Flood drainage robot capable of preventing water from entering exhaust pipe

Abstract

The invention relates to a flood drainage robot, in particular to a flood drainage robot capable of preventing water from entering an exhaust pipe. The invention aims to provide the flood drainage robot which can reduce sewage retention in a bent pipe, a hose A and a hose B by utilizing inertia and water flow fluctuation generated by swinging, prevent impurities from depositing and blocking a pipeline and maintain continuous sewage drainage work. A flood drainage robot capable of preventing water from entering an exhaust pipe comprises a robot body, anti-skid walking wheels are installed on the two sides of the robot body, an exhaust pipe one-way exhaust mechanism is arranged on the top of the robot body, and a swing type flood drainage mechanism is installed on the front portion of the robot body. Sewage can form a dynamic flowing state in the long blow-off pipe, the bent pipe, the hose A and the hose B through reciprocating swing, sewage retention in the long blow-off pipe, the bent pipe, the hose A and the hose B is reduced through inertia and water flow fluctuation generated by swing, and the blow-off efficiency is improved.

Description

Technical Field

[0001] The present invention relates to a flood drainage robot, in particular to a flood drainage robot capable of preventing water from entering an exhaust pipe. Background Art

[0002] The drainage robot can be used to drain water in areas with deep water and confined spaces such as urban waterlogging. However, when the robot enters a flooded area, the diesel generator inside the robot starts operating. During this process, the exhaust port cannot be raised or lowered, causing water to enter the exhaust port when entering an area with deep water. This affects the robot's operation and service life, and the exhaust pipe cannot be water-cooled during the exhaust process. To address the above issues, a search revealed a Chinese patent application with publication number CN217002024U, which discloses a drainage robot that prevents water from entering the exhaust pipe. The robot includes a robot body, a lifting annular plate disposed at the upper end of the robot body, a heat dissipation annular plate integrally formed within the lifting annular plate, a heat dissipation annular plate connected to the inner ring of the heat dissipation annular plate, a heat-resistant telescopic tube that can be telescoped vertically, an exhaust duct that can be telescoped vertically is disposed axially within the heat-resistant telescopic tube, the exhaust duct being connected to the robot body so that exhaust from the robot body is exhausted through the exhaust duct, and the upper and lower ends of the heat-resistant telescopic tube are sealed to the exhaust duct. Although the above device can use an electric telescopic rod to drive the lifting ring plate and the heat dissipation ring plate, and drive the exhaust pipe to adjust up and down through the heat dissipation ring plate to prevent the exhaust pipe from being flooded by the water level being too high, and the electric telescopic rod can be sealed when it moves up and down through the sealing ring to prevent water from entering the robot body, thereby achieving the effect of preventing the exhaust pipe from being flooded. However, in actual application, a large amount of silt sediment is likely to accumulate inside the water accumulation area. When the drainage robot discharges sewage at this position, it is easy to block the sewage pipe and affect the sewage flow. In severe cases, it will make the sewage discharge work impossible. Summary of the Invention

[0003] The purpose of the present invention is to provide a drainage robot that prevents water from entering the exhaust pipe, so as to solve the defects mentioned in the above background technology.

[0004] A drainage robot that prevents water from entering an exhaust pipe comprises a robot body, anti-skid wheels are installed on both sides of the robot body, a one-way exhaust mechanism of the exhaust pipe is arranged on the top of the robot body, a swinging drainage mechanism is installed on the front of the robot body, a gathering negative pressure mechanism is installed on the end of the swinging drainage mechanism, a focusing sewage removal mechanism is installed on the outside of the gathering negative pressure mechanism, a stepping transmission mechanism is arranged on the side wall of the robot body, a transmission column is provided on the gathering negative pressure mechanism, an impeller pump is provided on the end of the transmission column, a rotating shaft on the impeller pump is fixed to the transmission column, a central stirring mechanism, an edge stirring mechanism A and an edge stirring mechanism B are respectively installed on the gathering negative pressure mechanism, the outer sides of the central stirring mechanism, the edge stirring mechanism A and the edge stirring mechanism B are wrapped with a grille cover, a plurality of groups of openings are evenly arranged on the grille cover, and the central stirring mechanism, the edge stirring mechanism A and the edge stirring mechanism B are synchronously driven to rotate through a transmission wheel, a transmission chain and a transmission column.

