Multi-angle flexible control mechanism and control method for mechanical arm of dredging robot

Abstract

The invention relates to the technical field of automatic control, and discloses a dredging robot mechanical arm multi-angle flexible control mechanism and a control method.The dredging robot mechanical arm multi-angle flexible control mechanism comprises a swing assembly, a swing part, a swing frame, a moving block, a driving frame, a centrifugal block, an eccentric wheel and a motor, and the moving block is located on one side of the swing frame; the driving frame is arranged on one side of the swing frame, the centrifugal block is fixed to one end of the driving frame, the eccentric wheel is fixed to one side of the centrifugal block, the motor is fixed to one end of the eccentric wheel, and the cleaning assembly is arranged on one side of the swing frame. The mechanical arm has the beneficial effects that the angle of the mechanical arm can be adjusted left and right, the mechanical arm can break through the limitation of a single plane by adjusting the angle left and right, the working range of the mechanical arm is greatly expanded, the mechanical arm can easily touch areas on the two sides which cannot be reached originally, and therefore comprehensive cleaning of sludge in the whole working area is achieved; desilting dead angles are reduced, and the desilting coverage rate is increased.

Description

Technical Field

[0001] The present invention relates to the field of automation control technology, and in particular to a multi-angle flexible control mechanism and a control method for a mechanical arm of a dredging robot. Background Art

[0002] The dredging robot is an automated equipment, which is mainly used in water conservancy, municipal engineering, port and waterway projects. It uses excavation tools to clean the silt in the bottom of the water, sewers, waterways and other places, and has the functions of transporting silt, flexibly moving and positioning in the working environment. The hydraulic pump station on the dredging robot is a device that provides power for the robot's hydraulic system. It converts mechanical energy into hydraulic energy and drives the dredging robot's mechanical arm, cutter head, crawler and other parts to move through hydraulic oil, so that the robot can complete operations such as excavation, silt transportation and movement in the workplace. The hydraulic pump station is connected to the robot through pipelines to provide power for the robot, and the hydraulic pump station is not set on the robot body, which can greatly reduce the size of the robot body. The mechanical arm is similar to the dredging robot. The parts of the arm are mainly used for grabbing, digging and cleaning silt. By adjusting the angle, the robotic arm can adapt to different working environments and silt locations, accurately place the cutter head in the area that needs to be cleaned, and flexibly adjust the digging depth and direction to improve dredging efficiency. In terms of angle adjustment, the robotic arm has a supporting structure to achieve flexible changes in the up and down directions. However, in its design and structure, no corresponding adjustment mechanism is set to achieve the left and right position adjustment function. The inability to adjust the angle left and right will cause the robotic arm to move up and down only within one plane, which greatly limits its working range. The robotic arm may not be able to reach the silt on both sides, resulting in incomplete dredging. Manual or other equipment is required to assist in cleaning the silt on both sides, increasing the workload and time cost of dredging. Summary of the invention

[0003] The purpose of this section is to summarize some aspects of embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and the invention title of this application to avoid blurring the purpose of this section, the specification abstract and the invention title, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0004] In view of the above-mentioned and / or existing problems in the multi-angle flexible control mechanism and control method of the mechanical arm of a dredging robot, the present invention is proposed.

[0005] Therefore, the problem to be solved by the present invention is that the robot arm has no left and right adjustment mechanism, which limits its working range and makes it unable to reach the silt on both sides, resulting in incomplete dredging. It requires manual labor or other equipment, which increases the workload and time cost of dredging.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions: a multi-angle flexible control mechanism and control method of a dredging robot mechanical arm, which comprises a swing assembly, a swing member, a swing frame, a moving block, a driving frame, a centrifugal block, an eccentric wheel and a motor, wherein the moving block is located on one side of the swing frame, the driving frame is arranged on one side of the swing frame, the centrifugal block is fixed to one end of the driving frame, the eccentric wheel is fixed to one side of the centrifugal block, and the motor is fixed to one end of the eccentric wheel; A cleaning assembly is arranged on one side of the swinging member, and includes a cleaning member, including a cleaning roller, a toothed wheel, a driving wheel, a movable shell, a rotating rod and a block. The cleaning roller is arranged on one side of the swinging frame, the toothed wheel is fixed on one side of the cleaning roller, the driving wheel is arranged on one side of the toothed wheel, the movable shell is fixed on one side of the driving wheel, the rotating rod is inserted into one side of the movable shell, the rotating rod and the movable shell are movably connected, and the block is fixed on one side of the rotating rod.

