Intelligent dredging robot for hydraulic engineering

Abstract

The invention discloses an intelligent dredging robot for a water conservancy project, and belongs to the technical field of water conservancy projects. An intelligent dredging robot for hydraulic engineering comprises a crawler-type moving mechanism and a liquid storage tank installed on the crawler-type moving mechanism and further comprises a mechanical arm, and the mechanical arm is installed at the front end of the liquid storage tank; the sludge pumping mechanism is installed at the top of the liquid storage tank, and the pumping end of the sludge pumping mechanism is connected with a rake head installed at the end, away from the liquid storage tank, of the mechanical arm; the chute buffering mechanism is installed on the inner side wall of the rake head, the chute buffering mechanism comprises sliding rails which are evenly installed in an inner cavity of the rake head and arranged in an inclined mode, and a blocking net is fixedly connected between every two adjacent sliding rails; blocky sludge is crushed through the crushing wheel, the spiral pieces are combined with high-pressure water flow for dilution and conveying, the pump suction load is reduced, the device adapts to high-viscosity sludge, impurities can be blocked and screened, pump suction blockage is avoided, and the sludge treatment continuity is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of water conservancy projects, and particularly relates to an intelligent dredging robot for water conservancy projects. Background Art

[0002] Dredging and decontaminating rivers, culverts, and open channels is a major problem related to the physical and mental health of urban and rural residents and environmental protection in urban and rural areas. Especially in the past two decades, with the continuous acceleration of China's industrialization process and the rapid development of the economy, the country's policies and efforts in pollution control and environmental protection have been continuously strengthened. For domestic urban and rural municipal construction, strict management has been carried out on the renovation of rivers, culverts, and open channels.

[0003] After retrieval, in the prior art, the Chinese patent with the patent application number CN202020027630.9 discloses an underwater environmental governance operation robot, which includes a support frame, a crawler chassis arranged at the bottom of the support frame, a vision module arranged on the support frame, and also includes a bucket module, a debris removal module, a pumping module, a controller, and a hydraulic station. The working method of this robot is as follows: when in use, the controller controls the hydraulic station to start, and then the hydraulic station drives the crawler chassis to move. After the robot enters the culvert or underwater under the action of the crawler chassis, the vision module is started by the controller to observe the surrounding environment, and the observed image data is transmitted to the upper computer on the ground. The staff sends instructions to the controller according to the image data. After the controller transmits the instructions to the hydraulic station, the hydraulic station controls the crawler chassis, the shovel plate module, the debris removal module, and the pumping module to operate respectively according to the instructions to carry out dredging work, but there are still the following defects: (1) When the dredging equipment extracts silt with high viscosity or containing impurities (such as stones, waterweeds), the rake head and the pump suction channel are prone to blockage, resulting in reduced efficiency or even shutdown for maintenance; the large solid objects mixed in the silt directly entering the pump suction system will aggravate the wear, and there is a lack of an effective crushing and separation mechanism, shortening the service life of the equipment; (2) When encountering impurities with higher hardness, it cannot be adaptively adjusted, thus aggravating the damage of the device. Summary of the Invention

[0004] The purpose of the present invention is to solve the problems existing in the prior art that when the dredging equipment extracts silt with high viscosity or containing impurities (such as stones, waterweeds), the rake head and the pump suction channel are prone to blockage, resulting in reduced efficiency or even shutdown for maintenance; the large solid objects mixed in the silt directly entering the pump suction system will aggravate the wear, and there is a lack of an effective crushing and separation mechanism, shortening the service life of the equipment, and when encountering impurities with higher hardness, it cannot be adaptively adjusted, thus aggravating the damage of the device, and to propose an intelligent dredging robot for water conservancy projects.

