Intelligent dredging robot for hydraulic engineering

Abstract

The application discloses an intelligent dredging robot for hydraulic engineering and belongs to the technical field of hydraulic engineering.The intelligent dredging robot for hydraulic engineering comprises a crawler-type moving mechanism, a liquid storage tank installed on the crawler-type moving mechanism, a mechanical arm installed at the front end of the liquid storage tank, a silt pumping mechanism installed at the top of the liquid storage tank, a rake head connected to the pumping end of the silt pumping mechanism and installed at the end of the mechanical arm away from the liquid storage tank, and a chute buffer mechanism installed at the inner side wall of the rake head.The chute buffer mechanism comprises obliquely arranged slide rails uniformly installed in the inner cavity of the rake head, and a barrier net fixedly connected between adjacent slide rails.The robot can crush blocky silt through a crushing wheel, dilute and convey the silt through helical blades combined with high-pressure water flow, reduce the pumping load, adapt to high-viscosity silt, block and separate sundries, avoid pumping blockage, and improve the continuity of silt treatment.

Description

Technical Field

[0001] This invention relates to the field of water conservancy engineering technology, and in particular to an intelligent dredging robot for water conservancy projects. Background Technology

[0002] The dredging and pollution removal of rivers, culverts, and open channels is a major challenge related to the physical and mental health of urban residents and the environmental protection of urban and rural areas. In particular, in the past two decades, with the continuous acceleration of my country's industrialization and rapid economic development, the accumulation, blockage, and pollution of rivers have become increasingly serious. The country has also continuously strengthened its policies and efforts in pollution control and environmental protection, and has implemented strict management of the treatment of rivers, culverts, and open channels in urban and rural municipal construction.

[0003] A search revealed that Chinese patent application CN202020027630.9 discloses "an underwater environmental remediation robot, comprising a support frame and a tracked chassis mounted at the bottom of the support frame, a vision module mounted on the support frame, and further comprising a bucket module, a debris removal module, a pumping module, a controller, and a hydraulic station. The robot operates as follows: during use, the controller activates the hydraulic station, which in turn drives the tracked chassis. After entering a culvert or underwater area, the controller activates the vision module to observe the surrounding environment and transmits the observed image data to a host computer on the ground. Workers then send instructions to the controller based on the image data. The controller transmits these instructions to the hydraulic station, which in turn controls the tracked chassis, the bucket module, the debris removal module, and the pumping module to operate according to the instructions for dredging work." However, the following defects still exist:

[0004] (1) When the dredging equipment is pumping silt with high viscosity or containing impurities (such as stones and aquatic plants), the rake head and pump suction channel are easily blocked, resulting in reduced efficiency or even shutdown for maintenance; large solid objects mixed in the silt directly enter the pump suction system, which will aggravate wear and tear, lack an effective crushing and separation mechanism, and shorten the equipment life.

[0005] (2) When encountering impurities with high hardness, it cannot adjust itself, which aggravates the damage to the device. Summary of the Invention

[0006] The purpose of this invention is to address the problems in existing dredging equipment where, when extracting silt with high viscosity or containing impurities (such as stones and aquatic plants), the rake head and pump suction channel are easily clogged, leading to reduced efficiency or even shutdown for maintenance; large solid objects mixed in the silt directly enter the pump suction system, which aggravates wear; the lack of an effective crushing and separation mechanism shortens the equipment's lifespan; and the inability to adaptively adjust when encountering impurities with high hardness, thus exacerbating damage to the device. Therefore, this invention proposes an intelligent dredging robot for water conservancy projects.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] An intelligent dredging robot for water conservancy projects includes a tracked mobile mechanism and a liquid storage tank mounted on the tracked mobile mechanism, and also includes...

[0009] A robotic arm, which is mounted on the front end of the liquid storage tank;

[0010] A sludge pump suction mechanism is installed on the top of the storage tank, and the pump suction end of the sludge pump suction mechanism is connected to a rake head installed on the end of the robotic arm away from the storage tank.