[0007] As a preferred solution of the multi-angle flexible control mechanism and control method of the dredging robot mechanical arm described in the present invention, wherein: the swing assembly also includes a support member, which is arranged on the swing frame, a first support rod is fixed at one end of the swing frame, the moving block is sleeved on the outside of the first support rod, the moving block and the first support rod are movably connected, a second support rod is fixed in the swing frame, the second support rod is fixed to one side of the driving frame, and a support block is sleeved on the outside of the motor.

[0008] As an optimal solution of the multi-angle flexible control mechanism and control method of the dredging robot mechanical arm described in the present invention, wherein: a slider is fixed on the top of the moving block, a connecting frame is sleeved on the outside of the slider, the slider and the connecting frame are movably connected, and a positioning frame is fixed on the top of the connecting frame.

[0009] As a preferred solution of the multi-angle flexible control mechanism and control method of the dredging robot mechanical arm described in the present invention, the cleaning component also includes a moving part, which is arranged on the cleaning roller, and a protective cover is provided on the outer side of the cleaning roller, and a positioning block is provided on the outer side of the toothed wheel, and the positioning block and the toothed wheel are rotatably connected through a rotating shaft.

[0010] As a preferred solution of the multi-angle flexible control mechanism and control method of the dredging robot mechanical arm described in the present invention, wherein: a connecting block is sleeved on the outer side of the rotating rod, the connecting block and the rotating rod are movably connected, a spring is fixed on one side of the connecting block, and the spring is fixed to one side of the movable shell.

[0011] As a preferred solution of the multi-angle flexible control mechanism and control method of the dredging robot mechanical arm described in the present invention, wherein: a first pulley is fixed to one end of the rotating rod, a belt is sleeved on the outside of the first pulley, a second pulley is arranged inside the belt, and a rotating wheel is fixed to one end of the second pulley.

[0012] As an optimal solution of the multi-angle flexible control mechanism and control method of the dredging robot mechanical arm described in the present invention, wherein: a moving ring is sleeved on the outer side of the movable shell, the moving ring and the movable shell are rotatably connected via a rotating shaft, a moving frame is sleeved on the outer side of the moving ring, the moving frame and the moving ring are hinged, a rocker arm is fixed at one end of the moving frame, an extrusion rod is fixed at one side of the rocker arm, a pulley is arranged at one end of the extrusion rod, the pulley and the extrusion rod are rotatably connected via a bearing, and a torsion spring is fixed at the bottom of the rocker arm.

[0013] As a preferred solution of the multi-angle flexible control mechanism and control method of the dredging robot mechanical arm described in the present invention, it also includes a main body component, which is arranged on the swing frame, including a dredging robot body and a track, the dredging robot body is sleeved on the outside of the swing frame, the swing frame and the dredging robot body are rotatably connected through bearings, and the track is arranged at the bottom of the dredging robot body.

[0014] As a preferred solution of the multi-angle flexible control mechanism and control method of the dredging robot mechanical arm described in the present invention, wherein: a mechanical arm body is arranged on one side of the moving block, and a reamer head is arranged on one end of the mechanical arm body.

[0015] The beneficial effects of the present invention are as follows: the angle of the robotic arm can be adjusted left and right. Being able to adjust the angle left and right allows the robotic arm to break through the limitation of a single plane, greatly expanding its working range, so that the robotic arm can easily reach areas on both sides that were originally inaccessible, thereby achieving comprehensive cleaning of silt in the entire working area, reducing dredging dead corners, and improving dredging coverage. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them: Figure 1 This is the overall structural diagram of the multi-angle flexible control mechanism and control method of the dredging robot manipulator arm.

[0017] Figure 2 Multi-angle flexible control mechanism and control method for the manipulator arm of a dredging robot Figure 1A partial enlarged structural diagram in the middle.