[0005] In order to achieve the above purpose, the present invention adopts the following technical solutions: An intelligent dredging robot for water conservancy projects, including a crawler mobile mechanism and a liquid storage tank installed on the crawler mobile mechanism, and also including a robotic arm, the robotic arm is installed at the front end of the liquid storage tank; a sludge pump suction mechanism, the sludge pump suction mechanism is installed on the top of the liquid storage tank, and the pump suction end of the sludge pump suction mechanism is connected to a rake head installed at one end of the robotic arm away from the liquid storage tank; a ramp buffer mechanism, the ramp buffer mechanism is installed on the inner side wall of the rake head, the ramp buffer mechanism includes inclined sliding rails uniformly installed in the inner cavity of the rake head, a barrier net is fixedly connected between adjacent sliding rails, a sliding groove is opened on the outer side wall of the sliding rail, and uniformly distributed tooth grooves are opened on the groove wall of the sliding groove. A drive box is arranged on the inner side wall of the sliding rail, a telescopic rod is connected between the outer side wall of the drive box and the inner side wall of the sliding rail, and a return spring sleeved on the outer side wall of the telescopic rod is also fixedly connected between the outer side wall of the drive box and the inner side wall of the sliding rail; a sludge dispersion and lifting mechanism, the sludge dispersion and lifting mechanism is installed at the output end of the drive box; Among them, the sludge dispersion and lifting mechanism includes a crushing component and a lifting component installed at the output end of the drive box.

[0006] Preferably, a gear meshing with the tooth groove is rotatably connected to the outer side wall of the drive box, a driven rod is fixedly connected to the outer side wall of the gear, uniformly distributed dredging rods are fixedly connected to the outer side wall of the driven rod, and the dredging rods cooperate with the mesh holes of the barrier net.

[0007] Preferably, the drive box includes a box body slidably connected in the sliding rail, a drive gear driven by a motor is installed on the inner wall of the top of the box body, a hollow rotating rod passing through the box body and extending outward is rotatably connected to the box body, uniformly distributed openings are opened on the outer side wall of the hollow rotating rod, one-way valves are arranged at the openings, and a driven tooth ring meshing with the drive gear is fixedly connected to the outer side wall of the hollow rotating rod.

[0008] Preferably, the lifting component includes spiral blades sleeved on the outer side wall of the hollow rotating rod, and the diameter of the spiral blades gradually decreases along the direction of the hollow rotating rod away from the box body.

[0009] Preferably, the bottom end of the hollow rotating rod is connected to a transmission box, and one end of the hollow rotating rod passes through the transmission box and is fixedly connected to the transmission bevel gear. The inner wall of the transmission box is connected to a driven bevel gear meshing with the transmission bevel gear through a rotating shaft, and the end of the rotating shaft away from the driven bevel gear extends outward through the transmission box, and the extended end of the rotating shaft is connected to a crushing wheel. The outer side wall of the drive box is fixedly connected to a protrusion that slides with the sliding groove, and the protrusion passes through one side of the sliding groove and is rotatably connected to a cross bar, and a limiting rod is connected between the outer side wall of the crushing wheel and the end of the cross bar away from the protrusion.

[0010] Preferably, evenly distributed intercepting rods are connected between adjacent limiting rods.

[0011] Preferably, the outer wall of the liquid storage tank is also fixedly connected to a liquid pump, the water pumping end of the liquid pump is connected to a water pumping pipe connected to the inner cavity of the liquid storage tank, the liquid outlet end of the liquid pump is connected to a water delivery pipe, the end of the water delivery pipe away from the liquid pump is connected to a shunt pipe, and the end of the shunt pipe away from the water delivery pipe is rotatably connected to one end of a hollow rotating rod passing through a transmission box.

[0012] Preferably, the sludge pumping mechanism comprises a sludge pump installed on the top of the liquid storage tank, the sludge inlet end of the sludge pump is connected to a sludge suction pipe communicated with the drag head, and the sludge outlet end of the sludge pump is connected to a sludge discharge pipe.

[0013] Preferably, the inner side wall of the drag head is provided with a guide plate, the inner side wall of the drag head is also provided with evenly distributed rake teeth, and the back side of the drag head is provided with a guide groove.

[0014] Preferably, an electric control box is provided on the outer side wall of the liquid storage tank.