[0011] An inclined buffer mechanism is installed on the inner wall of a rake head. The inclined buffer mechanism includes inclined slide rails evenly installed in the inner cavity of the rake head. A barrier net is fixedly connected between adjacent slide rails. A sliding groove is opened on the outer wall of the slide rail. The groove wall of the sliding groove is opened with evenly distributed wheel tooth grooves. A drive box is provided on the inner wall of the slide rail. A telescopic rod is connected between the outer wall of the drive box and the inner wall of the slide rail. A return spring sleeved on the outer wall of the telescopic rod is also fixedly connected between the outer wall of the drive box and the inner wall of the slide rail.

[0012] A sludge dispersion and lifting mechanism, wherein the sludge dispersion and lifting mechanism is installed at the output end of the drive box;

[0013] in,

[0014] The sludge dispersion and lifting mechanism includes a crushing component and a lifting component installed at the output end of the drive box.

[0015] Preferably, the outer wall of the drive box is rotatably connected to a gear that meshes with the tooth groove of the gear, the outer wall of the gear is fixedly connected to a driven rod, and the outer wall of the driven rod is fixedly connected to a uniformly distributed unblocking rod, the unblocking rod cooperating with the mesh of the barrier net.

[0016] Preferably, the drive box includes a box body slidably connected in a slide rail, a drive gear driven by a motor is installed on the top inner wall of the box body, a hollow rotating rod extending outward through the box body is rotatably connected to the box body, the outer side wall of the hollow rotating rod has evenly distributed openings, a one-way valve is provided at the opening, and a driven gear ring that meshes with the drive gear is fixedly connected to the outer side wall of the hollow rotating rod.

[0017] Preferably, the lifting assembly includes a spiral blade fitted onto the outer wall of the hollow rotating rod, the diameter of which gradually decreases along the direction of the hollow rotating rod away from the housing.

[0018] Preferably, the bottom end of the hollow rotating rod is connected to a transmission box, and one end of the hollow rotating rod passing through the transmission box is fixedly connected to a transmission bevel gear. The inner side wall of the transmission box is connected to a driven bevel gear that meshes with the transmission bevel gear via a rotating shaft. 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. A crossbar is rotatably connected to one side of the protrusion that passes through the sliding groove. A limit rod is connected between the outer side wall of the crushing wheel and the end of the crossbar away from the protrusion.

[0019] Preferably, there are evenly distributed intercepting rods connecting adjacent limiting rods.

[0020] Preferably, a liquid pump is fixedly connected to the outer wall of the liquid storage tank. The pump's pumping end is connected to a pumping pipe that communicates with the inner cavity of the liquid storage tank. The pump's outlet end is connected to a water delivery pipe. The end of the water delivery pipe away from the pump is connected to a diverter pipe. The end of the diverter pipe away from the water delivery pipe is rotatably connected to the end of the hollow rotating rod that passes through the tank body.

[0021] Preferably, the sludge pump suction mechanism includes a sludge pump installed on the top of the storage tank, the sludge pump inlet end is connected to a sludge suction pipe communicating with a rake head, and the sludge pump outlet end is connected to a sludge discharge pipe.

[0022] Preferably, the inner wall of the rake head is provided with a guide plate, the inner wall of the rake head is also provided with evenly distributed rake teeth, and a guide groove is provided on the back of the rake head.

[0023] Preferably, an electrical control box is provided on the outer wall of the liquid storage tank.

[0024] Compared with existing technologies, the present invention provides an intelligent dredging robot for water conservancy projects, which has the following beneficial effects:

[0025] 1. This intelligent dredging robot for water conservancy projects achieves preliminary screening of silt through an inclined buffer mechanism, blocking large particles of debris. It solves the problems in existing dredging equipment where the rake head and pump suction channel are easily blocked when pumping high-viscosity or impurity-containing silt, leading to reduced efficiency or even shutdown for maintenance. Large solid objects mixed in the silt directly enter the pump suction system, which will aggravate wear. The lack of an effective crushing and separation mechanism shortens the equipment life.

[0026] 2. This intelligent dredging robot for water conservancy projects uses a drive box to rotate gears and dredging rods to clean the mesh of the barrier net in real time and prevent blockages.