[0018] Figure 3 The track structure diagram of the multi-angle flexible control mechanism and control method of the dredging robot manipulator arm.

[0019] Figure 4 The swing frame structure diagram of the multi-angle flexible control mechanism and control method of the dredging robot manipulator arm.

[0020] Figure 5 The diagram shows the cleaning roller structure of the multi-angle flexible control mechanism and control method of the dredging robot arm.

[0021] Figure 6 The torsion spring structure diagram of the multi-angle flexible control mechanism and control method of the dredging robot manipulator arm.

[0022] Figure 7 This is a structural diagram of the driving wheels of the multi-angle flexible control mechanism and control method of the manipulator arm of the dredging robot. DETAILED DESCRIPTION

[0023] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0024] Example 1 Reference Figure 2~Figure 7 , which is the first embodiment of the present invention, and this embodiment provides a multi-angle flexible control mechanism and control method for a dredging robot arm. The multi-angle flexible control mechanism and control method for a dredging robot arm include a swing component 200, a cleaning component 300 and a main body component 100. The three can cooperate to achieve comprehensive cleaning of silt in the entire working area, reduce dredging dead corners, and improve dredging coverage.

[0025] The swing assembly 200 includes a swing member 201, including a swing frame 201a, a moving block 201b, a driving frame 201c, a centrifugal block 201d, an eccentric wheel 201e and a motor 201f. The moving block 201b is located on one side of the swing frame 201a, the driving frame 201c is arranged on one side of the swing frame 201a, the centrifugal block 201d is fixed to one end of the driving frame 201c, the eccentric wheel 201e is fixed to one side of the centrifugal block 201d, and the motor 201f is fixed to one end of the eccentric wheel 201e.

[0026] There are two moving blocks 201b, both of which are hinged to one side of the robot body 103. When the angle of the robot body 103 needs to be adjusted, the motor 201f is started, and the rotation of the motor 201f can drive the eccentric wheel 201e to rotate. At this time, the rotation of the eccentric wheel 201e will drive the centrifugal block 201d to rotate, and the rotation of the centrifugal block 201d can drive the driving frame 201c to move. The driving frame 201c can drive the swing frame 201a to move by moving, and the movement of the swing frame 201a can drive the moving block 201b to move. The moving block 201b can drive the robot body 103 to move by moving. The robot body 103 can be adjusted to different angles by rotating the motor 201f in different directions. The motor 201f is fixed to the inner wall of the dredging robot body 101.

[0027] The cleaning assembly 300 is arranged on one side of the swing member 201, and includes a cleaning member 301, including a cleaning roller 301a, a toothed wheel 301b, a driving wheel 301c, a movable shell 301d, a rotating rod 301e and a block 301f. The cleaning roller 301a is arranged on one side of the swing frame 201a, the toothed wheel 301b is fixed to one side of the cleaning roller 301a, the driving wheel 301c is arranged on one side of the toothed wheel 301b, the movable shell 301d is fixed to one side of the driving wheel 301c, the rotating rod 301e is inserted into one side of the movable shell 301d, the rotating rod 301e and the movable shell 301d are movably connected, and the block 301f is fixed to one side of the rotating rod 301e.

[0028] There are two groups of cleaning parts 301, both of which are set on the track 102. After the robot body 103 is adjusted to a specified angle, the corresponding track 102 will be exposed. At this time, the corresponding track 102 can be cleaned by rotating the cleaning roller 301a to prevent the track 102 from being contaminated with too many impurities.

[0029] The toothed wheel 301b is provided with toothed grooves corresponding to the driving wheel 301c. When the swing frame 201a moves, the movable shell 301d can be squeezed to make it move, and the movement of the movable shell 301d can drive the driving wheel 301c to move, so that the driving wheel 301c is engaged with the toothed wheel 301b. At this time, the movement of the crawler 102 can drive the rotating rod 301e to rotate, and the rotating rod 301e drives the clamping block 301f to rotate. The rotation of the clamping block 301f can drive the movable shell 301d to rotate, and the rotation of the movable shell 301d drives the driving wheel 301c to rotate. The driving wheel 301c can drive the toothed wheel 301b to rotate by rotating, and the cleaning roller 301a can be driven to rotate by the rotation of the toothed wheel 301b, so that the surface of the crawler 102 can be cleaned.