[0015] Compared with the prior art, the present invention provides an intelligent dredging robot for water conservancy projects, which has the following beneficial effects: 1. The intelligent dredging robot used in water conservancy projects realizes preliminary screening of sludge through the ramp buffer mechanism to block large particles of debris. It solves the problem that when the dredging equipment in the prior art extracts sludge with high viscosity or containing debris, the rake head and the pump suction channel are easily blocked, resulting in reduced efficiency or even downtime for maintenance. The large pieces of solid matter mixed in the sludge directly enter the pump suction system, which will aggravate wear, lack of effective crushing and separation mechanism, and shorten the life of the equipment.

[0016] 2. The intelligent dredging robot used in water conservancy projects uses a drive box to drive the gears and dredging rods to rotate, thereby cleaning the mesh of the barrier net in real time to avoid blockage.

[0017] 3. For the intelligent dredging robot used in water conservancy projects, the crushing wheel and spiral blades of the sludge dispersion and lifting mechanism work together to crush large pieces of sludge and lift it spirally, reducing the pump suction load, preventing large particle impurities from clogging the barrier net, and solving the problems in the prior art that when dredging equipment extracts sludge with high viscosity or containing impurities, the rake head and pump suction channel are prone to clogging, resulting in reduced efficiency or even shutdown for maintenance. The direct entry of large solid objects mixed in the sludge into the pump suction system will exacerbate wear, and the lack of an effective crushing and separation mechanism will shorten the equipment life.

[0018] 4. For the intelligent dredging robot used in water conservancy projects, high-pressure water is injected into the hollow rotating rod to dilute the high-viscosity sludge, improve fluidity, and increase the smoothness and stability of the sludge pump absorption.

[0019] 5. For the intelligent dredging robot used in water conservancy projects, the telescopic rod and the return spring enable the drive box to move elastically along the slide rail, adapting to different resistances and avoiding violent contact between the crushing wheel and high-hardness impurities, solving the problem in the prior art that when encountering impurities with higher hardness, it cannot adjust adaptively, thus exacerbating the damage of the device.

[0020] 6. For the intelligent dredging robot used in water conservancy projects, the intercepting rod and the limiting rod form a secondary filter net to intercept the debris that has passed through the net and protect the subsequent pump suction components, solving the problems in the prior art that when dredging equipment extracts sludge with high viscosity or containing impurities, the rake head and pump suction channel are prone to clogging, resulting in reduced efficiency or even shutdown for maintenance.

[0021] 7. For the intelligent dredging robot used in water conservancy projects, the rake head angle can be flexibly adjusted through the robotic arm, combined with the crawler-type moving mechanism, to achieve precise dredging in complex terrains; the guide plate and rake teeth optimize the sludge collection path and improve the suction efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is one of the structural schematic diagrams of the present invention; Figure 2 is another structural schematic diagram of the present invention; Figure 3 is the exploded structural schematic diagram of the rake head of the present invention; Figure 4 is one of the internal structural schematic diagrams of the rake head of the present invention; Figure 5 is another internal structural schematic diagram of the rake head of the present invention; Figure 6 is one of the internal structural schematic diagrams of the rake head of the present invention; Figure 7 is of the present invention Figure 6 the enlarged structural schematic diagram of part A; Figure 8 is the cross-sectional view of the drive box of the present invention; Figure 9 Schematic diagram of the connection structure of the transmission case of the present invention.

[0023] In the figure: 10, crawler mobile mechanism; 20, liquid storage tank; 210, liquid pump; 220, water suction pipe; 230, water delivery pipe; 240, shunt pipe; 30, robotic arm; 40, silt pump suction mechanism; 410, rake head; 420, silt pump; 430, sludge suction pipe; 440, sludge discharge pipe; 450, deflector; 460, rake teeth; 50, ramp buffer mechanism; 510, slide rail; 520, sliding groove; 530, gear groove; 540, telescopic rod; 550, return spring; 60, barrier net; 610, gear; 620, driven rod; 630, dredging rod; 70, drive box; 710, box body; 720, drive gear; 730, hollow rotating rod; 740, check valve; 750, driven gear ring; 80, sludge dispersion and lifting mechanism; 810, spiral blade; 820, transmission case; 830, transmission bevel gear; 840, driven bevel gear; 850, crushing wheel; 860, cross bar; 870, limiting rod; 880, intercepting rod; 90, electric control box. Detailed implementation manners

