Rotary silt suction head capable of turning, shoveling, cutting and grinding and desilting robot with rotary silt suction head

Abstract

The invention discloses a rotary silt suction head capable of turning, shoveling, cutting and grinding and a desilting robot with the rotary silt suction head, and relates to the field of desilting devices. Comprising a rotary suction pipe with a sawtooth type circular pipe end, a motor and a hollow rotating disc assembly. The turntable assembly comprises a turntable arranged on the turntable seat; the rotary suction pipe is connected with the rotary disc, the motor is fixed to the rotary silt suction head, and the output end of the motor is connected with a driving wheel which drives the rotary disc to rotate. In the process that the rotary table rotates to drive the rotary suction pipe to rotate synchronously, the rotary suction pipe with the sawtooth type circular pipe end can turn, shovel, cut and grind deposits and consolidated materials; the rotary silt suction head is assembled on the desilting robot to be matched with the negative pressure of the conveying pipe, the suction force of the conveying pipe acts on a desilting medium which is turned, shoveled, cut and ground through the rotary suction pipe, the medium enters the silt suction head in a loose, fragmented and minimized benign medium state in a rotary suction mode, the medium is smooth in the conveying process, a conveying pipeline is not prone to being blocked, and the desilting efficiency is improved. And continuous dredging operation is easy to realize.

Description

Technical Field

[0001] The invention relates to the technical field of silt removal devices, and in particular to a rotary silt suction head capable of turning, shoveling, cutting and grinding, and a silt removal robot having the same. Background Art

[0002] At present, for dredging operations in pipelines, rivers and other scenarios, traditional dredging heads mainly rely on a single function to achieve dredging. The typical technical solutions are as follows:

[0003] Pure suction type silt suction head: simple structure, directly sucking silt through negative pressure suction of the conveying pipe. Suitable for low hardness media such as loose silt and liquid silt, but lacks pre-treatment ability for consolidated materials such as dry mud, calcified layer, fiber winding, etc., and is prone to low silt removal efficiency due to insufficient suction.

[0004] Mechanical crushing silt suction head: fixed blades or stirring impellers are added to the silt suction port to crush the silt through mechanical collision. However, the crushing parts are usually fixed and can only achieve a single cutting or stirring function, and the crushing particle size is uneven. For high-hardness consolidation, the blade is easy to wear and jam; for fibrous impurities, there is a lack of hooking and tearing mechanism, which is easy to entangle and block the suction port.

[0005] Complex silt suction head: To achieve different functions such as shoveling and crushing, most existing silt suction heads are designed to be crushing and shoveling separately. For example, CN115680051A discloses an underwater cleaning device for the pumping port of a nuclear power plant, which has a shoveling structure, a crushing structure and a collection structure to achieve the shoveling, crushing and collection functions respectively. This type of solution relies on the coordination of multiple devices, the process is cumbersome, and the loosening process is prone to secondary deposition of silt, and it is impossible to achieve integrated operation of discharge anywhere.

[0006] Disadvantages of existing technology:

[0007] 1) Insufficient crushing capacity and unable to cope with complex media. The traditional suction head only crushes the surface of the solidified material, but lacks the ability to destroy the cohesive structure of the sediment. For example, when faced with hardened mud and dirt that has been deposited in the pipeline for a long time, the fixed blade can only cut the surface and cannot penetrate deep into the interior to loosen it, resulting in the need to rely on high-power suction for subsequent suction and drainage, which consumes a lot of energy and has low efficiency.

[0008] 2) For fibrous and tough impurities, existing mechanical components such as blades and impellers can only exert lateral cutting force, lacking longitudinal hooking and grinding mechanisms, which can easily cause entanglement and blockage of the suction port, resulting in interruption of operation.

[0009] 3). The anti-clogging technology is backward, relying on manual maintenance or using a manipulator or high-pressure water gun to clean and remove obstacles. The internal flow channel of the traditional silt suction head is smooth, and the medium flow is mainly straight-line suction, lacking the ability to secondarily break particles and self-clean. When larger fragments, fibers, or media accumulate in the silt suction head, they are likely to stay in the suction port or the conveying pipe, and it is necessary to frequently stop the machine for cleaning, or use a manipulator to grab or use a high-pressure water gun to clean.

[0010] 4). There is no eddy current or turbulence induction structure, and it is impossible to use hydrodynamic force to achieve particle collision and fragmentation. Especially for agglomerated silt deposits, it is easy to cause blockage due to uneven particle sizes, and it is difficult to meet the requirements of continuous operation.

[0011] 5). The lack of multi-functional coordination results in low processing efficiency. The loosening, crushing, and suction / discharge functions of the existing silt suction heads are independent of each other, and need to be operated in separate steps. The process is long and is easily restricted by working conditions. For example, multiple devices cannot be deployed in narrow pipes. Crushing components such as blades and impellers are separated from the silt suction flow channel, and it is impossible to synchronously achieve grinding and miniaturization during the suction / discharge process, resulting in uneven particle sizes of the discharged medium and increasing the risk of blockage in the subsequent conveying pipe.

[0012] 6). The medium is not thoroughly processed, which is likely to cause secondary problems. Fibrous impurities are not completely torn, which may entangle the pump impeller and damage the equipment. For layered consolidated materials, three-dimensional loosening cannot be achieved, resulting in incomplete dredging and a high residual rate.

