An underwater elution robot for spiral propelling river and lake bottom mud

Abstract

The present invention relates to the technical field of river and lake sediment treatment, and discloses a spiral propulsion type underwater elution robot for river and lake sediment, including a spiral propulsion power system for precise steering and movement in underwater soft foundation silt. The spiral propeller has the advantages of strong terrain adaptability, large traveling driving force, precise direction control, etc.; the sediment elution robot can achieve the suction separation of fine particulate matter and the in-situ covering of large inorganic sediment particles on the bottom of rivers and lakes through gravity separation in the sediment elution chamber and regulation of the water outlet flow rate, improving the sufficiency of sediment particle coverage at the mud-water interface. Using the underwater elution robot to carry out river and lake sediment treatment has the advantages of less sludge generation, high pollutant separation rate, low treatment cost, etc. After dehydration, the eluted silt can be used for the ecological resource utilization of sediment. The present invention is applicable to the in-situ treatment of sediment in urban rivers, lakes and reservoirs and the restoration of submerged plant habitats.

Description

Technical Field

[0001] The present invention belongs to the technical field of river and lake sediment treatment, and particularly relates to a spiral propulsion underwater elution robot for river and lake sediment. Background Technique

[0002] River and lake sediment has the dual attributes of "source" and "sink". The disturbance of the surface sediment can cause the resuspension of fine particles and the release of pollutants, resulting in water pollution and reduced transparency. On the contrary, clean sediment can purify water quality through adsorption and degradation, and is the "sink" of river and lake water pollutants. The purpose of river and lake sediment ecological restoration is to weaken the negative impact of the "source" attribute of sediment on the overlying water body, restore the "sink" attribute of sediment, and provide habitats for aquatic animals, plants and microorganisms.

[0003] At present, traditional sediment treatment technologies still have defects. For example, the penetration depth of dissolved oxygen in water bodies in the aeration technology is limited, the addition of chemical agents is likely to damage the sediment ecology, the ecological restoration technology has hysteresis and high maintenance difficulty, and traditional dredging is likely to cause secondary pollution. Currently, the sediment elution technology is a water ecological restoration technology that can accurately remove polluted floating mud and form a clean surface covering layer, which can quickly clarify the water body and provide a good habitat for the restoration of submerged plant communities.

[0004] Chinese invention patent 201510581109.3 discloses a muddy water separation device of a "floating platform for sediment elution", and Chinese invention patent 202110048219.9 discloses a "self-cruising sediment elution and ecological restoration platform", which is characterized by including a centrifugal solid-liquid separation unit and a pollutant adsorption and purification unit, but the platform is too large and not suitable for urban rivers and lakes with small water surface areas. Chinese invention patent 201510581106.X discloses a "separated sediment elution and purification device" that can meet the requirements of small water surface operations, but the sediment elution device floats on the water surface and is not suitable for the sediment restoration of urban rivers and lakes with shallow water depth or large tidal level changes because the equipment is prone to stranding. In addition, Chinese invention patent 202410077343.1 discloses a "sediment elution and disturbance robot", which uses a crawler propulsion robot, but requires auxiliary thrusters, drive wheels, etc. The equipment structure is complex, the equipment is heavy in volume and not suitable for walking on muddy river and lake terrains, and the speed increase and direction control are restricted.

[0005] Therefore, it is necessary to invent a spiral propulsion underwater elution robot for river and lake sediment to solve the above problems. Summary of the Invention

[0006] In view of the above problems, the present invention provides a spiral propulsion underwater elution robot for river and lake sediment to solve the problems raised in the above background technique.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] A spiral propulsion type underwater elution robot for river and lake bottom mud, comprising a spiral propulsion power system for precise steering and movement on the soft foundation sludge at the bottom of underwater rivers and lakes;

[0009] A bottom mud stirring and mixing chamber for stirring, dispersing and mixing bottom mud;

[0010] A bottom mud pollutant separation chamber for providing a place for the separation of fine particle pollutants;

[0011] A slurry centrifugal pump and pipeline system for the separation and in-situ coverage of pollutants with a target particle size;

[0012] An electrical equipment and controller system for underwater area positioning, equipment movement and operation;

[0013] A skeleton and shell system for structural stability and equipment hoisting;

[0014] The sediment particles of the slurry centrifugal pump and pipeline system can be sucked away from the slurry centrifugal pump and pipeline system by controlling the flow rate for fine particles.

[0015] The bottom mud pollutant separation chamber allows the large-diameter sediment particles inside to be fully screened and settled to the bottom of the river and lake through the combined action of rising flow rate control and gravity sedimentation, and fully covers the bottom of the river and lake.