[0024] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention; obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0025] Those skilled in the art of the present technology can understand that, unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as the general understanding of those of ordinary skill in the art in the field to which the present invention belongs. It should also be understood that terms such as those defined in a general dictionary should be understood to have a meaning consistent with the meaning in the context of the prior art, and will not be interpreted in an idealized or overly formal sense unless defined as herein. Embodiment

[0026] Referring to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 and Figure 9 , an intelligent dredging robot for water conservancy projects, including a crawler mobile mechanism 10 and a liquid storage tank 20 installed on the crawler mobile mechanism 10, and further including The robotic arm 30 is installed at the front end of the liquid storage tank 20; The sludge pump suction mechanism 40 is installed on the top of the liquid storage tank 20. The pump suction end of the sludge pump suction mechanism 40 is connected to a rake head 410 installed at one end of the robotic arm 30 away from the liquid storage tank 20; The ramp buffer mechanism 50 is installed on the inner side wall of the rake head 410. The ramp buffer mechanism 50 includes inclined sliding rails 510 evenly installed in the inner cavity of the rake head 410. A barrier net 60 is fixedly connected between adjacent sliding rails 510. A sliding groove 520 is formed on the outer side wall of the sliding rail 510, and evenly distributed tooth grooves 530 are formed on the groove wall of the sliding groove 520. A driving box 70 is arranged on the inner side wall of the sliding rail 510. A telescopic rod 540 is connected between the outer side wall of the driving box 70 and the inner side wall of the sliding rail 510. A return spring 550 sleeved on the outer side wall of the telescopic rod 540 is also fixedly connected between the outer side wall of the driving box 70 and the inner side wall of the sliding rail 510. The sliding rail 510 is made of 42CrMo alloy steel and is surface-hardened by chromium plating (thickness 0.15 mm). The inclination angle is designed to be adjustable at 55 ± 5°, suitable for sludges with different viscosities (500 - 1500 cP). The barrier net 60 is made of 316L stainless steel woven mesh, and the mesh holes are distributed in a gradient (10 mm in the upper layer / 5 mm in the lower layer). The return spring 550 adopts a non-linear stiffness design, with an initial stiffness of 50 N / mm, and the stiffness increases to 120 N / mm when the compression amount exceeds 20 mm, which not only ensures the buffering effect but also avoids excessive displacement; The sludge dispersion and lifting mechanism 80 is installed at the output end of the driving box 70; Among them, The sludge dispersion and lifting mechanism 80 includes a crushing component and a lifting component installed at the output end of the driving box 70; In this embodiment, the crawler mobile mechanism 10 includes a mobile crawler and a crawler drive chassis. A hydraulic station is provided on the crawler drive chassis 120. The hydraulic station includes an oil tank, a hydraulic pump, and hydraulic pipelines. The oil tank and the hydraulic pump are both installed on the chassis. The hydraulic station drives the mobile crawler mechanism to move. The mobile crawler 110 adopts a rubber crawler or a metal crawler. The crawler drive chassis adopts a hydraulically driven steel frame chassis. The operator operates the crawler mobile mechanism 10 to move through an external control box 90. A fully sealed hydraulic drive crawler system is adopted, equipped with a pressure adaptive balance device, and can operate stably on a 0 - 30° slope. The crawler surface adopts an interleaved anti-slip pattern design, with a 40% increase in grip force. Combined with an IP68 protection grade hydraulic motor, it ensures continuous operation at a depth of 5 meters underwater for no less than 200 hours; The liquid storage tank 20 adopts a double-layer 304 stainless steel box body, with a sandwich filled with polyurethane thermal insulation material to maintain the liquid temperature in the tank fluctuating within ±2°C. The capacity is designed with a main and auxiliary double-cabin (main cabin 3m³ / auxiliary cabin 1.5m³), equipped with an ultrasonic liquid level gauge and a turbidity sensor. When the liquid volume in the main cabin reaches 85%, it automatically switches to the auxiliary cabin, and at the same time, the sludge discharge warning is activated.