[0013] In view of the deficiencies of the existing technology, it is of great significance to provide a rotary silt suction head that can turn, shovel, cut, and grind, and a dredging robot equipped with it. Summary of the Invention

[0014] The purpose of the present invention is to avoid the deficiencies of the existing technology and provide a rotary silt suction head that can turn, shovel, cut, and grind. During the process of the rotary table rotating and driving the rotary suction pipe to rotate synchronously, the rotary suction pipe with a serrated round pipe end can perform operations such as turning, shoveling, cutting, and grinding on the silt deposits and consolidated materials; assembling the rotary silt suction head on a dredging robot and cooperating with the negative pressure of the conveying pipe, the suction force of the conveying pipe acts on the dredging medium after being turned, shoveled, cut, and ground through the rotary suction pipe, so that the medium enters the silt suction head in a swirling suction manner in a benign medium state of loosening, fragmentation, and miniaturization. The medium is smooth during the conveying process and is not easy to block the conveying pipeline, and it is easy to achieve continuous dredging operations.

[0015] The above object of the present invention is achieved by the following technical means:

[0016] A rotary silt suction head that can turn, shovel, cut, and grind, comprising a rotary suction pipe 1 with a serrated round pipe end 11, a motor 2, and a hollow rotary table assembly 3; the rotary table assembly 3 includes a rotary table 32 provided on a rotary table seat 31;

[0017] The swirl tube 1 is connected to the turntable 32. The motor 2 is fixed to the rotary dredging head. A driving wheel 21 is connected to the output end of the motor 2, and the driving wheel 21 drives the turntable 32 to rotate.

[0018] One of the optional driving structures: The driving wheel 21 and the turntable 32 have an engaging structure that meshes with each other, and the driving wheel 21 drives the turntable 32 to rotate in an engaging manner.

[0019] Another optional driving structure: The driving wheel 21 and the turntable 32 have a chain drive structure, and the driving wheel 21 drives the turntable 32 to rotate by chain drive.

[0020] Preferably, the driving wheel 21 of the motor 2 is arranged inside the turntable seat 31. The motor 2 is fixed to the rotary dredging head by being fixed to the turntable seat 31, and the output end of the motor 2 extends into the turntable seat 31 to connect to the driving wheel 21.

[0021] Preferably, the other end of the swirl tube 1 is provided with a hollow connection disk 9. The connection disk 9 is provided with a plurality of swirl head assembly holes 91 and turntable assembly holes 92 arranged in a circle. The swirl tube 1 is fixed to the connection disk 9 through the swirl head assembly holes 91, and the connection disk 9 is connected and fixed to the turntable 32 through the turntable assembly holes 92.

[0022] One of the optional serrated round tube ends: The serrated round tube end 11 is evenly distributed with a plurality of concave and convex saw cuts in the circumferential direction, and each saw cut is formed by the smooth undulation of alternating depressions and protrusions.

[0023] Another optional serrated round tube end: The serrated round tube end 11 is evenly distributed with a plurality of sharp saw teeth in the circumferential direction.

[0024] The present invention also discloses a dredging robot with a rotary dredging head, and the rotary dredging head is arranged on the dredging robot 5;

[0025] It further includes a delivery pipe 6 arranged on the dredging robot 5 and a connecting pipe 7 arranged between the delivery pipe 6 and the turntable seat 31;

[0026] It further includes a telescopic support 81 arranged between the dredging robot 5 and the turntable seat 31.

[0027] Optional telescopic support: The telescopic support 81 is at least one of a hydraulic telescopic cylinder and a pneumatic telescopic cylinder.

[0028] One of the optional ways to control the rotary dredging head: One end of the telescopic support 81 is fixedly arranged on the dredging robot 5, and the other end is fixedly arranged on the turntable seat 31; the telescopic support 81 can support the rotary dredging head and control the penetration depth or ground clearance height of the rotary dredging head.

[0029] Another optional way to control the rotary dredging head: It further includes a positioning member 82, one end of the positioning member 82 is movably connected to the dredging robot 5, and the other end is movably connected to the turntable seat 31;

[0030] One end of the telescopic support 81 is movably connected to the dredging robot 5, and the other end is movably connected to the turntable seat 31;

[0031] The linkage cooperation of the telescopic support 81 and the positioning member 82 can simultaneously control the tilt angle of the rotary suction pipe 1 and the depth of penetration into the ground or the height from the ground.

[0032] Preferably, the adapter pipe 7 is a non-metallic elastic pipe.

[0033] Preferably, the adapter pipe 7 is connected to the turntable seat 31 through the rear joint 4.

[0034] The beneficial effects of adopting the above technical solutions:

[0035] 1). During the rotation of the rotary suction pipe 1 with the serrated circular pipe end 11, the rotary suction pipe 1 can perform operations such as turning, shoveling, cutting, and grinding on the silt and consolidated materials.

[0036] 2). If the rotary dredging head is arranged on the dredging robot in cooperation with a suction conveying pipe, during the process of the dredging robot pushing the rotary dredging head forward, after the serrated circular pipe end 11 of the rotary dredging head turns, shovels, cuts, and grinds the silt and consolidated materials, the suction of the conveying pipe acts on the dredging medium (i.e., silt and consolidated materials) after being turned, shoveled, cut, and ground through the rotary suction pipe 1. At the same time, during the process of loosening, shoveling, cutting, and grinding the medium, the medium enters the rotary dredging head in a loose, fragmented, and small-sized good medium state by means of rotary suction and is sucked out of the ground through the conveying pipe. The medium is smoothly conveyed during the conveying process and is not easily blocked in the conveying pipeline, making it easy to achieve continuous dredging operations.