[0016] Further, the spiral propulsion power system includes:

[0017] Spiral auger blades, an axis cylinder, bearings, an underwater motor and a supporting reducer;

[0018] The spiral auger blades are respectively fixed on two parallel axis cylinders, the bearings are respectively connected to both ends of the axis cylinder, the bearings are installed in the skeleton and shell system, the underwater motor and the supporting reducer are arranged in the skeleton and shell system, and the output shaft of the underwater motor and the supporting reducer is connected to the end of the corresponding axis cylinder.

[0019] Further, the bottom mud stirring and mixing chamber is located above the spiral propulsion power system.

[0020] Further, the bottom mud pollutant separation chamber includes:

[0021] A porous filter plate and a bottom mud precipitation and separation space.

[0022] Further, the slurry centrifugal pump and pipeline system includes:

[0023] A slurry centrifugal pump, a water inlet pipe, a reflux flow control valve, a reflux pipe, a duckbill nozzle and a water outlet pipe;

[0024] The mud centrifugal pump is arranged inside the framework and shell system. One end of the water inlet pipe is connected to the mud centrifugal pump, the other end of the mud centrifugal pump is connected to the reflux flow control valve, one end of the reflux flow control valve is connected to the water outlet pipe, the other end is connected to the reflux pipe, and the duckbill nozzle is arranged on the reflux pipe.

[0025] Furthermore, the electrical equipment and controller system includes:

[0026] The electrical equipment controls the sealed box, the waterproof wire pipeline, the underwater high-definition camera and the underwater searchlight.

[0027] Furthermore, the framework and shell system includes:

[0028] The rubber curtain, the equipment shell, the equipment lifting buckle, the sealed cabin hinge and the sheet metal welded framework;

[0029] The sheet metal welded framework is arranged inside the equipment shell, the equipment lifting buckle is arranged at the top of the sheet metal welded framework, the rubber curtain is arranged at the bottom of the equipment shell, and the sealed cabin hinge is arranged at the top of the equipment shell.

[0030] Furthermore, a two-way pipe is connected to one end of the mud centrifugal pump, the water inlet pipe is rotatably installed at the end of the two-way pipe, the water inlet pipe is communicated with the two-way pipe, a positioning pipe is rotatably installed at the other end of the water inlet pipe, the positioning pipe is fixedly installed on the sheet metal welded framework, water inlet holes are equidistantly arranged at the top of the water inlet pipe, the porous filter plate is rotatably arranged on the sheet metal welded framework, and a driving component for driving the water inlet pipe to rotate and vibrate and driving one side of the porous filter plate to rotate downward is arranged inside the sheet metal welded framework.

[0031] Furthermore, side plates are symmetrically and fixedly installed on the sheet metal welded framework, rotating shafts are symmetrically and fixedly connected to the outside of the porous filter plate, the rotating shafts are rotatably installed on the corresponding side plates, a first torsion spring is sleeved outside the rotating shafts, and two ends of the first torsion spring are respectively fixedly connected to the rotating shafts and the side plates.

[0032] Furthermore, the driving component includes:

[0033] The wire reel, sleeved outside the water inlet pipe;

[0034] The second torsion spring, sleeved outside the positioning pipe, and two ends of the second torsion spring are respectively fixedly connected to the positioning pipe and the wire reel;

[0035] The limiting columns, symmetrically arranged inside the sheet metal welded framework;

[0036] A limit block is sleeved outside the limit column; an iron block is slidably mounted outside a pair of the limit columns; a pull rope connects the iron block to the wire winding disc, and the pull rope is wound on the wire winding disc; a push rod is arranged on one side of the bottom of the iron block, and the bottom of the push rod abuts against the top of the porous filter plate; a bracket is slidably inserted through the middle of the iron block; a first spring is sleeved outside the bracket; an electromagnet is arranged inside the sheet metal welded framework and below the iron block; slide rails are symmetrically arranged inside the sheet metal welded framework; a slapping block is slidably arranged inside the slide rails; a second spring connects the inner wall of the slide rails to the slapping block; a round rod is arranged on one side of the slapping block away from the wire winding disc; mounting plates are equidistantly arranged on the bracket; a wedge-shaped block, one side of the wedge-shaped block is fixedly connected with a connecting shaft, and the connecting shaft is rotatably mounted on the mounting plate; a blocking block is arranged on the upper part of the side of the wedge-shaped block close to the bracket; a third torsion spring is sleeved outside the connecting shaft, and two ends of the third torsion spring are respectively fixedly connected with the mounting plate and the connecting shaft.

[0037] Technical effects and advantages of the present invention:

[0038] 1. The screw propeller in the present invention has the advantages of strong terrain adaptability, large traveling driving force, precise direction control, simple structure and convenient maintenance. Compared with the crawler dredging robot, the screw propeller can better adapt to the river and lake environments such as soft foundation silt, sediment, swamp, etc. with the help of the buoyancy of the floating drum. The design of the screw blade can enable the equipment to generate a large thrust at a low rotation speed, be suitable for traveling in viscous silt, and accurately control the traveling direction and speed through the screw blade, with low repair and maintenance costs.