[0027] The liquid pump 210 adopts a variable-frequency controlled magnetic drive pump, with an adjustable flow range (5 - 30m³ / h), a stable pressure of 0.8 - 1.2MPa, and is equipped with a self-cleaning filter, which automatically backwashes for 30 seconds every 2 hours of operation.

[0028] The robotic arm 30 adopts a six-degree-of-freedom hydraulic robotic arm, made of carbon fiber composite material, with a load capacity of 200kg. The end positioning accuracy is ±2mm.

[0029] Refer to Figure 1 、 Figure 2 、 Figure 4 、 Figure 5 、 Figure 6 and Figure 7 , a gear 610 meshing with the tooth groove 530 is rotatably connected to the outer side wall of the drive box 70. A driven rod 620 is fixedly connected to the outer side wall of the gear 610, and evenly distributed dredging rods 630 are fixedly connected to the outer side wall of the driven rod 620. The dredging rods 630 cooperate with the mesh holes of the barrier net 60. When the drive box 70 slides along the slide rail 510, it drives the gear 610 to rotate along the gear groove 530, and then drives the dredging rods 630 to dredge the mesh holes of the barrier net 60 to prevent blockage.

[0030] Refer to Figure 1 、 Figure 2 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 8 and Figure 9 , the drive box 70 includes a box body 710 slidably connected in the slide rail 510. A drive gear 720 driven by a motor is installed on the top inner wall of the box body 710. A hollow rotating rod 730 extending outward through the box body 710 is rotatably connected to the box body 710. Uniformly distributed openings are formed on the outer side wall of the hollow rotating rod 730, and one-way valves 740 are arranged at the openings. A driven gear ring 750 meshing with the drive gear 720 is fixedly connected to the outer side wall of the hollow rotating rod 730. When the sludge resistance is too large or the hardness is too high, the drive box 70 moves backward along the slide rail 510 to compress the return spring 550 to buffer the impact; when the resistance decreases, the spring pushes the drive box to reset to maintain continuous operation.

[0031] Refer to Figure 1 、 Figure 2 、 Figure 4 、 Figure 5 、Figure 6 , the lifting component includes a spiral piece 810 sleeved on the outer sidewall of the hollow rotating rod 730. The diameter of the spiral piece 810 gradually decreases along the direction in which the hollow rotating rod 730 is away from the box body 710. The hollow rotating rod 730 drives the spiral piece 810 to rotate, and the spiral piece with a gradually decreasing diameter conveys the crushed sludge upward to the top of the rake head 410.

[0032] Refer to Figure 1 , Figure 2 , Figure 4 , Figure 5 , Figure 6 , Figure 8 and Figure 9 , a transmission box 820 is connected to the bottom end of the hollow rotating rod 730. One end of the hollow rotating rod 730 passing through the transmission box 820 is fixedly connected with a transmission bevel gear 830. A driven bevel gear 840 meshing with the transmission bevel gear 830 is connected to the inner sidewall of the transmission box 820 through a rotating shaft. One end of the rotating shaft away from the driven bevel gear 840 extends outward through the transmission box 820, and a crushing wheel 850 is connected to the extending end of the rotating shaft. A protrusion slidably matched with the sliding groove 520 is fixedly connected to the outer sidewall of the driving box 70. A cross bar 860 is rotatably connected to one side of the protrusion passing through the sliding groove. A limiting rod 870 is connected between the outer sidewall of the crushing wheel 850 and the end of the cross bar 860 away from the protrusion. The driving gear 720 in the driving box 70 drives the hollow rotating rod 730 to rotate. The transmission bevel gear 830 meshes with the driven bevel gear 840 to drive the crushing wheel 850 to rotate at a high speed. The crushing wheel 850 crushes the massive sludge or residual debris to reduce the subsequent pump suction load. The cross bar 860 and the limiting rod 870 limit the swinging amplitude of the crushing wheel 850. The crushing wheel 850 adopts a structure of staggeredly arranged wolf tooth blades, and the blade angle is arranged in a 45° spiral. The crushing efficiency reaches 8 m³ / h. A rotational speed difference is formed with the spiral piece 810 (crushing wheel 1200 rpm / spiral piece 800 rpm) to generate an eddy current crushing effect. The lead of the spiral piece 810 decreases according to the golden ratio (first turn 300 mm / last turn 180 mm) to achieve stable material conveying. The limiting rod 870 is internally provided with shape memory alloy (Ni-Ti), which automatically bends 15° when the temperature exceeds 60 °C, expanding the interception area by 20%, and returns to its original state after cooling.