[0037] 3). When the medium flows through the rotary dredging head, it can produce a tumbling state, and under the action of suction, it has the technical effects of vortex secondary fragmentation and self-cleaning anti-blocking:

[0038] Vortex secondary fragmentation: The hollow cavity of the rotary suction pipe 1 and the concave-convex structure of the serrated circular pipe end 11 cooperate. When the medium is sucked in under negative pressure, the alternating distribution of the serrated protrusions and depressions will induce the fluid to generate vortices. The centrifugal force of the vortices causes high-frequency collisions between the particles and the inner wall of the rotary suction pipe 1 and between the particles, performing secondary fragmentation on the remaining fragments. Especially for fibrous impurities, the shearing action of the vortices can further tear them to avoid entanglement and blockage.

[0039] Self-cleaning and anti-blocking: The tumbling state enables the medium particles to form a fluidized bed effect in the swirl tube 1: Smaller particles are directly sucked out, and larger fragments are driven by the eddy current to move spirally along the wall of the swirl tube 1, during which the wall of the swirl tube 1 can be self-cleaned. The larger fragments are further fragmented and minimized during repeated collisions and then sucked towards the delivery pipe, avoiding blockage of the rotary silt suction head and the delivery pipe.

[0040] 4). The process of the rotary silt suction head realizing the loosening, shoveling, cutting, and grinding of the medium can produce a synergistic effect of loosening, fragmenting, and minimizing the medium:

[0041] Loosening effect: The cohesive structure of the sediment is destroyed by the serrated circular tube end 11, converting it from a dense state to a loose state. When the swirl tube 1 rotates at high speed driven by the motor 2, the leading edge of the raised serrations of the serrated circular tube end 11 inserts into the surface layer of the sediment in a tangential direction. The designed height of the protrusions enables it to have sufficient insertion depth to reach the internal structure of the consolidated material. When the raised serrations cut into the sediment, the centrifugal force and mechanical thrust generated by the rotation will apply a lateral shear force to the sediment, destroying the adhesion between particles and causing cracks and initial separation in the originally tightly bonded mass. As the swirl tube 1 rotates, the raised serrations continue to advance forward, turning the sediment upward or to the side like a miniature shovel plow. For layered sediment deposits (such as the consolidated sediment layer at the bottom of the pipeline), the shoveling action can lift it as a whole, exposing the underlying untreated consolidated layer, and at the same time causing the upper-layer sediment to scatter and fluff due to the shift of the center of gravity.

[0042] Fragmenting effect: Through the "cutting" action of the serrations, the loosened medium is further decomposed. For consolidated materials with higher hardness, the cutting action of the blade edge splits them into fragmented small pieces, and multiple layers of cutting can be completed in a single rotation. When the raised serrations and the sunken serrations alternately roll over the sediment, the centrifugal impact force generated by the rotation will form a high-frequency impact on the sediment. For brittle media such as calcified layers and dried mud blocks, the impact will cause fractures to form fragments.

[0043] Minimizing effect: Through the cutting of the serrations and the rotational grinding action of the inner wall of the swirl tube 1, when the fragments enter the concave area, the inner surface of the rotating serrations has high-speed friction with the fragments, and the inner wall of the swirl tube 1 grinds the larger particles through rotational collision, further minimizing the particles. For fibrous or ductile sediment, combined with the pulling and hooking action of the serrations and high-speed cutting, it can be pulled and cut apart to avoid entanglement and blockage and meet the requirements of silt suction and transportation.

[0044] The above processes of loosening, shoveling, cutting, and grinding do not act on the medium independently. Through the serrations and rotational design of the swirl tube, an action synergy of insertion - fragmentation - grinding is formed to achieve a three-level synergistic treatment effect of loosening, fragmenting, and minimizing the medium, ultimately forming a benign and easily transportable medium to avoid blockage and meet the requirements of silt suction and transportation. Description of the Drawings

[0045] Figure 1 is a schematic structural diagram of a rotary silt suction head;

[0046] Figure 2 is a schematic exploded view of the structure of a rotary silt suction head;

[0047] Figure 3 is a schematic diagram of a corrugated pipe as a transfer pipe;

[0048] Figure 4 is a schematic diagram of a non-corrugated flexible hose as a transfer pipe;

[0049] Figure 5 is a schematic diagram of a rotary silt suction head with a pointed sawtooth at the end of a serrated round pipe;

[0050] Figure 6 is a schematic structural diagram of a dredging robot;

[0051] Figure 7 is a schematic diagram of a dredging robot for adjusting the attitude of a rotary silt suction head;

[0052] Figure 8 is a schematic diagram of a driving wheel chain-driving a turntable 32 to rotate;

[0053] Figure 9 is a schematic diagram of a telescopic support independently supporting a rotary silt suction head and controlling the ground clearance of the rotary silt suction head;

[0054] Figure 10 is a schematic diagram of a telescopic support independently supporting a rotary silt suction head and controlling the depth of the rotary silt suction head inserted into the ground.

[0055] Among them, the rotary suction pipe 1; the serrated round pipe end 11; the motor 2, the driving wheel 21; the turntable assembly 3; the turntable seat 31; the turntable 32; the rear joint 4; the dredging robot 5; the conveying pipe 6; the transfer pipe 7; the corrugated pipe 71; the non-corrugated flexible hose 72; the telescopic support 81; the positioning member 82; the connecting plate 9; the rotary suction head assembly hole 91; the turntable assembly hole 92. Specific implementation manners

[0056] Next, in combination with the drawings in the embodiments of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described. 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.

[0057] Embodiment 1. This embodiment shows a rotary silt suction head capable of turning, shoveling, cutting, and grinding, as Figure 1-2As shown, it includes a swirl suction pipe 1 with a serrated circular pipe end 11, a motor 2, and a hollow turntable assembly 3; the turntable assembly 3 includes a turntable 32 provided on a turntable base 31;

[0058] The swirl suction pipe 1 is connected to the turntable 32. The motor 2 is fixed to the rotary silt suction head, and a driving wheel 21 is connected to the output end of the motor 2. The driving wheel 21 drives the turntable 32 to rotate.