[0030] Example 2 Reference Figure 2~Figure 7, which is the second embodiment of the present invention, and this embodiment is based on the previous embodiment.

[0031] Specifically, the swing assembly 200 also includes a support member 202, which is arranged on the swing frame 201a, a first support rod 202a is fixed at one end of the swing frame 201a, a moving block 201b is sleeved on the outside of the first support rod 202a, the moving block 201b and the first support rod 202a are movably connected, a second support rod 202b is fixed in the swing frame 201a, the second support rod 202b is fixed to one side of the driving frame 201c, and a support block 202c is sleeved on the outside of the motor 201f.

[0032] The first support rod 202a is provided to support the moving block 201b to prevent the moving block 201b from shifting during movement. The driving frame 201c can drive the second support rod 202b to move during movement. At this time, the movement of the second support rod 202b can drive the swing frame 201a to move. The support block 202c is fixed in the dredging robot body 101. The support block 202c is sleeved on the outside of the output shaft of the motor 201f and is rotatably connected to the motor 201f through a rotating shaft. The support block 202c can support the motor 201f to prevent the motor 201f from shifting.

[0033] Specifically, a slider 202d is fixed on the top of the moving block 201b, a connecting frame 202e is sleeved on the outside of the slider 202d, the slider 202d and the connecting frame 202e are movably connected, and a positioning frame 202f is fixed on the top of the connecting frame 202e.

[0034] The connecting frame 202e and the positioning frame 202f are both fixed on one side of the dredging robot body 101, and a slide groove corresponding to the slider 202d is opened on the dredging robot body 101. When the swing frame 201a drives the moving block 201b to move, it can drive the slider 202d to slide on the connecting frame 202e. At this time, the moving block 201b can be supported to prevent the moving block 201b from shifting during movement. The positioning frame 202f is used to support the connecting frame 202e.

[0035] Specifically, the cleaning assembly 300 also includes a moving part 302, which is arranged on the cleaning roller 301a. A protective cover 302a is sleeved on the outside of the cleaning roller 301a, and a positioning block 302b is sleeved on the outside of the toothed wheel 301b. The positioning block 302b and the toothed wheel 301b are rotatably connected through a rotating shaft.

[0036] The protective cover 302a is fixed to one side of the dredging robot body 101. The cleaning roller 301a can be protected by the setting of the protective cover 302a. The positioning block 302b is fixed to the inner wall of the dredging robot body 101. The toothed wheel 301b can be supported by the setting of the positioning block 302b to prevent the toothed wheel 301b from being offset.

[0037] Specifically, a connecting block 302c is sleeved on the outer side of the rotating rod 301e, and the connecting block 302c is movably connected to the rotating rod 301e. A spring 302d is fixed to one side of the connecting block 302c, and the spring 302d is fixed to one side of the movable shell 301d.

[0038] The connecting block 302c is fixed to the inner wall of the dredging robot body 101. The connecting block 302c can be set to support the rotating rod 301e to prevent the rotating rod 301e from being offset. When the movable shell 301d moves to drive the toothed wheel 301b and the driving wheel 301c to engage, the movable shell 301d will drive the spring 302d to move. At this time, a pulling force can be applied to the spring 302d. When it is necessary to separate the toothed wheel 301b and the driving wheel 301c, the rebound force of the spring 302d can drive the driving wheel 301c to move and separate from the toothed wheel 301b.

[0039] Specifically, a first pulley 302e is fixed to one end of the rotating rod 301e, a belt 302f is sleeved on the outer side of the first pulley 302e, a second pulley 302g is arranged inside the belt 302f, and a rotating wheel 302h is fixed to one end of the second pulley 302g.

[0040] A block is provided on the rotating wheel 302h, and a slot corresponding to the block is opened on the crawler 102. The rotating wheel 302h is meshed with the crawler 102. When the crawler 102 rotates, the rotating wheel 302h can be driven to rotate. The rotation of the rotating wheel 302h can drive the second pulley 302g to rotate, and the second pulley 302g drives the belt 302f to rotate. The rotation of the belt 302f can drive the first pulley 302e to rotate. The rotation of the first pulley 302e can drive the rotating rod 301e to rotate. When the toothed wheel 301b and the driving wheel 301c are engaged, the rotation of the rotating rod 301e can drive the cleaning roller 301a to rotate to clean the surface of the crawler 102.