[0027] 3. This intelligent dredging robot for water conservancy projects utilizes a dredging mechanism with a crushing wheel and spiral blades working together to break up large pieces of dredging and lift them spirally, reducing pump load and preventing large particles from clogging the barrier net. This solves the problems in existing dredging equipment where the rake head and pump suction channel are easily clogged when pumping high-viscosity or impurity-containing dredging equipment, leading to reduced efficiency or even shutdown for maintenance. Large solid objects mixed in the dredging directly entering the pump suction system will aggravate wear, and the lack of an effective crushing and separation mechanism will shorten the equipment's lifespan.

[0028] 4. This intelligent dredging robot for water conservancy projects uses a hollow rotating rod to inject high-pressure water flow, which dilutes high-viscosity sludge, improves its fluidity, and increases the smoothness and stability of sludge pump absorption.

[0029] 5. This intelligent dredging robot for water conservancy projects uses a telescopic rod and a return spring to allow 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. This solves the problem in existing technologies where the robot cannot adaptively adjust when encountering high-hardness impurities, thus exacerbating the damage to the device.

[0030] 6. This intelligent dredging robot for water conservancy projects uses an interception bar and a limit bar to form a secondary filter screen, intercepting debris that slips through the screen and protecting the subsequent pumping components. This solves the problem in existing dredging equipment where the rake head and pumping channel are easily clogged when pumping high-viscosity or debris-containing sludge, leading to reduced efficiency or even shutdown for maintenance.

[0031] 7. This intelligent dredging robot for water conservancy projects can flexibly adjust the angle of the rake head through a mechanical arm, combined with a tracked mobile mechanism, to achieve precise dredging in complex terrain; the guide plate and rake teeth optimize the sludge collection path and improve suction efficiency. Attached Figure Description

[0032] Figure 1 This is one of the structural schematic diagrams of the present invention;

[0033] Figure 2 This is the second structural schematic diagram of the present invention;

[0034] Figure 3 This is a schematic diagram of the exploded structure of the rake head of the present invention;

[0035] Figure 4 This is one of the schematic diagrams of the internal structure of the rake head of the present invention;

[0036] Figure 5 This is a second schematic diagram of the internal structure of the rake head of the present invention;

[0037] Figure 6 This is one of the schematic diagrams of the internal structure of the rake head of the present invention;

[0038] Figure 7 For the present invention Figure 6 A magnified structural diagram of part A in the middle;

[0039] Figure 8 This is a cross-sectional view of the drive box of the present invention;

[0040] Figure 9 This is a schematic diagram of the connection structure of the transmission box of the present invention.

[0041] In the diagram: 10, tracked moving mechanism; 20, liquid storage tank; 210, liquid pump; 220, water suction pipe; 230, water delivery pipe; 240, diversion pipe; 30, robotic arm; 40, sludge pump suction mechanism; 410, rake head; 420, sludge pump; 430, sludge suction pipe; 440, sludge discharge pipe; 450, guide plate; 460, rake teeth; 50, inclined buffer mechanism; 510, slide rail; 520, sliding groove; 530, wheel tooth groove; 540, telescopic rod; 550, return spring; 60. Barrier net; 610. Gear; 620. Driven rod; 630. Unblocking 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 box; 830. Transmission bevel gear; 840. Driven bevel gear; 850. Crushing wheel; 860. Crossbar; 870. Limiting rod; 880. Interception rod; 90. Electrical control box. Detailed Implementation

[0042] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0043] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless defined as herein.

[0044] Example:

[0045] Reference 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 includes a tracked mobile mechanism 10 and a liquid storage tank 20 mounted on the tracked mobile mechanism 10, and also includes...

[0046] Robotic arm 30 is installed at the front end of liquid storage tank 20;

[0047] The sludge pump suction mechanism 40 is installed on the top of the storage tank 20. The pump suction end of the sludge pump suction mechanism 40 is connected to a rake head 410 installed on the end of the robotic arm 30 away from the storage tank 20.