[0059] Working principle: The working of this rotary silt suction head is based on the principles of mechanical transmission and rotary cutting. The motor 2 serves as the power source. After starting, its output end drives the driving wheel 21 to rotate, and the driving wheel 21 drives the turntable 32 to rotate. The turntable 32 is connected to the swirl suction pipe 1. When the turntable 32 rotates, it will drive the swirl suction pipe 1 to rotate synchronously. During the rotation of the swirl suction pipe 1 with a serrated circular pipe end 11, the swirl suction pipe 1 can perform operations such as turning, shoveling, cutting, and grinding on the silt and consolidated materials.

[0060] Application of the swirl suction cleaning medium in cooperation with the silt suction robot during the silt cleaning process: As Figure 3-7 shown in Figures 9 - 10, if the rotary silt suction head is arranged on the silt suction robot and is combined with a suction pipe, during the process of the silt suction robot pushing the rotary silt suction head forward, after the serrated circular pipe end 11 of the rotary silt suction head turns, shovels, cuts, and grinds the silt and consolidated materials, the suction of the suction pipe acts on the cleaned medium (i.e., the silt and consolidated materials) after being turned, shoveled, cut, and ground through the swirl suction pipe 1. At the same time, during the process of turning, shoveling, cutting, and grinding the medium, the medium enters the rotary silt suction head in a swirling suction manner in a benign medium state of being loosened, fragmented, and miniaturized, and is sucked out to the ground through the suction pipe. During the medium transportation process, it is smooth and not easy to block the transportation pipeline, and it is easy to achieve continuous silt cleaning operations.

[0061] When the medium flows through the rotary silt suction head, it can generate a tumbling state, and under the action of suction, it produces the technical effects of vortex secondary fragmentation and self - cleaning anti - blockage:

[0062] Vortex secondary fragmentation: The hollow cavity of the swirl suction pipe 1 and the concave - convex structure of the serrated circular pipe end 11 cooperate. When the medium is sucked in under negative pressure, the alternating distribution of the serrated protrusions and depressions will induce the fluid to generate vortices. The centrifugal force of the vortices causes high - frequency collisions between the particles and the inner wall of the swirl suction pipe 1, and between the particles, performing secondary fragmentation on the remaining fragments. Especially for fibrous impurities, the shearing action of the vortices can further tear them to avoid entanglement and blockage.

[0063] Self - cleaning anti - blockage: The tumbling state enables the medium particles to form a fluidized bed effect in the swirl suction pipe 1: Smaller particles are directly sucked and discharged, and larger fragments are driven by the vortices to move spirally along the wall of the swirl suction pipe 1, during which they can self - clean the wall of the swirl suction pipe 1. The larger fragments are further fragmented and miniaturized during repeated collisions and then sucked towards the suction pipe, avoiding blockage of the rotary silt suction head and the suction pipe.

[0064] The process of the rotating silt suction head achieving the loosening, shoveling, cutting, and grinding of the medium can produce a synergistic effect of loosening, fragmenting, and miniaturizing the medium:

[0065] Loosening effect: The cohesive structure of the sediment is destroyed by the serrated circular pipe end 11, causing it to transform from a dense state to a loose state. When the rotating suction pipe 1 rotates at high speed driven by the motor 2, the leading edge of the raised serrations of the serrated circular pipe end 11 inserts into the surface layer of the sediment in a tangential direction. The designed height of the protrusions enables sufficient insertion depth to reach the internal structure of the consolidated material. When the raised serrations cut into the sediment, the centrifugal force and mechanical thrust generated by the rotation exert a lateral shear force on the sediment, breaking the adhesion between particles and causing cracks and initial separation in the originally tightly bonded mass. As the rotating suction pipe 1 rotates, the raised serrations continuously advance forward, turning the sediment upward or to the side like a miniature shovel plow. For sediment accumulated in layers (such as the consolidated sediment layer at the bottom of the pipeline), the shoveling action can lift it as a whole, exposing the underlying untreated consolidated layer, and at the same time causing the upper-layer sediment to scatter and fluff due to the shift of the center of gravity.

[0066] Fragmenting effect: Through the "cutting" action of the serrations, the loosened medium is further decomposed. For consolidated materials with higher hardness, the cutting action of the blade edges splits them into fragmented small pieces, and multiple layers of cutting can be completed in a single rotation. When the raised serrations and sunken serrations alternately roll over the sediment, the centrifugal impact force generated by the rotation will form high-frequency impacts on the sediment. For brittle media such as calcified layers and dried mud blocks, the impacts will cause fractures and form fragments.

[0067] Miniaturizing effect: Through the cutting of the serrations and the rotational grinding action of the inner wall of the rotating suction pipe 1, when the fragments enter the concave area, the inner surface of the rotating serrations has high-speed friction with the fragments, and the inner wall of the rotating suction pipe 1 grinds the larger particles through rotational collision, further miniaturizing the particles. For fibrous or ductile sediment, combined with the pulling and hooking action of the serrations and high-speed cutting, it can be pulled and cut apart to avoid entanglement and blockage and meet the requirements of silt suction and transportation.

[0068] The above processes of loosening, shoveling, cutting, and grinding do not act independently on the medium. Through the serrations and rotational design of the rotating suction pipe, an action synergy of insertion - fragmentation - grinding is formed to achieve a three-level synergistic treatment effect of loosening, fragmenting, and miniaturizing the medium, ultimately forming a benign and easily transportable medium to avoid blockage and meet the requirements of silt suction and transportation.