[0039] 2. The bottom mud elution technology in the present invention has the advantages of less sludge generation, high pollutant separation rate and low treatment cost. Compared with the dredging technology, the sludge generated by the bottom mud elution per unit area is 1 / 10 - 1 / 20 of the traditional dredging volume, the generated sludge occupies a small area and has a low degree of secondary pollution. After the eluted sludge is dehydrated, it can be used for the ecological resource utilization of the bottom mud.

[0040] 3. The underwater bottom mud elution robot in the present invention has the characteristics of small volume, low energy consumption, flexible operation, high treatment efficiency and wide applicable scenarios. The daily treatment capacity of the large bottom mud elution ship is 600 - 1000 m 2 / d, and the daily treatment capacity of the bottom mud elution robot of this invention is 3000 - 6000 m 2 / d, with high treatment efficiency. The underwater bottom mud elution robot can be applicable to the bottom mud treatment of narrow urban rivers with a river width less than 2 m and small lakes and ponds, and is also applicable to the bottom mud elution and water environment treatment of reservoirs with a water depth of 10 - 20 m.

[0041] 4. In the present invention, the sediment elution robot can achieve the suction separation of fine particulate matters and the in-situ coverage of large inorganic sediment particles on the bottom of rivers and lakes through gravity separation in the sediment elution chamber and regulation of the effluent flow rate. Moreover, after use, it can move the sediment particles remaining on the water inlet hole and the porous filter plate to the bottom of rivers and lakes, further improving the adequacy of sediment particle coverage. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a schematic diagram of the overall structure of the underwater sediment elution robot of the present invention;

[0043] Figure 2 It is a front view structure diagram of the underwater sediment elution robot of the present invention;

[0044] Figure 3 It is a top view structure diagram of the underwater sediment elution robot of the present invention;

[0045] Figure 4 It is a bottom view structure diagram of the underwater sediment elution robot of the present invention;

[0046] Figure 5 It is a left view structure diagram of the underwater sediment elution robot of the present invention;

[0047] Figure 6 It is a right view structure diagram of the underwater sediment elution robot of the present invention;

[0048] Figure 7 It is a schematic diagram of the balance of the mud inlet volume, mud outlet volume and return flow volume of the present invention;

[0049] Figure 8 It is a result diagram of the mud outlet concentration of the equipment under different mud outlet flow rate conditions of the present invention;

[0050] Figure 9 It is a result diagram of the mud outlet mass of the equipment under different mud outlet flow rate conditions of the present invention;

[0051] Figure 10 It is a percentage diagram of the particle size composition of the in-situ sediment before and after sediment elution of the present invention;

[0052] Figure 11 It is a structure diagram of the porous filter plate of the present invention;

[0053] Figure 12 It is Figure 11 The enlarged structure diagram at position A in;

[0054] Figure 13 It is a structure diagram of a part of the present invention;

[0055] Figure 14 It is Figure 13 The enlarged structure diagram at position B in;

[0056] Figure 15 It isFigure 14 Magnified structure diagram at position C in the middle

[0057] Figure 16 Structure diagram of the porous filter plate and the water inlet pipe combination of the present invention

[0058] Figure 17 Structure diagram of the water inlet pipe and the positioning pipe combination of the present invention

[0059] In the figure: 1. Screw propulsion power system; 1.1. Screw blade; 1.2. Axial cylinder; 1.3. Bearing; 1.4. Underwater motor and supporting reducer; 2. Bottom mud stirring and mixing chamber; 3. Bottom mud pollutant separation chamber; 3.1. Porous filter plate; 4. Slurry centrifugal pump and pipeline system; 4.1. Slurry centrifugal pump; 4.2. Water inlet pipe; 4.3. Return flow control valve; 4.4. Return pipe; 4.5. Duckbill nozzle; 4.6. Outlet pipe; 5. Electrical equipment and controller system; 5.1. Electrical equipment control seal box; 5.2. Waterproof wire pipeline; 5.3. Underwater high-definition camera; 5.4. Underwater searchlight; 6. Skeleton and shell system; 6.1. Rubber curtain; 6.2. Equipment shell; 6.3. Equipment lifting buckle; 6.4. Seal chamber hinge; 6.5. Sheet metal welded skeleton; 7. Positioning pipe; 8. Side plate; 9. First torsion spring; 10. Wire winding disc; 11. Second torsion spring; 12. Limit column; 13. Limit block; 14. Iron block; 15. Pulling rope; 16. Thrust rod; 17. Bracket; 18. First spring; 19. Electromagnet; 20. Slide rail; 21. Patting block; 22. Second spring; 23. Round rod; 24. Wedge block; 25. Blocking block; 26. Third torsion spring. Specific implementation mode

[0060] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments.