[0005] As an improvement of the above scheme, the anti-skid walking wheel includes a walking plate, a friction seat, a connecting column, a reinforcement ring, a docking plate, a docking hole, a transmission plate, a stud, a docking seat and a robot transmission shaft. The robot transmission shaft is fixed to the output shaft of the diesel engine inside the drainage robot. A transmission plate is fixed on the end of the robot transmission shaft. Five groups of studs are evenly installed on the outer surface of the transmission plate. A docking seat is provided in the middle of the surface of the transmission plate. The docking plate is circular, a docking hole is opened in the middle of the docking plate, and five groups of screw through holes are evenly opened on the outer surface of the docking plate.

[0006] As an improvement of the above scheme, five groups of studs respectively pass through five groups of screw through holes opened on the docking disk and are screwed and fixed by nuts. The sizes of the docking holes and the docking seats are matched, and the docking seats are inserted into the inside of the docking holes. The cross-sections of the docking holes and the docking seats are both triangular, and the length of the docking seats is greater than the length of the studs; five groups of connecting columns are evenly installed on the circumferential outer wall of the docking disk, and reinforcement rings are fixedly provided on the outer sides of the five groups of connecting columns. The reinforcement rings are circular, and the ends of the five groups of connecting columns are respectively fixedly connected to the circumferential inner wall of the annular walking disk; multiple groups of friction seats are evenly provided on the circumferential outer wall of the walking disk, and the distance between adjacent two groups of friction seats is the same. The friction seat includes a clamping seat, a tip and an arc-shaped slot. The clamping seat is fixed at the bottom of the friction seat, and the clamping seat is clamped on the outside of the walking disk. A tip is fixed on the top of the friction seat, and the tip is set in a "W" shape, and an arc-shaped slot is provided on the surface of the tip.

[0007] As an improvement of the above scheme, the focusing and pollution removal mechanism includes a passive disk, a focusing sheet, a shielding sheet, a rotating shaft, a guide channel and a guide column. The passive disk is arranged in a fan shape, and a rotating shaft is fixedly connected to the passive disk. A driving motor is installed on the inner wall of the robot body, and the output shaft of the driving motor is fixedly connected to the rotating shaft. A guide channel is opened on the passive disk, and the guide channel is arranged in an arc shape. The center of the guide channel coincides with the center of the rotating shaft. A guide column is arranged inside the guide channel, and the end of the guide column is fixedly connected to the outer wall of the robot body. A focusing sheet is fixedly connected to the end of the passive disk, and a shielding sheet is provided at the bottom of the focusing sheet. The focusing sheets are arranged in two groups and are respectively installed on both sides of the agglomeration negative pressure mechanism. The two groups of focusing sheets are arranged in an eight-shaped shape, and the two groups of focusing sheets are connected by a U-shaped grille plate. The focusing and pollution removal mechanism drives the exhaust pipe one-way exhaust mechanism to rise and fall through the stepping transmission mechanism; an adsorption and stirring mechanism is installed in front of the grille plate, and the adsorption and stirring mechanism includes a bearing seat A, a central axis, a negative pressure wheel, a fixed track, an arc Shaped knife, negative pressure groove, worm wheel, turntable, bearing seat B, eccentric bottom dirt stirring piece, worm and bearing seat C. Bearing seat A, bearing seat B and bearing seat C are respectively installed on the grille plate. The central shaft is movably installed on the bearing seat A, the rotating shaft of the worm wheel is movably installed on the bearing seat B, and the worm is movably installed on the bearing seat C. A negative pressure wheel is fixed at the bottom of the central shaft. Four groups of negative pressure grooves are evenly opened on the outer wall of the negative pressure wheel. The cross section of the negative pressure groove is fan-shaped. Four groups of fixed tracks are evenly installed on the negative pressure wheel. An arc-shaped knife is screwed onto the inside of the fixed track, a worm gear is installed at the bottom of the negative pressure wheel, one end of the worm gear's rotating shaft is fixedly connected to the negative pressure wheel, and the other end of the worm gear's rotating shaft is fixedly connected to the turntable. An eccentric bottom dirt stirring piece is fixedly installed at the bottom of the turntable. The eccentric bottom dirt stirring piece is a spiral structure made of metal. The sizes of the worm gear and the worm are matched, the worm gear and the worm are meshed and connected, and a center shaft is fixedly installed at the end of the worm. The three groups of center shafts drive the three groups of adsorption and stirring mechanisms respectively.