[0069] Example 2. This example shows one of the driving methods, such as Figure 1-2 shown, the driving wheel 21 and the turntable 32 have an engaging structure that meshes with each other, and the driving wheel 21 drives the turntable 32 to rotate in an engaging manner.

[0070] In Embodiment 2, the drive wheel 21 and the turntable 32 adopt an engaging structure that meshes with each other. This driving method has significant advantages in many aspects. On the one hand, its power transmission has extremely high stability and accuracy. Due to the tight engagement between the teeth of the engaging structure, it can ensure that the power of the drive wheel 21 is accurately transmitted to the turntable 32, enabling the turntable 32 to rotate stably at a predetermined speed and direction. Furthermore, it guarantees the coherence and consistency of the operations such as turning, shoveling, cutting, and grinding of the silt and consolidated materials by the swivel pipe 1, effectively avoiding the reduction of dredging efficiency or abnormal operations caused by unstable power transmission. On the other hand, the engaging structure has a high transmission efficiency and low energy loss during operation. It can give full play to the power performance of the motor 2, reduce energy waste, and effectively reduce the equipment operation cost during long-term continuous dredging operations. At the same time, this structure is compact and reliable, not prone to faults such as slipping and misalignment, greatly improving the reliability and durability of the overall operation of the rotary dredging head, reducing the equipment maintenance frequency and maintenance cost, and ensuring the efficient development of dredging operations.

[0071] Embodiment 3. This embodiment shows another driving method. As Figure 1-2 shown, the drive wheel 21 and the turntable 32 have a chain drive structure, and the drive wheel 21 drives the turntable 32 to rotate in a chain drive manner.

[0072] The chain drive structure adopted in Embodiment 3 brings unique technical effects to the drive of the rotary dredging head. The chain drive has a strong load-bearing capacity and can maintain stable transmission performance while transmitting a large amount of power. Even when facing dredging operations under complex working conditions, such as dealing with silt and consolidated materials with high hardness or high viscosity, the drive wheel 21 can still stably transmit power to the turntable 32, ensuring that the swivel pipe 1 operates efficiently at an appropriate speed and will not suffer from insufficient power or transmission failure due to load changes. In addition, the chain drive has good adaptability and can work under relatively harsh environmental conditions, such as wet and muddy dredging sites, and is not easily affected by factors such as sediment and water stains, reducing the risk of equipment failures caused by environmental factors. Moreover, the chain drive structure is relatively simple to install and maintain. During the dredging operation, if problems such as chain wear occur, it can be quickly inspected, replaced, and adjusted to ensure that the equipment can quickly resume normal operation, thereby improving the overall efficiency of the dredging operation and the equipment utilization rate.

[0073] Referring to Embodiments 2 and 3, if the drive wheel and the turntable are set to a belt drive type, the turntable can be driven by a belt drive structure.

[0074] Embodiment 4. This embodiment shows how to further set the motor. As Figure 1-2As shown, the driving wheel 21 of the motor 2 is arranged inside the turntable seat 31. The motor 2 is fixed to the rotary silt suction head in a manner of being fixed to the turntable seat 31. The output end of the motor 2 extends into the turntable seat 31 to connect the driving wheel 21.

[0075] Integrate the driving wheel 21 of the motor 2 inside the turntable seat 31. Rigidly connect the motor body to the turntable seat 31. The output shaft is coaxially connected to the driving wheel 21 by extending into the turntable seat 31, forming an integrated transmission chain of "motor - driving wheel - turntable - rotary suction pipe", which has a compact structure, is durable in protection, and has precise transmission.

[0076] Example 5. This example shows how to further set the rotary suction pipe, as Figure 1-2 As shown, the other end of the rotary suction pipe 1 is provided with a hollow connecting plate 9. The connecting plate 9 is provided with a plurality of rotary suction head assembly holes 91 and turntable assembly holes 92 arranged in a circumference. The rotary suction pipe 1 is fixed to the connecting plate 9 through the rotary suction head assembly holes 91, and the connecting plate 9 is connected and fixed to the turntable 32 through the turntable assembly holes 92.

[0077] The rotary suction pipe 1 is fixed to the connecting plate 9 through the rotary suction head assembly holes 91. The connecting plate 9 is rigidly connected to the turntable 32 through the turntable assembly holes 92, forming a three - level modular structure of "rotary suction pipe - connecting plate - turntable" to improve the disassembly, installation and replacement efficiency, and quickly replace the rotary suction pipes of different saw - tooth types to suit different silt - cleaning scenarios.

[0078] Example 6. This example is one example of the serrated round pipe end 11, as Figure 3 As shown, a number of concave - convex undulating saw cuts are evenly distributed in the circumferential direction of the serrated round pipe end 11. Each saw cut is formed by the smooth undulation of alternating depressions and protrusions.

[0079] In this example, the cohesive force of the medium is destroyed by the smooth undulating shearing force, which is suitable for layered loosening and progressive grinding, has excellent effect and good uniformity on moderately hard consolidated materials, is especially suitable for uniform silt cleaning at the bottom of the pipeline, has less noise, and is more suitable for the silt - cleaning operation scenario of residential area sewers.

[0080] Example 7. This example is another example of the serrated round pipe end 11, as Figure 5 As shown, a number of pointed saw teeth are evenly distributed in the circumferential direction of the serrated round pipe end 11.

[0081] In this example, the hard consolidated material is instantaneously broken by stress concentration, which is suitable for high - strength cutting at one time, can break hard consolidated materials, but the particle size has a high dispersion degree, is more suitable for massive isolated consolidated materials, has a large noise, and is more suitable for non - residential area operation scenarios.