[0061] The present invention provides a screw propulsion type underwater elution robot for river and lake bottom mud, as Figures 1 to 17 shown, including: a screw propulsion power system 1, a bottom mud stirring and mixing chamber 2, a bottom mud pollutant separation chamber 3, a slurry centrifugal pump and pipeline system 4, an electrical equipment and controller system 5, and a skeleton and shell system 6;

[0062] The screw propulsion power system 1 is used for moving underwater, the bottom mud stirring and mixing chamber 2 is used for stirring and mixing bottom mud, the bottom mud pollutant separation chamber 3 is used for providing a place for the separation of pollutants, the slurry centrifugal pump and pipeline system 4 is used for the separation of pollutants, and the electrical equipment and controller system 5 is used for processing underwater area positioning.

[0063] As Figure 4 shown, the screw propulsion power system 1 includes:

[0064] Spiral auger blade 1.1, axial cylinder 1.2, bearing 1.3, underwater motor and supporting reducer 1.4;

[0065] The spiral auger blade 1.1 is respectively fixed on two parallel axial cylinders 1.2. The bearings 1.3 are respectively connected to both ends of the axial cylinder 1.2. The bearings 1.3 are installed in the framework and shell system 6. The underwater motor and supporting reducer 1.4 are arranged in the framework and shell system 6. The output shaft of the underwater motor and supporting reducer 1.4 is connected to the end of the corresponding axial cylinder 1.2.

[0066] As Figure 1 shown, the sediment stirring and mixing chamber 2 is located above the screw propulsion power system 1.

[0067] As Figure 2 shown, the sediment pollutant separation chamber 3 includes: a porous filter plate 3.1 and a sediment precipitation and separation space, and the sediment precipitation and separation space is located above the porous filter plate 3.1.

[0068] As Figure 2 and Figure 4 shown, the slurry centrifugal pump and pipeline system 4 includes:

[0069] Slurry centrifugal pump 4.1, water inlet pipe 4.2, reflux flow control valve 4.3, reflux pipe 4.4, duckbill nozzle 4.5 and water outlet pipe 4.6;

[0070] The slurry centrifugal pump 4.1 is arranged in the framework and shell system 6. The water inlet pipe 4.2 is connected to one end of the slurry centrifugal pump 4.1. The other end of the slurry centrifugal pump 4.1 is connected to the reflux flow control valve 4.3. One end of the reflux flow control valve 4.3 is connected to the water outlet pipe 4.6, and the other end is connected to the reflux pipe 4.4. The duckbill nozzle 4.5 is arranged on the reflux pipe 4.4.

[0071] As Figures 2 to 6 shown, the electrical equipment and controller system 5 includes:

[0072] Electrical equipment control seal box 5.1, waterproof wire pipeline 5.2, underwater high-definition camera 5.3 and underwater searchlight 5.4;

[0073] As Figures 4 to 6 shown, the framework and shell system 6 includes:

[0074] Rubber curtain 6.1, equipment shell 6.2, equipment lifting buckle 6.3, seal cabin hinge 6.4 and sheet metal welded framework 6.5;

[0075] The sheet metal welded skeleton 6.5 is fixed inside the equipment housing 6.2. The equipment lifting buckle 6.3 is arranged on the top of the sheet metal welded skeleton 6.5. The rubber curtain 6.1 is arranged at the bottom of the equipment housing 6.2. The sealed cabin hinge 6.4 is arranged on the top of the equipment housing 6.2;

[0076] The distance between the spiral auger blades 1.1 is 10 - 15 cm, the height of the auger blade is 8 - 15 cm, and the inclination angle of a single auger blade with respect to the vertical direction is 10° - 30°; The power of the underwater motor is 1.0 - 1.5 kw. After being adjusted by the reducer, the output shaft speed is 2 - 3 revolutions per second, and the waterproof level is IP68; The power of the mud centrifugal pump 4.1 is 10 - 15 m 3 / h, the head is 10 - 20 m, the power is 1.5 - 2 kw, and the waterproof level is IP68; The reflux flow control valve 4.3 controls the reflux ratio (reflux flow / outlet flow) to be 1:2 - 1:1; The electrical equipment controller in the electrical equipment control sealed box 5.1 uses a Yunzhuo H16 remote control and signal receiver, and the remote control distance is 50 - 100 m; The underwater high-definition camera 5.3 has a pixel count of over 8 million, a resolution of 1080p, a focal length of 3.8 m, and a waterproof level of IP68; The width of a single rubber curtain 6.1 is 10 - 15 cm and the thickness is 5 - 8 mm; The material of the equipment housing 6.2 is 201 stainless steel or 304 stainless steel.