[0008] As an improvement of the above scheme, the one-way exhaust mechanism of the exhaust pipe includes an exhaust pipe, an internal pipe, an exhaust end, a one-way seat, a limit pipe, a limit core and a fixed platform. The exhaust pipe is installed on the top of the robot body, and the internal seal of the exhaust pipe is interspersed with the internal pipe. The internal pipe is distributed in an "S" shape. The exhaust end is installed at the end of the internal pipe away from the exhaust pipe, and the one-way seat is installed on the exhaust end. The outside of the internal pipe is fixedly provided with a fixed platform, and the limiting cores are installed on both sides of the bottom of the fixed platform. The bottom of the limiting core is inserted into the inside of the limiting pipe, and the bottom of the limiting pipe is fixedly connected to the top of the robot body. The outside of the fixed platform is fixedly connected with a driving arm, and the driving arm is set in an "L" shape; the one-way seat includes a clamping seat, a conical platform , mounting plate, exhaust hole, vertical cylinder, one-way cylinder, sealing port and sealing ball. The cross-section of the card seat on the one-way seat is "U" shaped. The card seat is screwed to the top of the exhaust end. A conical platform is installed at the bottom of the card seat. A one-way cylinder is installed at the bottom of the conical platform. A sealing port is provided at the bottom of the one-way cylinder. A sealing ball is clamped inside the sealing port. The sealing ball is a plastic hollow ball. A gravity block is installed on the lower side of the sealing ball. A circular mounting plate is installed on the inner wall of the conical platform. Multiple groups of exhaust holes are evenly arranged on the mounting plate. A vertical cylinder is installed on the top of the sealing ball. The vertical cylinder is connected to the guide port opened in the middle of the mounting plate. An annular limit plate is provided on the outer wall of the circumference of the vertical cylinder, and a conical groove is provided on the upper inner side of the vertical cylinder.

[0009] As an improvement of the above scheme, the stepping transmission mechanism includes a driving disk, an arc-shaped channel, a transmission plate, a transmission core, a limit block, a limit rail, a special-shaped seat, a linkage seat, a limit rod, a bracket, a vertical frame, a driving block and a driving arm. The driving block is fixedly installed at the bottom of the driving arm, the outer side of the driving block is fixedly connected to the vertical frame, the bottom of the vertical frame is installed with a linkage seat, the linkage seat, the vertical frame and the driving block are arranged in a "Z" shape, and two groups of limit rods are evenly interspersed on the linkage seat. The bottom of the limit rod is fixedly connected to the bracket, one end of the bracket is fixedly connected to the side wall of the robot body, and the other end of the bracket is fixedly connected to the limit rail.

[0010] As an improvement of the above scheme, a limiting channel adapted to the size of the limiting block is opened inside the limiting track, and the limiting block is slidably arranged inside the limiting channel. The cross-section of the limiting block and the limiting channel is dovetail-shaped, and one end of the limiting block is fixedly connected to a special-shaped seat, and the other end of the limiting block is fixedly connected to a transmission plate. The end of the special-shaped seat away from the limiting block is fixedly connected to a linkage seat, and a transmission core is fixedly provided at the bottom of the transmission plate. The transmission core is adapted to the size of the arc channel, and the transmission core is inserted into the inside of the arc channel. The arc channel is opened on the surface of the driving disk, and a rotating shaft is fixedly installed at the center of the driving disk. The driving disk rotates through the arc channel, transmission core, transmission plate, limit block, special-shaped seat, linkage seat, vertical frame, driving block and driving arm to drive the fixed platform to rise and fall.