[0082] Example 8. This example shows a silt - cleaning robot with a rotary silt suction head, as Figure 1-10As shown, the rotary dredging head is provided on the dredging robot 5;

[0083] It also includes a delivery pipe 6 provided on the dredging robot 5 and an adapter pipe 7 provided between the delivery pipe 6 and the turntable base 31;

[0084] It also includes a telescopic support 81 provided between the dredging robot 5 and the turntable base 31.

[0085] In this embodiment, a telescopic support 8 is provided to control the in - ground depth or the height from the ground of the swivel pipe 1, forming a composite working principle of "mechanical crushing + attitude adjustment".

[0086] The power transmission chain of this embodiment: The motor 2 drives the drive wheel 21 → the turntable 32 → the swivel pipe 1 rotates at high speed, and the serrated round pipe end 11 turns, shovels, cuts, and grinds the sediment (same as in Embodiment 1).

[0087] Synergistic suction effect: The negative pressure of the delivery pipe 6 acts on the swivel pipe 1 through the adapter pipe 7, forming an integrated process of "cutting - suction - delivery". The crushed medium is sucked and transported under the eddy current state (same as in Embodiment 1).

[0088] Synergistic effect of softening, fragmenting, and miniaturizing the medium:

[0089] Softening effect: Exemplarily, combined with the attitude adjustment of the in - ground depth, the self - adaptive loosening with controllable depth can cover complex terrains. For example, for the silt bottom condition, the height of the swivel pipe 1 from the ground is controlled at 5 cm through the telescopic support to avoid excessive cutting and mud splashing. At the same time, the soft mud is turned into flocs by using the shoveling action of the saw teeth, improving the softening efficiency.

[0090] Fragmenting effect: Exemplarily, by precisely controlling the cutting depth, the fragmentation of hard - consolidated substances is enhanced. For example, when dealing with the calcified layer, the saw teeth perform "impact cutting" with a single - cut depth of 20 mm and high rotational speed to improve the crushing efficiency. For a 15 - cm - thick multi - layer sediment, such as soft mud on the upper layer and hard scale on the lower layer, the telescopic support adjusts the in - ground depth in stages: first loosen the soft mud with a smaller depth, and then fragment the hard scale with a larger depth to avoid the increase in cutting resistance caused by the upper - layer coverage of the hard scale.

[0091] Miniaturizing effect: Exemplarily, through attitude - linked cutting and grinding, when the telescopic support controls the swivel pipe to go from shallow to deep, the grinding space formed by the serrated concave area matches the particle movement trajectory, and the spiral movement distance of the fragments along the inner wall of the saw teeth under the eddy current drive increases by 50%, improving the miniaturizing efficiency of the medium. If it is for the plastic ropes wound in the pipeline, the height from the ground is quickly adjusted through the telescopic support, the fiber is straightened by using the hooking action of the saw teeth, and then cut into small segments at high speed to avoid winding and blockage.

[0092] The three-stage processing of loosening, crushing and minimization is coordinated: the retractable support adjustment and sawtooth crushing form a "posture-force-depth" closed loop. The loosening area is expanded in the loosening stage to provide more cutting surfaces for crushing; the crushing stage matches the hardness of the consolidation material by controlling the depth of penetration into the ground to avoid excessive or insufficient crushing; in the minimization stage: the grinding space is optimized through posture fine-tuning to ensure that the medium meets the conveying requirements.

[0093] Embodiment 9. This embodiment shows how to select a retractable support, such as Figure 6-7 As shown in 9-10, the retractable support 81 is at least one of a hydraulic retractable cylinder and a pneumatic retractable cylinder. The hydraulic retractable cylinder has fast control feedback, while the pneumatic retractable cylinder is finely controllable, and the supporting sludge suction head can achieve efficient and stable operation under different working conditions.

[0094] Embodiment 10. This embodiment shows the first rotary suction head control method: Figure 9-10 As shown, one end of the retractable support 81 is fixed to the dredging robot 5, and the other end is fixed to the turntable seat 31; the retractable support 81 can support the rotary silt suction head and control the depth of the rotary silt suction head into the ground or the height from the ground.

[0095] like Figure 9-10 As shown, the base of one end of the retractable support 81 is fixed to the dredging robot 5. Figure 9 As shown, the retractable support 81 tilts forward to support the turntable seat 31, and the rotary suction head remains tilted at an unchanged angle but moves forward and is lifted off the ground; Figure 10 As shown, the retractable support 81 pulls the turntable seat 31 backward, and the tilt angle of the rotary suction head remains unchanged but moves backward to control the depth of penetration into the ground.

[0096] Flow control effect: air flow adjustment linked to ground clearance to optimize medium conveying performance

[0097] The retractable support 81 can precisely control the height of the rotary suction head from the ground, and simultaneously realize the dynamic adjustment of the air flow in the suction medium, forming a flow control mechanism of "gap control-gas-solid mixing-lightweight transportation". The specific technical effects are as follows:

[0098] The air flow rate is adjusted steplessly to meet the needs of medium transportation: the ground clearance is positively correlated with the air intake. When the suction head is lifted, the annular gap between the sawtooth round tube end 11 and the medium surface increases, and the outside air is quickly sucked into the rotary suction tube 1 (such as Figure 9 As shown), the proportion of air in the medium mixture increases.

[0099] Dynamic control of mass per unit volume: By adjusting the air proportion, the mass per unit volume of the inhaled medium can be significantly reduced, and the conveying resistance can be remarkably decreased. Under the same suction condition, the suction and conveying speed of the mixed medium is greatly increased, and it is not easy to cause blockage of the conveying pipe 6 due to too high density.