[0041] Example 3 Reference Figure 1 to Figure 7 , which is the third embodiment of the present invention, and is based on the first two embodiments.

[0042] Specifically, a moving ring 302i is sleeved on the outer side of the movable shell 301d, and the moving ring 302i and the movable shell 301d are rotatably connected through a rotating shaft, a moving frame 302j is sleeved on the outer side of the moving ring 302i, and the moving frame 302j and the moving ring 302i are hinged, a rocker rod 302k is fixed at one end of the moving frame 302j, an extrusion rod 302l is fixed on one side of the rocker rod 302k, a pulley 302m is arranged at one end of the extrusion rod 302l, the pulley 302m and the extrusion rod 302l are rotatably connected through a bearing, and a torsion spring 302n is fixed at the bottom of the rocker rod 302k.

[0043] When the swing frame 201a moves, the pulley 302m can be squeezed to make it move. At this time, the movement of the pulley 302m can drive the squeezing rod 302l to move, and the movement of the squeezing rod 302l can drive the swing rod 302k to move. The swing rod 302k is rotatably connected to the inner wall of the dredging robot body 101 through a rotating shaft, and the torsion spring 302n is fixed to the inner wall of the dredging robot body 101. When the swing rod 302k moves, it can apply a torsional force to the torsion spring 302n. The movement of the swing rod 302k drives the moving frame 302j to move, and the movement of the moving frame 302j can drive the moving ring 302i to move. At this time, the movement of the moving ring 302i can drive the movable shell 301d to move. When the swing frame 201a releases the squeezing of the pulley 302m, the force of the rotation of the torsion spring 302n can drive the swing rod 302k to return to its original position, thereby driving the toothed wheel 301b and the driving wheel 301c to separate.

[0044] Specifically, it also includes a main body component 100, which is arranged on a swing frame 201a, including a dredging robot body 101 and a track 102. The dredging robot body 101 is sleeved on the outside of the swing frame 201a, the swing frame 201a and the dredging robot body 101 are rotatably connected through bearings, and the track 102 is arranged at the bottom of the dredging robot body 101.

[0045] The dredging robot body 101 is used to clean silt in environments such as the bottom of the water, sewers, and ports. The tracks 102 allow the dredging robot body 101 to move in a complex working environment, so that the dredging robot body 101 can stably travel to the location where dredging is required, ensuring that the dredging work is carried out smoothly.

[0046] Specifically, a robot body 103 is disposed on one side of the moving block 201 b , and a reamer head 104 is disposed on one end of the robot body 103 .

[0047] The robot arm body 103 is an important component of the dredging robot, which mainly plays the role of connection and support. It can flexibly adjust the position and posture and accurately deliver the auger head 104 to the dredging area. The auger head 104 is a tool for cleaning silt. It shreds and stirs the silt through rotation and other actions, making the silt easier to clean and transport later.

[0048] Specifically, when using the dredging robot body 101, the system is first started, and the sensor starts working to collect the angle data of each joint of the robot arm body 103 and the force it receives during operation in real time, and transmit these data to the control system; The control system quickly calculates the angle adjustment of each joint required for the robot body 103 to achieve the target desilting position and posture based on the built-in kinematic model and algorithm and combined with the sensor feedback information; The operator can manually fine-tune the angle of the robot arm body 103 according to the actual dredging situation through the remote control device, or start the preset programming instructions to let the robot arm body 103 automatically operate according to the established angle change sequence, thereby flexibly and accurately controlling the multi-angle operation of the robot arm during the dredging process, efficiently completing the dredging task, and adapting to the complex and changeable dredging environment and work requirements.

[0049] When the dredging robot body 101 is in use, the sensor is activated by starting the system. The sensor is responsible for collecting the joint angle and force data of the robot arm body 103 and transmitting it to the control system.

[0050] The control system uses specific models and algorithms to calculate the joint angle adjustment based on feedback data to achieve the target dredging position and posture.