[0011] As an improvement of the above scheme, the agglomeration negative pressure mechanism includes a transmission column, a central stirring mechanism, an edge stirring mechanism A, an edge stirring mechanism B, a grille cover, an opening, a back plate, a support column and a universal wheel. Two sets of support columns are installed on both sides of the bottom of the grille cover, and a universal wheel is installed at the bottom of the support column. The central stirring mechanism, the edge stirring mechanism A and the edge stirring mechanism B are movably installed inside the grille cover. The structures of the central stirring mechanism, the edge stirring mechanism A and the edge stirring mechanism B are consistent. A back plate is fixedly provided on the back of the grille cover; the edge stirring mechanism B includes an inner fixed disk, an outer fixed disk, and a A fixed plate, a cutting blade, a central shaft and a transmission wheel, a transmission wheel is installed at the end of the central shaft, an inner fixed plate is fixedly provided on one side of the central shaft, and an outer fixed plate is fixedly provided on the other side of the central shaft, the outer fixed plate and the inner fixed plate are both circular, and five groups of cutting blades are evenly arranged between the outer fixed plate and the inner fixed plate, the cutting blades are spirally arranged, and the five groups of cutting blades are centrally symmetrical about the central axis of the central shaft, two groups of holes are opened on the cutting blades, and blades are provided at the ends of the five groups of cutting blades, and the five groups of cutting blades are fixed by three groups of reinforcement plates, and the reinforcement plates are circular.

[0012] As an improvement to the above scheme, a swinging drainage mechanism is also included, which includes an impeller pump, a guide space, a rubber sleeve A, a drain pipe, a hose A, a hose B, a bent pipe, a limit seat, a limit column, a clamp, a first transmission arm and a lever seat. The rotating shaft of the impeller in the impeller pump is fixed to the output shaft of the pump motor through the rubber sleeve A on the side away from the agglomeration negative pressure mechanism. A second transmission arm is provided at the end of the output shaft of the pump motor. The rubber sleeve A covers the outside of the guide space opened on the robot body. An interference hole is opened in the middle of the second transmission arm. An eccentric disk is inserted into the inside of the interference hole. An interference column is installed on the top of the eccentric disk. A reducer is provided on the upper side of the interference column. The reducer is installed inside the robot body through a frame. The output shaft of the reducer is fixed to the rotating shaft of the interference column. A lever seat is provided at the end of the second transmission arm. The lever seat is movably mounted on the support through a pin shaft, and the bottom of the support is mounted on the bottom plate of the robot body.

[0013] As an improvement to the above scheme, a first transmission arm is installed at the end of the lever seat, the first transmission arm passes through a rectangular opening opened on the robot body and is connected to the bending tube through a clamp, the outer side of the rectangular opening is wrapped with a rubber sleeve B, and the rubber sleeve B is wrapped around the outer side of the first transmission arm, a limit seat is installed on the circumferential outer wall of the bending tube, an arc-shaped limit column is opened inside the limit seat, the limit column is installed on the side wall of the robot body, the center of the limit column coincides with the center of the support, a hose B is installed on the top of the bending tube, a hose A is installed on the end of the hose B away from the bending tube through a flange, a drain pipe is installed on the end of the hose A away from the hose B, and the drain pipe is arranged on the top of the impeller pump.