[0100] Air-solid mixing optimizes the eddy current effect and improves the suction and conveying stability: The mixing of air enhances the eddy current breaking. After an appropriate amount of air enters the cyclone tube 1, a gas-solid two-phase flow is formed with the medium particles, and stronger spiral eddy currents are generated under the induction of the serrated concave-convex structure. The eddy current centrifugal force not only strengthens the collision between particles, but also further disperses fibrous impurities through the air flow shearing action, avoiding entanglement and blockage.

[0101] The fluidized bed effect strengthens self-cleaning: When the air proportion reaches 40%, the medium particles form a stable "gas-solid fluidized bed" in the cyclone tube 1. Smaller particles are directly discharged with the air flow, and the larger fragments are lifted by the air flow and move spirally along the pipe wall for a longer distance. The larger fragments can self-clean the pipe wall and avoid sedimentation and accumulation caused by too dense medium.

[0102] Flow control adaptable to working conditions, improving both energy conservation and efficiency: Diluted conveying of high-viscosity medium. When dealing with high-water-content silt, by increasing the height from the ground to increase air inhalation, the viscosity of the medium can be effectively reduced, the motor energy consumption of the silt suction robot 5 is reduced, and there is no need to add extra water for dilution, avoiding secondary pollution.

[0103] Intelligent closed-loop control, dynamically matching the silt suction demand: In this embodiment, a negative pressure sensor can also be configured as needed, and the linkage setting is performed between the adjustment of the height of the support from the ground and the negative pressure sensor of the conveying pipe 6. If abnormal conveying pressure is detected, such as the negative pressure increasing due to too dense medium, the system automatically raises the silt suction head to increase the air inhalation amount, and then resumes stable conveying after several seconds; on the contrary, if the medium is too dilute, the height is reduced to decrease the air intake, ensuring that the gas-solid ratio is always maintained in the optimal range, and realizing the intelligent dredging of "flow control according to demand".

[0104] In this embodiment, the ground penetration depth and the height from the ground of the rotary silt suction head are precisely controlled by the telescopic support, the operation depth (from the ground / penetrating into the ground) of the silt suction head is adjusted to adapt to different hardness and thickness of the sediment (such as treating soft mud and hard scale in layers), avoiding excessive cutting or insufficient contact, and improving the crushing pertinence; combining depth regulation to optimize the sawtooth operation force, the effects of softening, crushing and miniaturization are synergistically enhanced, especially the treatment efficiency of fibrous impurities and hard consolidated materials is significantly improved, reducing the risk of blockage; realizing the closed-loop of "perception - adjustment - operation" in linkage with the dredging robot, dynamically matching the suction parameters, ensuring continuous operation, reducing manual intervention, and improving the overall dredging efficiency; the linkage between the height from the ground and the air flow regulation for flow control is beneficial to the medium conveying.

[0105] Embodiment 11. This embodiment shows the second control method of the rotary silt suction head.

[0106] The main difference between this embodiment and Embodiment 10 is that in Embodiment 10, the oblique angle remains unchanged while moving forward / backward to control the ground clearance / depth of penetration. In Embodiment 11, the interlocking cooperation between the telescopic support 81 and the positioning member 82 can simultaneously control the tilt angle of the swivel suction pipe 1 and the depth of penetration / ground clearance. Specifically:

[0107] As Figure 6-7 shown, it further includes a positioning member 82, one end of the positioning member 82 is movably connected to the dredging robot 5, and the other end is movably connected to the turntable base 31;

[0108] One end of the telescopic support 81 is movably connected to the dredging robot 5, and the other end is movably connected to the turntable base 31;

[0109] The interlocking cooperation between the telescopic support 81 and the positioning member 82 can simultaneously control the tilt angle of the swivel suction pipe 1 and the depth of penetration or ground clearance.

[0110] In this embodiment, both the positioning member 82 and the telescopic support 81 are movably connected to the dredging robot 5 at one end and movably connected to the turntable base 31 at the other end; as Figure 6 shown, the upper positioning member 82 is associated with the action of lifting and positioning the turntable base 31 and the telescopic support 81 below extending / retracting from the turntable base 31. When the telescopic support 81 extends, it controls the tilt angle between the rotary dredging head and the ground to become smaller (the minimum is close to 0 degrees), and it is lifted to increase the ground clearance due to the lifting and positioning of the positioning member 82. Conversely, when the telescopic support 81 retracts, it controls the tilt angle between the rotary dredging head and the ground to become larger (the maximum is close to 90 degrees), and the depth of penetration is controlled due to the positioning of the positioning member 82.

[0111] The technical effects of Embodiment 11 that are different from or enhanced compared to Embodiment 10 are as follows:

[0112] In Embodiment 10, only a single depth parameter is controlled by displacement (the tilt angle remains unchanged), while in Embodiment 11, the telescopic support and the positioning member are linked to achieve synchronous adjustment of the tilt angle and the depth of penetration into the ground, that is, dual-variable collaborative control, which is suitable for complex media. The change in the tilt angle directly changes the shape of the air intake gap between the inlet end of the swirl pipe and the ground. When the angle increases from small to large, the gap changes from a "horizontal wide slit" to a "vertical narrow slit", so that the air intake volume is linked to the degree of medium fragmentation. When the angle is small and the depth of penetration into the ground is shallow, the horizontal air intake is increased to strengthen the gas-solid mixing and fluidized bed effect of the soft mud. When the angle is large and the depth of penetration into the ground is deep, the horizontal air intake is reduced but the vertical impact crushing force is enhanced. Combining with the "impact grinding" effect of the gas-solid flow, the crushing efficiency of hard scale is further improved, and at the same time, the suction loss caused by excessive air intake is avoided. The linkage between the angle and the depth enables the eddy centrifugal force to be dynamically adjusted according to the hardness of the medium. When dealing with fibrous impurities, a small angle and shallow penetration into the ground are combined with large-gap air intake to form a high-speed transverse eddy current, which increases the shear force and reduces the winding probability. When dealing with hard scale, a large angle and deep penetration into the ground are combined with narrow-gap air intake to form a strong vertical eddy current, which increases the particle collision frequency and reduces the risk of blockage of the conveying pipe.