[0077] Inside the space of the sediment pollutant separation chamber 3, there are a porous filter plate 3.1 and a waterproof electrical wire pipeline 5.2;

[0078] Inside the space of the sediment stirring and mixing chamber 2, there is a complete set of spiral propulsion power system 1 and a reflux flow control valve 4.3, a reflux pipe 4.4, a duckbill nozzle 4.5, and a water outlet pipe 4.6;

[0079] Using the underwater sediment elution robot to achieve precise separation of fine sediment particles and their attached pollutants, the main working principle and technical solution are as follows:

[0080] 1. Processing area positioning: Provide an external power supply with 220V and 6kw power, and turn on the equipment power of the spiral power system 1. At this time, the underwater motor drives the central cylinder 1.2 and the spiral auger blades 1.1 to rotate. When the spiral auger blades 1.1 rotate, their spiral shape will push the surrounding mud medium backward, thereby generating a forward driving force. By adjusting the rotation direction and speed of the spiral auger blades 1.1, precise direction control is achieved. Using the underwater terrain information provided by the underwater high-definition camera 5.3, the equipment is controlled to be positioned at the working area;

[0081] 2. Start the cleaning equipment: Rotate the spiral auger blade 1.1 as per the above operation to stir and turn the top 10 - 15 cm of sediment, causing the inorganic sediment particles to collide with each other under the disturbance of the spiral auger blade 1.1 and the action of hydraulic scouring. The fine particles and organic matter attached to the inorganic particles are detached. Adjust the rotational speed of the central axis cylinder 1.2 to 2 - 3 revolutions per second, and adjust the reflux flow ratio to 14:1, 12:3, 10:5, 8:7, 6:9, 4:11, 2:13, 0:15 respectively.

[0082] Table 1 Control Parameter Table of Equipment Inlet and Outlet Water Volumes and Reflux Ratio

[0083]

[0084] Combined with Figure 8 As shown, under the condition that the total flow rate of the slurry centrifugal pump 4.1 (Q3 = 15 m 3 / d) remains unchanged, when the reflux ratio gradually decreases from 14:1 to 0, the hydraulic disturbance intensity generated by the reflux gradually decreases, the outlet water flow gradually increases and dilutes the suspended solid concentration, resulting in a gradual decrease in the sludge discharge concentration, and the change range of the sludge discharge concentration is 200 g / L - 50 g / L.

[0085] The sludge discharge quality at the outlet of the underwater sediment elution robot is the product of the sludge discharge concentration and the sludge discharge flow rate. Under the condition that the total flow rate of the slurry centrifugal pump 4.1 (Q3 = 15 m 3 / d) remains unchanged, when the reflux ratio gradually decreases from 14:1 to 0, the sludge discharge concentration gradually decreases while the sludge discharge flow rate gradually increases. As Figure 9 shown, during the process of the sludge discharge flow rate increasing from 1 m 3 / h to 15 m 3 / h, when the flow rate is 11 m 3 / h, the sludge discharge quality and efficiency of the equipment reach the highest value of 1375 kg / h.

[0086] Start the slurry centrifugal pump 4.1. Under the suction of the slurry centrifugal pump 4.1, the water flow rises and carries the pollutants upward. Debris such as branches, gravel, and plastic bags are intercepted by the porous filter plate 3.1. Inside the upper sediment pollutant separation chamber 3, granular sediment settles under the action of gravity, and the slurry containing fine suspended solids continues to rise and is suctioned out of the sediment pollutant separation chamber 3 through the water inlet pipe 4.2, achieving precise elution of the sediment. The in-situ separated sediment particles form an inorganic covering layer, inhibiting the resuspension of sediment particles and the re-release of pollutants, and improving the river and lake water environment;

[0087] 3. Evaluate the elution effect: Conduct particle size distribution tests and pollutant index analyses on the eluted sediment. Record the percentage distribution of particles smaller than 75 μm under different reflux ratios and water discharge conditions. Adjust the reflux ratio so that the percentage distribution of particles with a particle size in this range in the eluted sediment is less than 20%. The sediment pollutant indicators include organic matter, ammonia nitrogen, total nitrogen, total phosphorus, reducible sulfide, heavy metals, and other required control indicators.

[0088] As Figures 11 to 17 shown, one end of the slurry centrifugal pump 4.1 is connected to a two-way pipe. The water inlet pipe 4.2 is rotatably installed at the end of the two-way pipe. The water inlet pipe 4.2 is connected to the two-way pipe. The other end of the water inlet pipe 4.2 is rotatably installed with a positioning pipe 7. The positioning pipe 7 is fixedly installed on the sheet metal welded skeleton 6.5. Sealing rings are provided at the joints of the water inlet pipe 4.2 with the two-way pipe and the positioning pipe 7. The top of the water inlet pipe 4.2 is equidistantly provided with water inlet holes. The direction of the water inlet holes is upward, and the number is 4 - 6. The aperture gradually decreases from far to near the slurry centrifugal pump 4.1. The porous filter plate 3.1 is rotatably arranged on the sheet metal welded skeleton 6.5. A driving component is provided inside the sheet metal welded skeleton 6.5 for driving the water inlet pipe 4.2 to rotate and vibrate and driving one side of the porous filter plate 3.1 to rotate downward.