[0051] Operators have two control options: one is to use a remote control device to manually fine-tune the angle of the robot arm according to the on-site conditions, and the other is to start the preset programming instructions to make the robot arm automatically operate according to the established sequence. In this way, in dredging operations, the robot arm can operate flexibly and accurately at multiple angles, effectively respond to complex dredging environments and requirements, and improve dredging efficiency.

[0052] During use, when the dredging operation begins and the angle of the robot arm body 103 needs to be adjusted, the operator issues a command, the system starts the motor 201f, the motor 201f starts to rotate, and drives the eccentric wheel 201e to rotate synchronously. The rotation of the eccentric wheel 201e causes the centrifugal block 201d fixed thereto to make a circular motion. The centrifugal force generated by the rotation of the centrifugal block 201d drives the driving frame 201c to move. Since the driving frame 201c is fixedly connected to the second support rod 202b in the swing frame 201a, the movement of the driving frame 201c drives the swing frame 201a to move accordingly, and the moving block 201b is sleeved on the first end of the swing frame 201a. The supporting rod 202a is movably connected thereto, and the slider 202d on the top of the moving block 201b slides in the connecting frame 202e. The connecting frame 202e and the positioning frame 202f are fixed to one side of the dredging robot body 101, and a slide groove corresponding to the slider 202d is provided on the dredging robot body 101. Driven by the swing frame 201a, the moving block 201b can move stably, thereby driving the mechanical arm body 103 hinged to one side of the moving block 201b to move. By controlling the rotation direction of the motor 201f, the mechanical arm body 103 can be adjusted to different required angles, so as to clean the sludge at different positions.

[0053] When the swing frame 201a moves, it squeezes the pulley 302m on the moving ring 302i sleeved on the outer side of the movable shell 301d to make it move, and the movement of the pulley 302m drives the squeezing rod 302l to move, and the movement of the squeezing rod 302l drives the swing rod 302k to move, and the swing rod 302k is rotatably connected to the inner wall of the dredging robot body 101 through a rotating shaft, and the torsion spring 302n fixed at the bottom of the swing rod 302k is fixed to the inner wall of the dredging robot body 101. When the swing rod 302k moves, it applies a torsional force to the torsion spring 302n, and the movement of the swing rod 302k drives the The moving frame 302j moves, and the movement of the moving frame 302j drives the moving ring 302i hinged with the moving ring 302i to move, and then drives the movable shell 301d to move, so that the driving wheel 301c engages with the toothed wheel 301b, and realizes the rotation and cleaning of the cleaning roller 301a. When the swing frame 201a releases the squeeze on the pulley 302m, the force of the rotation of the torsion spring 302n can drive the swing rod 302k to return to its original position, and the rebound force of the spring 302d can drive the driving wheel 301c to move and separate from the toothed wheel 301b, thereby stopping the rotation of the cleaning roller 301a.

[0054] During the entire dredging operation, the tracks 102 at the bottom of the dredging robot body 101 enable it to move stably in complex working environments such as the bottom of the water, sewers, and ports, so that the dredging robot body 101 can smoothly travel to the location where dredging is required, and the cutter head 104 set at one end of the robotic arm body 103 serves as a tool for cleaning silt. Under the precise positioning of the robotic arm body 103, the sludge is chopped and stirred through rotation and other actions, making the silt convenient for subsequent cleaning and transportation. The various components work together to complete the dredging task.

[0055] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A multi-angle flexible control mechanism for the mechanical arm of a dredging robot, characterized in that: include, The swing assembly (200) comprises a swing member (201), comprising a swing frame (201a), a moving block (201b), a driving frame (201c), a centrifugal block (201d), an eccentric wheel (201e) and a motor (201f), wherein the moving block (201b) is located on one side of the swing frame (201a), the driving frame (201c) is arranged on one side of the swing frame (201a), the centrifugal block (201d) is fixed to one end of the driving frame (201c), the eccentric wheel (201e) is fixed to one side of the centrifugal block (201d), and the motor (201f) is fixed to one end of the eccentric wheel (201e).