[0113] Embodiment 12. This embodiment shows a transfer pipe, as Figure 3 shown, the transfer pipe 7 is a non-metallic elastic pipe.

[0114] In this embodiment, by utilizing the deformation ability of the elastic material, it adapts to the high-frequency dynamic adjustment of the silt suction head in Embodiment 11 for flexible deformation adaptation, improving the response sensitivity. In this embodiment, the non-metallic elastic pipe is preferably an elastic pipe such as silicone, polyurethane, etc., such as Figure 4 the non-ribbed hose 72 shown or Figure 3 the corrugated hose 71 shown. The non-metallic elastic pipe can be elastically bent and stretched and retracted in real time with the change of the tilt angle of the silt suction head in Embodiment 11.

[0115] Embodiment 13. This embodiment shows a rear joint, as Figure 3 shown, the transfer pipe 7 is connected to the turntable seat 31 through the rear joint 4. This rear joint 4 facilitates the connection of the transfer pipe 7.

[0116] The above-disclosed are only the preferred embodiments of the present invention. Of course, the scope of the rights of the present invention cannot be limited thereby. Therefore, equivalent changes made according to the scope of the patent application of the present invention still fall within the scope covered by the present invention.

Claims

1. A rotary silt suction head capable of turning, shoveling, cutting and grinding, characterized in that: The invention comprises a rotary suction tube (1) having a sawtooth-shaped circular tube end (11), a motor (2), and a hollow turntable assembly (3); the turntable assembly (3) comprises a turntable (32) arranged on a turntable seat (31); The rotary suction pipe (1) is connected to a rotating disk (32), the motor (2) is fixed to the rotary silt suction head, the output end of the motor (2) is connected to a driving wheel (21), and the driving wheel (21) drives the rotating disk (32) to rotate.

2. The rotary silt suction head capable of turning, shoveling, cutting and grinding as claimed in claim 1, characterized in that: The driving wheel (21) and the rotating disk (32) have a meshing structure that meshes with each other, and the driving wheel (21) meshingly drives the rotating disk (32) to rotate.

3. The rotary silt suction head capable of turning, shoveling, cutting and grinding as claimed in claim 1, characterized in that: The driving wheel (21) and the rotating disk (32) have a chain transmission structure, and the driving wheel (21) chain-drives the rotating disk (32) to rotate.

4. The rotary silt suction head capable of turning, shoveling, cutting and grinding as claimed in claim 1, characterized in that: The driving wheel (21) of the motor (2) is arranged in a turntable seat (31), the motor (2) is fixed to the rotary silt suction head by being fixed to the turntable seat (31), and the output end of the motor (2) extends into the turntable seat (31) to connect with the driving wheel (21).

5. The rotary silt suction head capable of turning, shoveling, cutting and grinding as claimed in claim 1, characterized in that: The other end of the rotary suction pipe (1) is provided with a hollow connecting disk (9), and the connecting disk (9) is provided with a plurality of rotary suction head assembly holes (91) and a rotating disk assembly holes (92) arranged in a circumference. The rotary suction pipe (1) is fixed to the connecting disk (9) through the rotary suction head assembly holes (91), and the connecting disk (9) is connected and fixed to the rotating disk (32) through the rotating disk assembly holes (92).

6. The rotary silt suction head capable of turning, shoveling, cutting and grinding as claimed in claim 1, characterized in that: The sawtooth circular tube end (11) has a plurality of undulating saw cuts evenly distributed in the circumferential direction, and each saw cut is formed by alternating and undulating depressions and protrusions.

7. The rotary silt suction head capable of turning, shoveling, cutting and grinding as claimed in claim 1, characterized in that: The sawtooth circular tube end (11) has a plurality of sharp saw teeth evenly distributed in the circumferential direction.

8. A dredging robot with a rotary silt suction head, characterized in that: The rotary silt suction head according to any one of claims 1 to 7 is arranged on the silt removal robot (5); It also includes a conveying pipe (6) arranged on the dredging robot (5) and a transfer pipe (7) arranged between the conveying pipe (6) and the turntable seat (31); It also includes a retractable support (81) arranged between the dredging robot (5) and the turntable seat (31).

9. The dredging robot according to claim 8, characterized in that: One end of the retractable support (81) is fixedly mounted on the dredging robot (5), and the other end is fixedly mounted on the turntable seat (31); the retractable support (81) is capable of supporting the rotary silt suction head and controlling the depth of the rotary silt suction head in the ground or the height of the rotary silt suction head from the ground.

10. The dredging robot according to claim 8, characterized in that: It also includes a positioning member (82), one end of which is movably connected to the dredging robot (5) and the other end of which is movably connected to the turntable seat (31); One end of the retractable support (81) is movably connected to the dredging robot (5), and the other end is movably connected to the turntable seat (31); The linkage between the retractable support (81) and the positioning member (82) can simultaneously control the tilt angle and the depth of penetration into the ground or the height above the ground of the rotary suction tube 1.

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