[0048] An inclined buffer mechanism 50 is installed on the inner wall of the rake head 410. The inclined buffer mechanism 50 includes inclined slide rails 510 evenly installed within the cavity of the rake head 410. A barrier net 60 is fixedly connected between adjacent slide rails 510. A sliding groove 520 is formed on the outer wall of the slide rail 510, and evenly distributed tooth grooves 530 are formed on the groove wall of the sliding groove 520. A drive box 70 is installed on the inner wall of the slide rail 510. A telescopic rod 540 connects the outer wall of the drive box 70 to the inner wall of the slide rail 510. A fixed connection is also made between the outer wall of the drive box 70 and the inner wall of the slide rail 510. The return spring 550 is fitted on the outer wall of the telescopic rod 540. The slide rail 510 is made of 42CrMo alloy steel with a hard chrome plating (thickness 0.15mm). The tilt angle is designed to be adjustable at 55±5° to adapt to different viscosities of sludge (500-1500cP). The barrier mesh 60 is made of 316L stainless steel woven mesh with a gradient distribution of mesh size (10mm on the upper layer and 5mm on the lower layer). The return spring 550 adopts a non-linear stiffness design with an initial stiffness of 50N / mm. When the compression exceeds 20mm, the stiffness increases to 120N / mm, which ensures both buffering effect and avoids excessive displacement.

[0049] The sludge dispersion and lifting mechanism 80 is installed at the output end of the drive box 70.

[0050] in,

[0051] The sludge dispersion and lifting mechanism 80 includes a crushing component and a lifting component installed at the output end of the drive box 70;

[0052] In this embodiment, the tracked mobile mechanism 10 includes a mobile track and a tracked drive chassis. A hydraulic station is mounted on the tracked drive chassis 120, comprising an oil tank, a hydraulic pump, and hydraulic lines. Both the oil tank and the hydraulic pump are mounted on the chassis. The hydraulic station drives the mobile track mechanism to move. The mobile track 110 is made of rubber or metal. The tracked drive chassis is a hydraulically driven steel frame chassis. Operators operate the tracked mobile mechanism 10 via an external control box 90. It employs a fully sealed hydraulic drive track system equipped with a pressure adaptive balancing device, enabling stable operation on slopes of 0-30°. The track surface features an interlaced anti-slip texture design, increasing grip by 40%. Combined with an IP68-rated hydraulic motor, it ensures continuous operation at a depth of 5 meters underwater for at least 200 hours.

[0053] The liquid storage tank 20 uses a double-layer 304 stainless steel body with polyurethane insulation filling the interlayer to maintain the liquid temperature within ±2℃. It features a dual-compartment design with a main compartment (3m³). 3 / Sub-cabin 1.5m 3 Equipped with an ultrasonic level gauge and turbidity sensor, it automatically switches to the auxiliary compartment when the liquid level in the main compartment reaches 85%, and simultaneously activates a sludge discharge warning.

[0054] The 210 liquid pump is a frequency converter-controlled magnetic drive pump with an adjustable flow range (5-30 m³ / h). 3 The pressure is stable at 0.8-1.2 MPa, and it is equipped with a self-cleaning filter that automatically backwashes for 30 seconds every 2 hours of operation.

[0055] The robotic arm 30 is a six-degree-of-freedom hydraulic robotic arm made of carbon fiber composite material, with a load capacity of up to 200 kg. The end-effector positioning accuracy is ±2 mm.

[0056] Reference Figure 1 , Figure 2 , Figure 4 , Figure 5 , Figure 6 and Figure 7 The outer wall of the drive box 70 is rotatably connected to a gear 610 that meshes 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 evenly distributed unblocking rods 630. The unblocking rods 630 cooperate with the mesh 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, thereby driving the unblocking rods 630 to unblock the mesh of the barrier net 60 and prevent blockage.