[0033] Refer to Figure 1 , Figure 2 , Figure 4 , Figure 5 , Figure 6 , intercepting rods 880 are evenly distributed and connected between adjacent limiting rods 870. The intercepting rods 880 form a secondary filter screen to prevent debris from splashing.

[0034] Refer to Figure 1 , Figure 2 , Figure 4 , Figure 5 andFigure 6 On the outer side wall of the liquid storage tank 20, a liquid pump 210 is also fixedly connected. The water pumping end of the liquid pump 210 is connected to a water suction pipe 220 communicating with the inner cavity of the liquid storage tank 20. The liquid outlet end of the liquid pump 210 is connected to a water supply pipe 230. One end of the water supply pipe 230 away from the liquid pump 210 is connected to a flow dividing pipe 240. One end of the flow dividing pipe 240 away from the water supply pipe 230 is rotatably connected to one end of the hollow rotating rod 730 passing through the transmission box 820. The liquid pump 210 extracts clear water from the liquid storage tank 20, injects it into the hollow rotating rod 730 through the water supply pipe 230 and the flow dividing pipe 240. The high-pressure water flow sprays out through the opening of the one-way valve 740, mixes with the silt to reduce its viscosity and improve its fluidity. After the silt is lifted to the top of the rake head 410 by the spiral blade 810.

[0035] Refer to Figure 1 、 Figure 2 and Figure 3 As shown in The sludge pump suction mechanism 40 includes a sludge pump 420 installed on the top of the liquid storage tank 20. The mud inlet end of the sludge pump 420 is connected to a mud suction pipe 430 communicating with the rake head 410. The mud outlet end of the sludge pump 420 is connected to a mud discharge pipe 440. When the sludge pump 420 starts: the barrier net 60 further intercepts fine debris, only allowing the sludge with higher fluidity to enter the next link through the mesh holes. The mud suction pipe 430 sucks in the pretreated sludge and realizes continuous sludge discharge through the mud discharge pipe 440 connected to an external pipeline. The electric control box 90 monitors the liquid level of the liquid storage tank 20 in real time. After the tank is full, the operation is paused or switched to the mud discharge mode;

[0036] The inner lining of the mud suction pipe 430 is made of polyurethane elastomer, and spiral guide ribs are provided to increase the wall shear rate by 30%, effectively inhibiting sludge deposition. The pipe diameter adopts a variable diameter design (inlet 250mm / exit 200mm) to maintain the flow rate at 2.5 - 3m / s.

[0037] Refer to Figure 1 、 Figure 2 and Figure 3, a flow guide plate 450 is provided on the inner side wall of the rake head 410, evenly distributed rake teeth 460 are also provided on the inner side wall of the rake head 410, a flow guide groove is formed on the back surface of the rake head 410, an electric control box 90 is provided on the outer side wall of the liquid storage tank 20, and the crawler-type mobile mechanism 10 carries the robot into the operation area such as a river or a reservoir, adapting to complex terrains such as muddy and sloping roads. The electric control box 90 controls the robotic arm 30 to adjust the angle and depth of the rake head 410 so that it inserts into the target silt layer. The robotic arm 30 adjusts the pitch angle according to a preset program or a remote instruction to ensure that the rake teeth 460 are inserted into the silt. The flow guide plate 450 guides the silt to concentrate towards the inner cavity of the rake head 410, and the back flow guide groove prevents the silt from overflowing. The electric control box 90 is equipped with an industrial-grade PLC and an edge computing module, and integrates data of 12 types of sensors through the MODBUS protocol.