[0014] The present invention has the following advantages: 1. This invention features multiple sets of friction seats evenly arranged on the outer side of the annular running disc. The friction seats are arranged in a "W" shape. This facilitates the robot's movement without slipping in locations with large amounts of sludge. This effectively solves the problem of slipping in high-sludge environments for drainage robots. Its combined wedging and squeezing mechanism significantly improves the robot's mobility stability and environmental adaptability. 2. The present invention utilizes a central stirring mechanism, an edge stirring mechanism A, and an edge stirring mechanism B to synchronize operations. Five sets of high-speed rotating cutting blades and their blades impact clumps of sludge or debris with high frequencies, breaking large pieces into fragments and preventing pipe blockage on the swing-type drainage mechanism. This effectively breaks clumps of sludge into fine particles, preventing large pieces from entering the pipes and causing blockages, thereby ensuring the continuity and stability of the drainage process. 3. When the central shaft of the present invention rotates, the five sets of cutting blades on it rotate at high speed. The five sets of cutting blades are arranged in a spiral shape, which can crush the sludge approaching the impeller pump. The five sets of spiral cutting blades on the central shaft can achieve efficient cutting and crushing when rotating at high speed. The spiral design enhances the sludge entrainment and tearing effect, so that large sludge is quickly broken down into fine particles, preventing clogging of the impeller pump. 4. This invention utilizes the agglomeration negative pressure mechanism to pump water at the flooded area, combined with the lateral reciprocating swinging function of the swing-type drainage mechanism. This significantly increases the agitation range of the three stirring mechanisms, thereby enhancing suction efficiency and ensuring that water and impurities are evenly mixed and quickly drawn in. Simultaneously, the swinging action disturbs bottom sediments, preventing compaction and improving overall drainage effectiveness. This system is particularly suitable for clearing accumulated water in complex terrain or narrow areas, combining flexibility and efficiency. 5. This invention utilizes two sets of focusing blades arranged in a figure-eight pattern to form a trumpet-shaped diversion structure during suction by the impeller pump. This can converge scattered sewage toward the center of the agglomeration negative pressure mechanism, expanding the suction range while improving the efficiency of sewage collection toward the agitation mechanism and avoiding suction blind spots. The shielding blades cover both sides of the agglomeration negative pressure mechanism, reducing lateral leakage during suction and concentrating the negative pressure on the focusing area. Combined with the stirring action of the agitation mechanism, this quickly breaks up debris clumps in the sewage, forming a more uniform flow and improving the impeller pump's suction efficiency and suction force utilization. 6. The present invention utilizes a stepping transmission mechanism to drive the internal pipe of the one-way exhaust mechanism upward when the passive disk and focusing plate are in motion, thereby increasing the height of the exhaust end and reducing the risk of water ingress. This mechanical linkage prevents backflow of water into the exhaust system due to rising water levels, ensures stable air pressure within the negative pressure mechanism, maintains continuous and efficient suction capacity, and enhances the environmental adaptability and operational stability of the equipment under complex working conditions. 7. The present invention discharges sewage from the sewage pipe in sequence through hose A, hose B, and the bent pipe. A long sewage hose can be connected to the end of the bent pipe to transmit water over long distances. The long sewage hose, the bent pipe, hose A, and hose B can swing back and forth during sewage discharge. This swinging motion can create a dynamic flow state for the sewage within the long sewage hose, the bent pipe, hose A, and hose B. By utilizing the inertia and water flow fluctuations generated by the swinging motion, the retention of sewage within the long sewage hose, the bent pipe, hose A, and hose B is reduced, impurity deposition and blockage are avoided, and the contact area between the sewage and the pipe wall is increased, thereby improving sewage discharge efficiency. 8. The present invention has an eccentric bottom sewage stirring blade that is spirally arranged to stir the compacted or agglomerated sludge at the bottom of the sewage; it can lift up stubborn sediments that are close to the bottom of the water or embedded in the gaps, making them easier to be sucked in, thereby improving the thoroughness of cleaning, especially for hard bottoms or uneven surfaces. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the first three-dimensional structure of the present invention.

[0016] Figure 2 This is a schematic diagram of the second three-dimensional structure of the present invention.

[0017] Figure 3 It is a bottom view of the present invention.

[0018] Figure 4 It is a side view of the present invention.

[0019] Figure 5 It is a rear view of the present invention.

[0020] Figure 6 It is a cross-sectional view of the structure of the agglomeration negative pressure mechanism of the present invention.

[0021] Figure 7 It is a bottom view of the agglomeration negative pressure mechanism of the present invention.

[0022] Figure 8 It is a top view of the agglomeration negative pressure mechanism of the present invention.

[0023] Figure 9 It is a side view of the agglomeration negative pressure mechanism of the present invention.

[0024] Figure 10 This is a three-dimensional structural diagram of the edge stirring mechanism B of the present invention.

[0025] Figure 11 for Figure 10 Top view of .

[0026] Figure 12 This is a partial enlarged view of the edge stirring mechanism B.

[0027] Figure 13 It is a schematic diagram of the three-dimensional structure of the swing-type drainage mechanism of the present invention.

[0028] Figure 14 It is a bottom view of the swing-type drainage mechanism of the present invention.

[0029] Figure 15 Schematic diagram of the internal structure of the robot body of the present invention.

[0030] Figure 16 for Figure 15 side view.

[0031] Figure 17 for Figure 15 Front view of.