[0057] Reference Figure 1 , Figure 2 , Figure 4 , Figure 5 , Figure 6 , Figure 8 and Figure 9 The drive box 70 includes a housing 710 slidably connected within the slide rail 510. A drive gear 720 driven by a motor is installed on the inner top wall of the housing 710. A hollow rotating rod 730 extending outward through the housing 710 is rotatably connected to the housing 710. The outer side wall of the hollow rotating rod 730 has evenly distributed openings, and a one-way valve 740 is installed at each opening. A driven gear ring 750 that meshes 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 high or the hardness is too high, the drive 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 drive box to return to its original position, maintaining continuous operation.

[0058] Reference Figure 1 , Figure 2 , Figure 4 , Figure 5 , Figure 6 The lifting assembly includes a spiral blade 810 fitted on the outer wall of the hollow rotating rod 730. The diameter of the spiral blade 810 gradually decreases along the direction away from the housing 710 of the hollow rotating rod 730. The hollow rotating rod 730 drives the spiral blade 810 to rotate, and the spiral blade with the gradually decreasing diameter transports the crushed sludge upward to the top of the rake head 410.

[0059] Reference Figure 1 , Figure 2 , Figure 4 , Figure 5 , Figure 6 , Figure 8 and Figure 9 The bottom end of the hollow rotating rod 730 is connected to a transmission box 820. One end of the hollow rotating rod 730 passing through the transmission box 820 is fixedly connected to a transmission bevel gear 830. The inner wall of the transmission box 820 is connected via a rotating shaft to a driven bevel gear 840 that meshes with the transmission bevel gear 830. The end of the rotating shaft away from the driven bevel gear 840 extends outward through the transmission box 820, and the extended end of the rotating shaft is connected to a crushing wheel 850. A protrusion that slides into the sliding groove 520 is fixedly connected to the outer wall of the drive box 70. A crossbar 860 is rotatably connected to one side of the protrusion passing through the sliding groove. A limit rod 870 connects the outer wall of the crushing wheel 850 to the end of the crossbar 860 away from the protrusion. The drive gear 720 inside the drive 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 high speed. The crushing wheel 850 crushes lumpy sludge or residual debris, reducing the subsequent pump suction load. The crossbar 860 and the limit rod 870 limit the swing amplitude of the crushing wheel 850. The crushing wheel 850 adopts a staggered wolf-tooth blade structure with the blades arranged in a 45° spiral angle, achieving a crushing efficiency of 8m³ / s. 3 / h. A speed difference is formed between the spiral blade 810 and the crushing wheel (1200 rpm / 800 rpm), generating a vortex crushing effect. The lead of the spiral blade 810 decreases according to the golden ratio (300 mm for the first turn / 180 mm for the last turn), achieving stable material conveying. The limit rod 870 has a built-in shape memory alloy (Ni-Ti). When the temperature exceeds 60℃, it automatically bends by 15°, expanding the interception area by 20%, and returns to its original shape after cooling.

[0060] Reference Figure 1 , Figure 2 , Figure 4 , Figure 5 , Figure 6 The adjacent limit rods 870 are connected by evenly distributed intercepting rods 880, which form a secondary filter to prevent debris from splashing.

[0061] Reference Figure 1 , Figure 2 , Figure 4 , Figure 5 and Figure 6 A liquid pump 210 is fixedly connected to the outer wall of the liquid storage tank 20. The pump 210 is connected to a pump pipe 220 that communicates with the inner cavity of the liquid storage tank 20. The pump 210 is connected to a water delivery pipe 230. The end of the water delivery pipe 230 away from the pump 210 is connected to a diversion pipe 240. The end of the diversion pipe 240 away from the water delivery pipe 230 is rotatably connected to the end of the hollow rotating rod 730 that passes through the tank 70. The pump 210 draws clean water from the liquid storage tank 20 and injects it into the hollow rotating rod 730 through the water delivery pipe 230 and the diversion pipe 240. The high-pressure water is sprayed out through the opening of the one-way valve 740 and mixed with the sludge to reduce its viscosity and improve its fluidity. The sludge is lifted to the top of the rake head 410 by the spiral blade 810.