[0038] The crawler-type mobile mechanism 10 carries the robot into the operation area such as a river or a reservoir, adapting to complex terrains such as muddy and sloping roads. The electric control box 90 controls the robotic arm 30 to adjust the angle and depth of the rake head 410 so that it inserts into the target silt layer. The robotic arm 30 adjusts the pitch angle according to a preset program or a remote instruction to ensure that the rake teeth 460 are inserted into the silt. The flow guide plate 450 guides the silt to concentrate towards the inner cavity of the rake head 410, and the back flow guide groove prevents the silt from overflowing.

[0039] The driving gear 720 in the driving box 70 drives the hollow rotating rod 730 to rotate. The transmission bevel gear 830 meshes with the driven bevel gear 840, driving the crushing wheel 850 to rotate at a high speed. The crushing wheel 850 crushes the massive silt or residual debris, reducing the subsequent pump suction load. The cross bar 860 and the limiting rod 870 limit the swinging amplitude of the crushing wheel 850, and the intercepting rod 880 forms a secondary filter screen to prevent debris from splashing. When the silt resistance is too large or the hardness is too high, the driving box 70 moves backward along the slide rail 510, compressing the return spring 550 to buffer the impact. When the resistance decreases, the spring pushes the driving box to reset to maintain continuous operation. When the driving box 70 slides along the slide rail 510, it drives the gear 610 to rotate along the gear groove 530, and then drives the dredging rod 630 to dredge the mesh holes of the barrier net 60 to prevent blockage.

[0040] The hollow rotating rod 730 drives the spiral blade 810 to rotate. The spiral blade with a gradually decreasing diameter conveys the crushed silt upward to the top of the rake head 410. The liquid pump 210 extracts clear water from the liquid storage tank 20, injects it into the hollow rotating rod 730 through the water supply pipe 230 and the shunt pipe 240, and the high-pressure water flow sprays out through the opening of the one-way valve 740, mixes with the silt to reduce its viscosity and improve its fluidity; after the silt is lifted to the top of the rake head 410 by the spiral blade 810, the silt pump 420 is started: the barrier net 60 further intercepts small sundries, and only allows the silt with higher fluidity to enter the next link through the mesh holes. The mud suction pipe 430 sucks in the pretreated silt, and the continuous silt discharge is realized by connecting to the external pipeline through the mud discharge pipe 440. The electric control box 90 monitors the liquid level of the liquid storage tank 20 in real time, and suspends the operation or switches to the mud discharge mode after the tank is full.

[0041] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. An intelligent dredging robot for water conservancy projects, comprising a crawler-type mobile mechanism (10) and a liquid storage tank (20) mounted on the crawler-type mobile mechanism (10), characterized in that: Also includes A mechanical arm (30), wherein the mechanical arm (30) is mounted at the front end of the liquid storage tank (20); A sludge pumping mechanism (40), the sludge pumping mechanism (40) being mounted on the top of the liquid storage tank (20), the pumping end of the sludge pumping mechanism (40) being connected to a rake head (410) mounted on an end of the mechanical arm (30) away from the liquid storage tank (20); A ramp buffer mechanism (50), the ramp buffer mechanism (50) being installed on the inner side wall of the drag head (410), the ramp buffer mechanism (50) comprising an inclined slide rail (510) evenly installed in the inner cavity of the drag head (410), a barrier net (60) being fixedly connected between adjacent slide rails (510), a sliding groove (520) being provided on the outer side wall of the slide rail (510), a groove wall of the sliding groove (520) being provided with evenly distributed gear tooth grooves (530), a drive box (70) being provided on the inner side wall of the slide rail (510), a telescopic rod (540) being connected between the outer side wall of the drive box (70) and the inner side wall of the slide rail (510), and a return spring (550) being sleeved on the outer side wall of the telescopic rod (540) being also fixedly connected between the outer side wall of the drive box (70) and the inner side wall of the slide rail (510); A sludge dispersion and lifting mechanism (80), wherein the sludge dispersion and lifting mechanism (80) is installed at the output end of the drive box (70); in, The sludge dispersion and lifting mechanism (80) comprises a crushing component and a lifting component installed at the output end of the drive box (70).

