[0035] Figure 1: 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 cylinder; 37. Hammer rod; 38. I-shaped rod; 39. Return spring; 40. Buffer spring; 41, pressure plate; 42, connecting box; 43, connecting 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 circular 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 those skilled in the art to which this application belongs; the terms used herein in the specification of the application are for the purpose of describing specific embodiments only and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the description of the above-mentioned drawings are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of this application or the above-mentioned drawings 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, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention.

[0037] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, 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 new anti-clogging dredging robot, such as Figure 1-17 As shown, the new anti-clogging silt cleaning robot includes: a robot body 1 and a high-pressure water pipe 3 provided on one side of the robot body 1 for preliminarily crushing sludge; a silt extraction bucket 4 provided on one side of the high-pressure water pipe 3 for extracting silt, wherein a cutter 5 for crushing sludge is rotatably installed in the silt extraction bucket 4; 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 provided 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 undergone preliminary crushing is pumped into the treatment box 6. Inside 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 silt are simultaneously extracted by the silt extraction pipe, which not only enhances the fluidity of the sludge, but also effectively prevents blockage of the connecting pipe 8 and the silt extraction pipe.

[0041] Through the initial crushing by the high-pressure water pipe 3 and the cutter 5, and the secondary crushing by the crushing roller 7, the dredging robot can ensure that the sludge is fully crushed during the sludge extraction process, avoiding the problem of clogging of the sludge 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 sludge. This not only enhances the fluidity of the sludge, but also effectively prevents the clogging of the connecting pipe 8 and the sludge extraction pipe, further improving the anti-clogging effect of the sludge extraction pipe.

[0042] In a further preferred embodiment of the present invention, the robot body 1 is composed of a vehicle body, a walking system 2, and a monitoring device 13. The walking system 2 is arranged at the bottom of the vehicle body, the monitoring device 13 is installed on the top of the vehicle 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 via its travel system 2. The monitoring device 13 is activated for real-time monitoring. The silt extraction bucket 4 begins operation, extracting silt from the pool and transferring it to the treatment tank 6 through a connecting pipe. The monitoring device 13 comprises a camera and lighting. The camera captures the desilting process and environmental conditions in real time, while the lighting ensures clear monitoring even in low-light conditions. Through the monitoring device 13, an operator can remotely monitor the operating status of the robot body 1, identifying any problems and making adjustments. The camera and lighting of the monitoring device 13 enable real-time monitoring of the desilting process and environmental conditions, ensuring the operator can remotely monitor the robot's operating status, identify any problems, and make adjustments, thereby improving the safety and reliability of desilting operations.

[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. 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 of which are provided on the top of the processing box 6, wherein a plurality of the connecting gears 15 are fixedly connected to the output rods of a group of crushing rollers 7, and a group of the connecting gears 15 are engaged with each other; 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 the two 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 performs secondary crushing on the sludge to ensure that the lumps in the sludge are completely broken up, so as to facilitate the subsequent connecting pipe 8 to extract the sludge in the treatment 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 engaged 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 the other first sprocket 20 and the output rod of the cutter 5 to rotate through the first chain 21, so that the cutter 5 can preliminarily crush the sludge. 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, the automatic drive of the cutter 5 is realized. 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 the two second sprockets 23. 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 the 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. Through the ingenious combination of the chain and the bevel gear, the power transmission between the crushing roller 7 and the cutter 5 is realized. This design not only simplifies the structure of the robot body 1, but also improves the efficiency and stability of the 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 filtration 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 for extracting sewage provided on one side of the vehicle body, 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. 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 discharge 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 the sewage and filtering it and then using it for spraying by the high-pressure nozzle 9, water resources are effectively saved. The multi-stage filtration filter screens 29 and filter cartridges 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 the two 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] When the filter cartridge 33 is cleaned, 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. 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 electric telescopic rod 31 drives the filter cartridge 33 to move up and down, 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. The adhered sludge can be removed without manual intervention, thereby improving the automation level 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 cylinder 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, assisting the hammer rod 37 to reset to its initial V-shaped state. At the same time, the reset spring 39 also continues to push the I-beam 38 to slide down to its initial position, preparing for the next hammering action. By adding the buffer spring 40, the hammer rod 37 can be more stably reset to its initial state after hammering the filter cartridge 33, 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 this 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 mounted in the filter box 28; a plurality of connecting rods 43 rotatably mounted on the filter box 28 and the plurality of connecting boxes 42; a cleaning brush 44 rotatably mounted 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 provided 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 one of the connecting rods 43 and the connecting gear 15, and a second belt 50 is provided 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, causing it to rotate and clean 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 silt cleaning robot are improved. By adopting a chain transmission system (third sprocket 46 and 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. 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, thereby disconnecting the two first circular plates 53, causing the connecting rod 43 to lose its power source, thereby stopping the cleaning brush 44 from 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 connected to 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. The connecting cover 58 separates the U-shaped frame 27 into a discharge cavity and a connection cavity. 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. A discharge pipe 75 is fixedly installed on one side of the U-shaped frame 27, and the discharge pipe 75 is connected to the discharge cavity.