[0062] Reference Figure 1 , Figure 2 and Figure 3 The sludge pump suction mechanism 40 includes a sludge pump 420 installed on the top of the storage tank 20. The sludge pump 420 has a sludge suction pipe 430 connected to the rake head 410 at the sludge inlet end and a sludge discharge pipe 440 connected at the sludge outlet end. When the sludge pump 420 is started: the barrier net 60 further intercepts small debris, allowing only the more fluid sludge to pass through the mesh to enter the next stage. The sludge suction pipe 430 sucks in the pre-treated sludge and connects to an external pipeline through the sludge discharge pipe 440 to achieve continuous sludge discharge. The electrical control box 90 monitors the liquid level of the storage tank 20 in real time. When the tank is full, the operation is paused or switched to the sludge discharge mode.

[0063] Employing a two-stage cyclone pump 420, the maximum throughput particle size is increased to 50mm. The impeller is made of tungsten steel-rubber composite material, with a wear life of up to 2000 hours. It is equipped with a pneumatic butterfly valve (not shown in the diagram), which can complete pipeline switching within 0.5 seconds.

[0064] The 430 sludge suction pipe is lined with polyurethane elastomer and features spiral guide ribs, which increase the pipe wall shear rate by 30% and effectively inhibit sludge deposition. The pipe diameter is designed to be variable (250mm inlet / 200mm outlet) to maintain a flow velocity of 2.5-3m / s.

[0065] Reference Figure 1 , Figure 2 and Figure 3 The rake head 410 has a guide plate 450 on its inner side wall and evenly distributed rake teeth 460 on its inner side wall. A guide groove is opened on the back of the rake head 410. An electrical control box 90 is set on the outer side wall of the storage tank 20. The tracked mobile mechanism 10 carries the robot into the working area such as rivers and reservoirs, adapting to complex terrain such as mud and slopes. The electrical 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 the preset program or remote command to ensure that the rake teeth 460 are inserted into the silt. The guide plate 450 guides the silt to concentrate into the inner cavity of the rake head 410. The guide groove on the back prevents the silt from overflowing. The electrical control box 90 is equipped with an industrial-grade PLC and an edge computing module, and integrates 12 types of sensor data through the MODBUS protocol.

[0066] The tracked mobile mechanism 10 carries the robot into the work area, such as a river or reservoir, adapting to complex terrain, mud, and slopes. The electrical control box 90 controls the robotic arm 30 to adjust the angle and depth of the rake head 410 so that it can be inserted into the target silt layer. The robotic arm 30 adjusts the pitch angle according to the preset program or remote command to ensure that the rake teeth 460 are inserted into the silt. The guide plate 450 guides the silt to concentrate in the inner cavity of the rake head 410, and the back guide groove prevents the silt from overflowing.

[0067] The drive gear 720 inside the drive 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 high speed. The crushing wheel 850 crushes the blocky sludge or residual debris, reducing the subsequent pump suction load. The cross bar 860 and the limit bar 870 limit the swing amplitude of the crushing wheel 850. The intercepting bar 880 forms a secondary filter screen to prevent fragments from splashing.

[0068] When the silt resistance is too high or the hardness is too high, the drive box 70 moves backward along the slide rail 510, compressing the reset spring 550 to buffer the impact; when the resistance decreases, the spring pushes the drive box to reset, maintaining continuous operation.

[0069] When the drive box 70 slides along the slide rail 510, it drives the gear 610 to rotate along the gear groove 530, which in turn drives the unblocking rod 630 to unblock the mesh of the barrier net 60 and prevent blockage.

[0070] The hollow rotating rod 730 drives the spiral blade 810 to rotate, and the spiral blade with a gradually decreasing diameter transports the crushed sludge upward to the top of the rake head 410.

[0071] The liquid pump 210 draws clean water from the storage tank 20 and injects it into the hollow rotating rod 730 through the water delivery pipe 230 and the diversion pipe 240. The high-pressure water jet is sprayed out through the opening of the one-way valve 740 and mixed with the sludge to reduce its viscosity and improve its fluidity. After the sludge is lifted to the top of the rake head 410 by the spiral blade 810, the sludge pump 420 is started. The barrier net 60 further intercepts small debris and only allows the more fluid sludge to pass through the mesh to enter the next stage. The sludge suction pipe 430 sucks in the pre-treated sludge and connects to the external pipeline through the sludge discharge pipe 440 to achieve continuous sludge discharge. The electrical control box 90 monitors the liquid level of the storage tank 20 in real time. When the tank is full, the operation is suspended or switched to the sludge discharge mode.