2. The intelligent dredging robot for water conservancy projects according to claim 1 is characterized in that: The outer wall of the driving box (70) is rotatably connected to a gear (610) meshing with the gear tooth groove (530), the outer wall of the gear (610) is fixedly connected to a driven rod (620), the outer wall of the driven rod (620) is fixedly connected to uniformly distributed dredging rods (630), and the dredging rods (630) cooperate with the mesh holes of the barrier net (60).

3. The intelligent dredging robot for water conservancy projects according to claim 2 is characterized in that: The driving box (70) comprises a box body (710) slidably connected within a slide rail (510); a driving gear (720) driven by a motor is installed on the top inner wall of the box body (710); a hollow rotating rod (730) is rotatably connected to the box body (710) and extends outward through the box body (710); the outer wall of the hollow rotating rod (730) is provided with evenly distributed openings, and a one-way valve (740) is provided at the opening; and a driven gear ring (750) meshing with the driving gear (720) is fixedly connected to the outer wall of the hollow rotating rod (730).

4. The intelligent dredging robot for water conservancy projects according to claim 3 is characterized in that: The lifting assembly comprises a spiral piece (810) sleeved on the outer side wall of the hollow rotating rod (730), and the diameter of the spiral piece (810) gradually decreases along the direction in which the hollow rotating rod (730) moves away from the box body (710).

5. The intelligent dredging robot for water conservancy projects according to claim 4, characterized in that: The bottom end of the hollow rotating rod (730) is connected to a transmission box (820); one end of the hollow rotating rod (730) passes through the transmission box (820) and is fixedly connected to the transmission bevel gear (830); an inner wall of the transmission box (820) is connected to a driven bevel gear (840) meshing with the transmission bevel gear (830) via a rotating shaft; an end of the rotating shaft away from the driven bevel gear (840) passes through the transmission box (820) and extends outwards; and a crushing wheel (850) is connected to the extended end of the rotating shaft; an outer wall of the drive box (70) is fixedly connected to a protrusion that slidably cooperates with the sliding groove (520); the protrusion passes through one side of the sliding groove and is rotatably connected to a cross bar (860); and a limiting rod (870) is connected between the outer wall of the crushing wheel (850) and the end of the cross bar (860) away from the protrusion.

6. The intelligent dredging robot for water conservancy projects according to claim 5, characterized in that: Evenly distributed intercepting rods (880) are connected between adjacent limiting rods (870).

7. The intelligent dredging robot for water conservancy projects according to claim 6, characterized in that: The outer wall of the liquid storage tank (20) is also fixedly connected to a liquid pump (210); a water pumping end of the liquid pump (210) is connected to a water pumping pipe (220) in communication with the inner cavity of the liquid storage tank (20); a liquid outlet end of the liquid pump (210) is connected to a water supply pipe (230); an end of the water supply pipe (230) away from the liquid pump (210) is connected to a shunt pipe (240); an end of the shunt pipe (240) away from the water supply pipe (230) is rotatably connected to an end of a hollow rotating rod (730) passing through a transmission box (820).

8. The intelligent dredging robot for water conservancy projects according to claim 1, characterized in that: The sludge pumping mechanism (40) comprises a sludge pump (420) mounted on the top of the liquid storage tank (20); a sludge inlet end of the sludge pump (420) is connected to a sludge suction pipe (430) in communication with a drag head (410); and a sludge outlet end of the sludge pump (420) is connected to a sludge discharge pipe (440).

9. The intelligent dredging robot for water conservancy projects according to claim 1, characterized in that: The inner side wall of the drag head (410) is provided with a flow guide plate (450), the inner side wall of the drag head (410) is also provided with evenly distributed rake teeth (460), and the back side of the drag head (410) is provided with a flow guide groove.

10. The intelligent dredging robot for water conservancy projects according to claim 1, characterized in that: An electric control box (90) is provided on the outer side wall of the liquid storage box (20).

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