[0089] After use, some sediment particles separated and settled in-situ will exist on the top of the porous filter plate 3.1 and at the water inlet holes of the water inlet pipe 4.2. At this time, drive the porous filter plate 3.1 to rotate one side downward and the water inlet pipe 4.2 to rotate until the water inlet holes face downward through the driving component. When the water inlet holes on the water inlet pipe 4.2 face downward, continue to drive the water inlet pipe 4.2 to vibrate through the driving component. Shake off the sediment particles stuck in the water inlet holes by the generated vibration, so that this part of the sediment particles can pass through the holes on the porous filter plate 3.1 and cover the bottom of the river or lake to form an inorganic covering layer, enabling the sediment particles to form a more sufficient covering layer. And as the porous filter plate 3.1 tilts, the sediment particles staying on its top can slide under the action of gravity to leave the porous filter plate 3.1 and cover the bottom of the river or lake to form an inorganic covering layer, further improving the sufficiency of the sediment particle coverage.

[0090] As Figure 11 and Figure 12 shown, side plates 8 are symmetrically and fixedly installed on the sheet metal welded skeleton 6.5. The outer part of the porous filter plate 3.1 is symmetrically and fixedly connected with rotating shafts. The rotating shafts are rotatably installed on the corresponding side plates 8. A first torsion spring 9 is sleeved outside the rotating shafts. The two ends of the first torsion spring 9 are respectively fixedly connected with the rotating shafts and the side plates 8. The first torsion spring 9 is a stainless steel torsion spring.

[0091] The driving component includes: a wire take-up reel 10, a second torsion spring 11, a limiting post 12, a limiting block 13, an iron block 14, a pull rope 15, a push rod 16, a bracket 17, a first spring 18, an electromagnet 19, a slide rail 20, a striking block 21, a second spring 22, a round rod 23, a wedge-shaped block 24, a resisting block 25, and a third torsion spring 26;

[0092] The wire take-up reel 10 is fixedly sleeved outside the water inlet pipe 4.2. The second torsion spring 11 is sleeved outside the positioning pipe 7. The two ends of the second torsion spring 11 are fixedly connected to the positioning pipe 7 and the wire take-up reel 10 respectively. The second torsion spring 11 is a stainless steel torsion spring. The limiting posts 12 are symmetrically and fixedly arranged inside the sheet metal welded skeleton 6.5. The limiting block 13 is fixedly sleeved outside the limiting posts 12. The iron block 14 is slidably installed outside a pair of limiting posts 12. The outside of the iron block 14 is coated with a waterproof rubber sleeve. The pull rope 15 fixedly connects the iron block 14 and the wire take-up reel 10. The pull rope 15 is wound on the wire take-up reel 10. The push rod 16 is arranged on one side of the bottom of the iron block 14. The bottom of the push rod 16 abuts against the top of the porous filter plate 3.1. The bracket 17 is slidably inserted through the middle of the iron block 14. The first spring 18 is sleeved outside the bracket 17. The two ends of the first spring 18 are fixedly connected to the iron block 14 and the bracket 17 respectively. The first spring 18 is a stainless steel spring. The bracket 17 is made of iron. A waterproof rubber sleeve is sleeved outside the bracket 17. The electromagnet 19 is arranged inside the sheet metal welded skeleton 6.5 and below the iron block 14. The electromagnet 19 is an underwater electromagnet. The slide rails 20 are symmetrically and fixedly installed inside the sheet metal welded skeleton 6.5. The striking block 21 is slidably arranged inside the slide rails 20. The second spring 22 connects the inner wall of the slide rail 20 and the striking block 21. The striking block 21 abuts against the wire take-up reel 10. The second spring 22 is a stainless steel spring. The round rod 23 is fixedly arranged on the side of the striking block 21 away from the wire take-up reel 10. The mounting plates are fixedly arranged on the bracket 17 at equal intervals from top to bottom. One side of the wedge-shaped block 24 is fixedly connected with a connecting shaft. The connecting shaft is rotatably installed on the mounting plate. The inclined surface of the wedge-shaped block 24 faces downward. The resisting block 25 is arranged on the upper part of the side of the wedge-shaped block 24 close to the bracket 17. The bottom of the resisting block 25 has an arc surface. The resisting block 25 abuts against the bracket 17. The third torsion spring 26 is sleeved outside the connecting shaft. The two ends of the third torsion spring 26 are fixedly connected to the mounting plate and the connecting shaft respectively. The third torsion spring 26 is a stainless steel torsion spring.