[0072] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An intelligent dredging robot for water conservancy projects, comprising a tracked mobile mechanism (10) and a liquid storage tank (20) mounted on the tracked mobile mechanism (10), characterized in that, Also includes A robotic arm (30) is mounted on the front end of a liquid storage tank (20); A sludge pump suction mechanism (40) is installed on the top of the storage tank (20), and the pump suction end of the sludge pump suction mechanism (40) is connected to a rake head (410) installed on the end of the robotic arm (30) away from the storage tank (20). An inclined buffer mechanism (50) is installed on the inner wall of the rake head (410). The inclined buffer mechanism (50) includes inclined slide rails (510) evenly installed in the inner cavity of the rake head (410). A barrier net (60) is fixedly connected between adjacent slide rails (510). A sliding groove (520) is opened on the outer wall of the slide rail (510). A toothed groove (530) is evenly distributed on the groove wall of the sliding groove (520). A drive box (70) is provided on the inner wall of the slide rail (510). A telescopic rod (540) is connected between the outer wall of the drive box (70) and the inner wall of the slide rail (510). A return spring (550) sleeved on the outer wall of the telescopic rod (540) is also fixedly connected between the outer wall of the drive box (70) and the inner wall of the slide rail (510). A sludge dispersion and lifting mechanism (80) is installed at the output end of a drive box (70); in, The sludge dispersion and lifting mechanism (80) includes a crushing component and a lifting component installed at the output end of the drive box (70); The outer wall of the drive box (70) is rotatably connected to a gear (610) that meshes with a 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 a uniformly distributed unblocking rod (630). The unblocking rod (630) cooperates with the mesh of the barrier net (60). 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). The outer side wall of the hollow rotating rod (730) has evenly distributed openings. A one-way valve (740) is provided at the opening. 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). The lifting assembly includes a spiral blade (810) fitted on the outer wall of the hollow rotating rod (730), the diameter of which gradually decreases along the direction away from the housing (710) of the hollow rotating rod (730); The bottom end of the hollow rotating rod (730) is connected to a transmission box (820). One end of the hollow rotating rod (730) passing through the transmission box (820) is fixedly connected to a transmission bevel gear (830). The inner side wall of the transmission box (820) is connected to a driven bevel gear (840) that meshes with the transmission bevel gear (830) via a rotating shaft. The end of the rotating shaft away from the driven bevel gear (840) extends outward through the transmission box (820), and the extended end of the rotating shaft is connected to a crushing wheel (850). The outer side wall of the drive box (70) is fixedly connected to a protrusion that slides with the sliding groove (520). The side of the protrusion passing through the sliding groove is rotatably connected to a crossbar (860). The outer side wall of the crushing wheel (850) and the end of the crossbar (860) away from the protrusion are connected to a limiting rod (870). The adjacent limiting rods (870) are connected to evenly distributed intercepting rods (880). A liquid pump (210) is also fixedly connected to the outer wall of the liquid storage tank (20). The pump (210) is connected to a pump pipe (220) that communicates with the inner cavity of the liquid storage tank (20). The pump (210) is connected to a water delivery pipe (230) at the outlet end. A diversion pipe (240) is connected to the end of the water delivery pipe (230) away from the pump (210). The end of the diversion pipe (240) away from the water delivery pipe (230) is rotatably connected to the end of the hollow rotating rod (730) that passes through the box body (710).

2. The intelligent dredging robot for water conservancy projects according to claim 1, characterized in that, The sludge pump suction mechanism (40) includes a sludge pump (420) installed on top of the storage tank (20). The sludge pump (420) has a sludge inlet end connected to a sludge suction pipe (430) that communicates with a rake head (410), and a sludge outlet end connected to a sludge discharge pipe (440).

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

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

Images