2. The multi-angle flexible control mechanism of the dredging robot arm according to claim 1, characterized in that: A cleaning component (300) is arranged on one side of the swinging member (201), comprising a cleaning member (301), comprising a cleaning roller (301a), a toothed wheel (301b), a driving wheel (301c), a movable shell (301d), a rotating rod (301e) and a clamping block (301f), wherein the cleaning roller (301a) is arranged on one side of the swinging frame (201a), the toothed wheel (301b) is fixed to one side of the cleaning roller (301a), the driving wheel (301c) is arranged on one side of the toothed wheel (301b), the movable shell (301d) is fixed to one side of the driving wheel (301c), the rotating rod (301e) is plugged into one side of the movable shell (301d), the rotating rod (301e) and the movable shell (301d) are movably connected, and the clamping block (301f) is fixed to one side of the rotating rod (301e).

3. The multi-angle flexible control mechanism of the dredging robot arm according to claim 2, characterized in that: The swing assembly (200) further comprises a support member (202) which is arranged on the swing frame (201a); a first support rod (202a) is fixed to one end of the swing frame (201a); the moving block (201b) is sleeved on the outside of the first support rod (202a); the moving block (201b) and the first support rod (202a) are movably connected; a second support rod (202b) is fixed in the swing frame (201a); the second support rod (202b) is fixed to one side of the driving frame (201c); and a support block (202c) is sleeved on the outside of the motor (201f).

4. The multi-angle flexible control mechanism of the dredging robot arm according to claim 3 is characterized by: A slider (202d) is fixed on the top of the moving block (201b), a connecting frame (202e) is sleeved on the outside of the slider (202d), the slider (202d) and the connecting frame (202e) are movably connected, and a positioning frame (202f) is fixed on the top of the connecting frame (202e).

5. The multi-angle flexible control mechanism of the dredging robot arm according to claim 4, characterized in that: The cleaning assembly (300) further comprises a moving part (302) arranged on the cleaning roller (301a); a protective cover (302a) is sleeved on the outside of the cleaning roller (301a); a positioning block (302b) is sleeved on the outside of the toothed wheel (301b); the positioning block (302b) and the toothed wheel (301b) are rotatably connected via a rotating shaft.

6. The multi-angle flexible control mechanism of the dredging robot arm according to claim 5, characterized in that: A connecting block (302c) is sleeved on the outside of the rotating rod (301e), the connecting block (302c) and the rotating rod (301e) are movably connected, a spring (302d) is fixed to one side of the connecting block (302c), and the spring (302d) is fixed to one side of the movable shell (301d).

7. The multi-angle flexible control mechanism of the dredging robot arm according to claim 6, characterized in that: A first pulley (302e) is fixed to one end of the rotating rod (301e), a belt (302f) is sleeved on the outside of the first pulley (302e), a second pulley (302g) is arranged inside the belt (302f), and a rotating wheel (302h) is fixed to one end of the second pulley (302g).

8. The multi-angle flexible control mechanism of the dredging robot arm according to claim 7, characterized in that: A movable ring (302i) is sleeved on the outside of the movable shell (301d), the movable ring (302i) and the movable shell (301d) are rotatably connected via a rotating shaft, a movable frame (302j) is sleeved on the outside of the movable ring (302i), the movable frame (302j) and the movable ring (302i) are hinged, a swing rod (302k) is fixed to one end of the movable frame (302j), an extrusion rod (302l) is fixed to one side of the swing rod (302k), a pulley (302m) is provided at one end of the extrusion rod (302l), the pulley (302m) and the extrusion rod (302l) are rotatably connected via a bearing, and a torsion spring (302n) is fixed to the bottom of the swing rod (302k).

9. The multi-angle flexible control mechanism of the dredging robot arm according to claim 6, characterized in that: The invention also comprises a main body component (100) which is arranged on the swing frame (201a) and comprises a dredging robot body (101) and a crawler track (102); the dredging robot body (101) is sleeved on the outside of the swing frame (201a); the swing frame (201a) and the dredging robot body (101) are rotatably connected via a bearing; and the crawler track (102) is arranged at the bottom of the dredging robot body (101).

10. The multi-angle flexible control mechanism of the dredging robot arm according to claim 8, characterized in that: A mechanical arm body (103) is disposed on one side of the moving block (201b), and a reamer head (104) is disposed on one end of the mechanical arm body (103).

Images