[0093] Electrify the electromagnet 19 to make it magnetic, attracting the iron block 14 and the bracket 17 to descend. The iron block 14 pulls the wire reel 10 to rotate forward through the pull rope 15 to release the pull rope 15. At the same time, the wire reel 10 drives the water outlet pipe 4.2 to rotate, turning the water inlet hole downward. At the same time, the iron block 14 drives the ejector rod 16 to press against one side of the porous filter plate 3.1 and rotate downward, causing the first torsion spring 9 to twist and deform. Subsequently, the iron block 14 abuts against the limit block 13 and stops moving. At this time, the water inlet hole is downward, and the porous filter plate 3.1 is in an inclined state. Then, under the attraction of the electromagnet 19, the bracket 17 continues to descend to compress the first spring 18 to cause it to deform and generate a force. At the same time, the bracket 17 drives the mounting plate, the coupling shaft, the wedge block 24, and the abutting block 25 to descend. After the inclined surface of the wedge block 24 abuts against the round rod 23, due to the abutment of the abutting block 25 and the bracket 17, the wedge block 24 cannot rotate upward at this time and remains stationary. Subsequently, the wedge block 24 cooperates with the inclined surface to squeeze the round rod 23 to drive the flap 21 to move away from the wire reel 10. At the same time, the flap 21 squeezes the second spring 22 to cause it to deform and generate a force. When the round rod 23 separates from the wedge block 24, the second spring 22 releases the force to drive the flap 21 to quickly reset, causing the flap 21 to beat the wire reel 10 to make it vibrate, thereby transmitting the vibration to the water inlet pipe 4.2 to make it vibrate. Subsequently, multiple wedge blocks 24 continuously abut against and separate from the round rod 23, causing the flap 21 to continuously beat the wire reel 10, making the water inlet pipe 4.2 vibrate continuously, so that the sediment particles in the water inlet hole can be shaken off. At the same time, the sediment particles on the porous filter plate 3.1 can also slide along the inclined porous filter plate 3.1 to the bottom of the river or lake. After the sediment particles in the water inlet hole and on the porous filter plate 3.1 are processed, the electromagnet 19 is powered off to lose its magnetism. The second torsion spring 11 drives the wire reel 10 to rotate in reverse to wind up the pull rope 15, pulling the iron block 14 to reset. On the contrary, the first spring 18 resets, and the bracket 17 rises to reset. After the wedge block 24 rises and abuts against the round rod 23, the wedge block 24 and the abutting block 25 rotate downward at this time, causing the third torsion spring 26 to twist and deform, making the wedge block 24 avoid the round rod 23. When the wedge block 24 leaves the round rod 23, the third torsion spring 26 resets to drive the coupling shaft and the wedge block 24 to reset. As the iron block 14 rises, the ejector rod 16 resets. At this time, the first torsion spring 9 resets, thus realizing the reset of the porous filter plate 3.1.

[0094] The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them.

Claims

1. A spiral-propelled underwater river and lake sediment washing robot, characterized in that: It includes a screw propulsion power system (1) for precise steering and movement in the soft mud at the bottom of underwater rivers and lakes; A bottom mud stirring and mixing chamber (2) for stirring, dispersing and mixing the bottom mud; A sediment pollutant separation chamber (3) is used to provide a place for separating fine particle pollutants; Slurry centrifugal pump and piping system (4) for separation and in-situ capping of target particle size pollutants; Electrical equipment and controller systems (5) for underwater area positioning, equipment movement and operation; Frame and shell system (6), used for structural stability and equipment lifting; The mud and sand particles in the mud centrifugal pump and the pipeline system (4) can be sucked out of the mud centrifugal pump and the pipeline system (4) by flow control; The sediment pollutant separation chamber (3) allows the large-diameter sediment particles inside to be fully screened and settled to the bottom of the river or lake through the combined effects of rising flow rate control and gravity sedimentation, thereby fully covering the bottom of the river or lake; The screw propulsion power system (1) comprises: a screw auger piece (1.1), an axis cylinder (1.2), a bearing (1.3), an underwater motor and a matching reducer (1.4); the screw auger piece (1.1) is respectively fixed on two parallel axis cylinders (1.2); the bearings (1.3) are respectively connected to the two ends of the axis cylinder (1.2); the bearings (1.3) are installed in the skeleton and shell system (6); the underwater motor and the matching reducer (1.4) are arranged in the skeleton and shell system (6); the output shafts of the underwater motor and the matching reducer (1.4) are concentrically connected to the ends of the corresponding axis cylinders (1.2); The bottom mud stirring and mixing chamber (2) is located above the screw propulsion power system (1); The sediment pollutant separation cabin (3) comprises: a porous filter plate (3.1) and a sediment sedimentation separation space; The mud centrifugal pump and piping system (4) comprises: a mud centrifugal pump (4.1), a water inlet pipe (4.2), a return flow control valve (4.3), a return pipe (4.4), a duckbill nozzle (4.5) and a water outlet pipe (4.6); the mud centrifugal pump (4.1) is arranged in the skeleton and shell system (6), the water inlet pipe (4.2) is connected to one end of the mud centrifugal pump (4.1), the other end of the mud centrifugal pump (4.1) is connected to the return flow control valve (4.3), one end of the return flow control valve (4.3) is connected to the water outlet pipe (4.6), and the other end is connected to the return pipe (4.4), and the duckbill nozzle (4.5) is arranged on the return pipe (4.4).