[0032] Figure 18 It is a schematic diagram of the anti-skid running wheel structure of the present invention.

[0033] Figure 19 It is an exploded view of the anti-skid wheel of the present invention.

[0034] Figure 20 It is a schematic structural diagram of the friction seat of the present invention.

[0035] Figure 21 It is a schematic diagram of the three-dimensional structure of the focused contamination removal mechanism of the present invention.

[0036] Figure 22 This is a bottom view of the focused dirt removal mechanism of the present invention.

[0037] Figure 23 It is a schematic diagram of the three-dimensional structure of the one-way exhaust mechanism and stepping transmission mechanism of the exhaust pipe of the present invention.

[0038] Figure 24 for Figure 23 Schematic diagram of the structure without limiting the track.

[0039] Figure 25 for Figure 24 Schematic diagram of the transmission core and its connection structure.

[0040] Figure 26 It is a cross-sectional view of the one-way seat of the present invention.

[0041] Figure 27 It is a bottom view of the one-way seat of the present invention.

[0042] Figure 28 This is a schematic diagram of the adsorption and stirring mechanism installed at the end of the grid plate of the present invention.

[0043] Figure 29 This is a bottom view of the grille plate end portion of the present invention with an adsorption and stirring mechanism installed.

[0044] Figure 30 It is a schematic structural diagram of the adsorption and stirring mechanism of the present invention.

[0045] Figure 31 For the present invention Figure 30 Bottom view of .

[0046] Figure 32 For the present invention Figure 30 rear view.

[0047] The components in the accompanying drawings are marked as follows: 1. Robot body; 2. Anti-skid running wheel; 20. Running plate; 21. Friction seat; 211. Snap-fit ​​seat; 212. Tip; 213. Arc-shaped slot; 22. Connecting column; 23. Reinforcement ring; 24. Docking plate; 25. Docking hole; 26. Transmission plate; 27. Stud; 28. Docking seat; 29. ​​Robot transmission shaft; 3. Focusing and contamination removal mechanism; 31. Passive plate; 32. Focusing plate; 320. Grid plate; 321. Adsorption and stirring mechanism; 3211. Bearing seat A; 3212. Central axis; 3213. Negative pressure wheel; 3214. Fixed track; 3215. Arc-shaped knife; 3216. Negative pressure groove; 3217, worm gear; 32171, turntable; 32172, bearing seat B; 32173, eccentric bottom dirt stirring piece; 3218, worm; 3219, bearing seat C; 33, shielding piece; 34, rotating shaft; 35, guide channel; 36, guide column; 4, exhaust pipe one-way exhaust mechanism; 41, exhaust pipe; 42, internal pipe; 43, exhaust end; 44, one-way seat; 441, card seat; 442, conical platform; 443, mounting plate; 444, exhaust hole; 445, vertical cylinder; 446, one-way cylinder; 447, sealing port; 448, sealing ball; 4481, gravity block; 4482, limit plate; 4483, conical groove; 45, limit Position tube; 46, limit core; 47, fixed table; 5, stepping transmission mechanism; 50, driving plate; 51, arc channel; 52, transmission plate; 521, transmission core; 53, limit block; 531, limit track; 54, special-shaped seat; 55, linkage seat; 56, limit rod; 57, bracket; 58, vertical frame; 59, driving block; 591, driving arm; 6, agglomeration negative pressure mechanism; 60, transmission column; 61, center stirring mechanism; 62, edge stirring mechanism A; 63, edge stirring mechanism B; 631, inner fixed plate; 632, outer fixed plate; 633, cutting blade; 6331, hole; 6332, blade; 6333, reinforcement plate; 63 4. Center axis; 635. Transmission wheel; 64. Grille cover; 641. Opening; 642. Back plate; 65. Support column; 66. Universal wheel; 7. Swinging drainage mechanism; 70. Impeller pump; 700. Guide space; 701. Rubber sleeve A; 71. Drain pipe; 72. Hose A; 73. Hose B; 74. Bending pipe; 75. Limit seat; 751. Limit column; 76. Clamp; 77. First transmission arm; 771. Rubber sleeve B; 772. Rectangular opening; 78. Lever seat; 781. Second transmission arm; 782. Interference hole; 783. Eccentric disk; 784. Interference column; 785. Reducer; 7851. Frame; 79. Support. DETAILED DESCRIPTION