[0067] In this embodiment, the sealing plate 56 is fixed to the bottom of the filter box 28 by the close contact of the top block 57, thereby sealing the multiple drainage ports 55. At this time, 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 that it is 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 is able to enter the discharge cavity of the U-shaped frame 27 through the drain port 55. Since the connecting cover 58 separates 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 working to clean the sludge adhered to the filter screen 29 to ensure the continuous and effective filtration of the filter screen 29. Through the arrangement of the filter box 28 and the filter screen 29, effective filtration of the sewage is achieved, and impurities such as sludge are removed. At the same time, through the cooperation of the top block 57 and the sealing plate 56, rapid and efficient discharge of sewage is achieved.

[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 supporting 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 rotates 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 engaged with each other. Their function is to ensure that the two top blocks 57 can move synchronously and smoothly during the transmission of the two fourth chains 61, which helps to maintain the consistency of opening and closing of the sealing plate 56, thereby improving the efficiency and accuracy of 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 engagement of the differential gear 64 also ensures the smoothness 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 certain 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 fixed 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. The annular plate 70 is arranged opposite to the fixed plate 69. A second cylinder 71 is fixedly installed on one side of the connecting cover 58. The second cylinder 71 is fixedly connected to the annular plate 70. A fixed rod is rotatably installed on the top of the filter box 28. A fifth sprocket 72 is fixedly sleeved on one end of the fixed rod and the rotating rod 65. A fifth chain 73 is sleeved on the two fifth sprockets 72. A third bevel gear 74 is fixedly sleeved on the other end of the fixed rod and the connecting rod 43. 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 process. Through the coordinated use of the rotary encoder 68 and the second cylinder 71, precise control of the position of the top block 57 is achieved, 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-slip 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 clip is installed on another one of the first circular plate 53, the second circular plate 67 and the annular plate 70, and the clip is used in conjunction with the anti-slip pad.

[0078] In this embodiment, the combination of anti-slip pads and card strips effectively increases the connection strength and stability between components such as 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 relative sliding of 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, and 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 provided on the branch pipe. A protective cover 77 is installed on the vehicle body, and the protective cover 77 is covered on the treatment 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). 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 be sprayed 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 will simultaneously clean the sludge on the filter screen 29. After that, 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] To sum up, compared with related technologies, this dredging robot solves the blockage problem caused by sludge agglomeration during the silt extraction process of traditional dredging robots, 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 embodiments described 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 fall within the scope of protection of the present invention.

Claims

1. A new anti-clogging 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 preliminarily crushing sludge; A sludge extraction bucket (4) for extracting sludge is provided on one side of the high-pressure water pipe (3), wherein 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 set of crushing rollers (7) rotatably mounted in the treatment 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 treatment box (6) for preventing the nozzle of the connecting pipe (8) from being blocked; The robot body (1) is composed of a vehicle body, a walking system (2), and a monitoring device (13); the walking system (2) is arranged at the bottom of the vehicle body; the monitoring device (13) is installed on the top of the vehicle 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); A water supply mechanism is provided on the robot body (1) for supplying water to the high-pressure nozzle (9), the water supply mechanism comprising: a U-shaped frame (27) fixedly mounted on the top of the vehicle body, a filter box (28) being mounted on the top of the U-shaped frame (27); a plurality of filter screens (29) 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), a drainage end of the water pump (30) being fixedly connected to the filter box (28); a filter cartridge (33) for extracting sewage, provided on one side of the vehicle body, a connecting pipe being mounted on the filter cartridge (33); a bellows (35) mounted at one end of the connecting pipe, the bellows (35) being connected to the water extraction end of the water pump (30); a high-pressure pump (34) mounted on the top of the U-shaped frame (27), the two ends of the high-pressure pump (34) being respectively connected to the high-pressure nozzle (9) and the filter box (28); 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); 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). An I-shaped rod (38) is slidably installed at the bottom of the filter cartridge (33), and a reset spring (39) is sleeved on the I-shaped rod (38). The two ends of the reset 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).

2. The novel anti-clogging dredging robot according to claim 1 is characterized in that: 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 silt extraction bucket (4), and a hydraulic cylinder (12) is hinged on the bottom of the vehicle body, and the other end of the hydraulic cylinder (12) is hinged to the connecting frame (11).

3. The novel anti-clogging dredging robot according to claim 2 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 includes: a group of connecting gears (15) each provided 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 an output rod of any one of the connecting gears (15); A first belt (17) is sleeved on the two pulleys (16).

4. The novel anti-clogging dredging robot according to claim 3 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).

5. The novel anti-clogging dredging robot according to claim 4 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 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 groups of the first bevel gears (26) are meshed with each other.

6. The novel anti-clogging dredging robot according to claim 1, characterized in that: A buffer spring (40) is fixedly installed on the top of the inner wall of the connecting cylinder (36), and a pressure plate (41) is fixedly installed on the bottom of the buffer spring (40). The pressure plate (41) contacts the surfaces of the two hammer rods (37).

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