2. The spiral-propelled underwater river and lake sediment washing robot according to claim 1 is characterized by: The electrical equipment and controller system (5) comprises: an electrical equipment control sealed box (5.1), a waterproof electrical wire pipeline (5.2), an underwater high-definition camera (5.3) and an underwater searchlight (5.4).

3. The spiral-propelled underwater river and lake sediment washing robot according to claim 2 is characterized in that: The frame and shell system (6) comprises: a rubber curtain (6.1), an equipment shell (6.2), an equipment hoisting buckle (6.3), a sealed cabin hinge (6.4) and a sheet metal welded frame (6.5); the sheet metal welded frame (6.5) is arranged inside the equipment shell (6.2), the equipment hoisting buckle (6.3) is arranged on the top of the sheet metal welded frame (6.5), the rubber curtain (6.1) is arranged on the bottom of the equipment shell (6.2), and the sealed cabin hinge (6.4) is arranged on the top of the equipment shell (6.2).

4. The spiral-propelled underwater river and lake sediment washing robot according to claim 3 is characterized by: One end of the mud centrifugal pump (4.1) is connected to a two-branch pipe, the water inlet pipe (4.2) is rotatably mounted on the end of the two-branch pipe, the water inlet pipe (4.2) is communicated with the two-branch pipe, the other end of the water inlet pipe (4.2) is rotatably mounted with a positioning pipe (7), the positioning pipe (7) is fixedly mounted on the sheet metal welded frame (6.5), the top of the water inlet pipe (4.2) is equidistantly provided with water inlet holes, the porous filter plate (3.1) is rotatably mounted on the sheet metal welded frame (6.5), and a driving component for driving the water inlet pipe (4.2) to rotate and vibrate and driving one side of the porous filter plate (3.1) to rotate downward is provided inside the sheet metal welded frame (6.5).

5. The spiral-propelled underwater river and lake sediment washing robot according to claim 4 is characterized in that: Side plates (8) are symmetrically fixedly mounted on the sheet metal welded frame (6.5), and rotating shafts are symmetrically fixedly connected to the outside of the porous filter plate (3.1). The rotating shafts are rotatably mounted on the corresponding side plates (8), and a first torsion spring (9) is provided on the outer sleeve of the rotating shaft. The two ends of the first torsion spring (9) are respectively fixedly connected to the rotating shaft and the side plates (8).

6. The spiral-propelled underwater river and lake sediment washing robot according to claim 5 is characterized in that: The drive assembly includes: A wire take-up reel (10) is sleeved on the outside of the water inlet pipe (4.2); a second torsion spring (11) sleeved on the outside of the positioning tube (7), with two ends of the second torsion spring (11) fixedly connected to the positioning tube (7) and the take-up reel (10) respectively; Limiting columns (12) are symmetrically arranged inside the sheet metal welding frame (6.5); A limit block (13) is sleeved on the outside of the limit column (12); an iron block (14) is slidably mounted on the outside of a pair of limit columns (12); a pull rope (15) connects the iron block (14) to the take-up drum (10), and the pull rope (15) is wound on the take-up drum (10); a top rod (16) is arranged on one side of the bottom of the iron block (14), and the bottom of the top rod (16) is in contact with the top of the porous filter plate (3.1); a bracket (17) is slidably inserted into the middle of the iron block (14); a first spring (18) is sleeved on the outside of the bracket (17); an electromagnet (19) is arranged inside the sheet metal welded frame (6.5) and located below the iron block (14); a slide rail (20) is symmetrically arranged The invention relates to a sheet metal welding skeleton (6.5); a clapping block (21) slidably arranged inside the slide rail (20); a second spring (22) connecting the inner wall of the slide rail (20) and the clapping block (21); a round rod (23) arranged on a side of the clapping block (21) away from the take-up reel (10); a mounting plate equidistantly arranged on the bracket (17); a wedge block (24), one side of the wedge block (24) being fixedly connected to a connecting shaft, and the connecting shaft being rotatably mounted on the mounting plate; a stop block (25) arranged on an upper part of a side of the wedge block (24) close to the bracket (17); and a third torsion spring (26) sleeved outside the connecting shaft, with both ends of the third torsion spring (26) being fixedly connected to the mounting plate and the connecting shaft respectively.

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