[0048] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0049] Example 1 A drainage robot that prevents water from entering the exhaust pipe, such as Figure 1-5 As shown, it includes a robot body 1, both sides of the robot body 1 are equipped with anti-skid wheels 2, the top of the robot body 1 is provided with an exhaust pipe one-way exhaust mechanism 4, the front of the robot body 1 is provided with a swinging drainage mechanism 7, the end of the swinging drainage mechanism 7 is provided with a reunion negative pressure mechanism 6, the outside of the reunion negative pressure mechanism 6 is provided with a focusing sewage removal mechanism 3, a stepping transmission mechanism 5 is provided on the side wall of the robot body 1, the reunion negative pressure mechanism 6 is provided with a transmission column 60, and the end of the transmission column 60 is provided with an impeller pump 70. The rotating shaft on 70 is fixed to the transmission column 60, and the agglomeration negative pressure mechanism 6 is respectively installed with a central stirring mechanism 61, an edge stirring mechanism A62 and an edge stirring mechanism B63. The outer sides of the central stirring mechanism 61, the edge stirring mechanism A62 and the edge stirring mechanism B63 are wrapped with a grille cover 64, and a plurality of groups of openings 641 are evenly provided on the grille cover 64. The central stirring mechanism 61, the edge stirring mechanism A62 and the edge stirring mechanism B63 are synchronously driven to rotate through the transmission wheel 635, the transmission chain and the transmission column 60.

[0050] like Figure 18 and Figure 19 As shown: the anti-skid walking wheel 2 includes a walking disc 20, a friction seat 21, a connecting column 22, a reinforcement ring 23, a docking disc 24, a docking hole 25, a transmission disc 26, a stud 27, a docking seat 28 and a robot transmission shaft 29. The robot transmission shaft 29 is fixed to the output shaft of the diesel engine inside the drainage robot. A transmission disc 26 is fixedly provided at the end of the robot transmission shaft 29. Five groups of studs 27 are evenly installed on the outer surface of the transmission disc 26. A docking seat 28 is provided in the middle of the surface of the transmission disc 26. The docking disc 24 is circular in design. A docking hole 25 is provided in the middle of the docking disc 24. Five groups of screw through holes are evenly provided on the outer surface of the docking disc 24.

[0051] like Figure 18 、 Figure 19 and 20As shown: five groups of studs 27 are respectively passed through the five groups of screw holes opened on the docking plate 24 and are screwed and fixed by nuts. The sizes of the docking holes 25 and the docking seats 28 are adapted, and the docking seats 28 are inserted into the interior of the docking holes 25. The cross-sections of the docking holes 25 and the docking seats 28 are both triangular. The length of the docking seats 28 is greater than the length of the studs 27; five groups of connecting columns 22 are evenly installed on the circumferential outer wall of the docking plate 24, and the outer sides of the five groups of connecting columns 22 are fixedly provided with reinforcement rings 23. The reinforcement rings 23 are circular. The five groups of connecting columns 22 are fixed with reinforcement rings 23. The two ends are respectively fixedly connected to the circumferential inner wall of the annular running plate 20; multiple groups of friction seats 21 are evenly arranged on the circumferential outer wall of the running plate 20, and the distance between two adjacent groups of friction seats 21 is consistent. The friction seat 21 includes a clamping seat 211, a tip portion 212 and an arc-shaped slot 213. The clamping seat 211 is fixed to the bottom of the friction seat 21, and the clamping seat 211 is clamped to the outside of the running plate 20. The top of the friction seat 21 is fixedly provided with a tip portion 212, which is arranged in a "W" shape, and an arc-shaped slot 213 is opened on the surface of the tip portion 212.

[0052] like Figure 22 and Figure 23As shown: the focusing and contamination removal mechanism 3 includes a passive disk 31, a focusing piece 32, a shielding piece 33, a rotating shaft 34, a guide channel 35 and a guide column 36. The passive disk 31 is arranged in a fan shape. The rotating shaft 34 is fixedly connected to the passive disk 31. A driving motor is installed on the inner wall of the robot body 1. The output shaft of the driving motor is fixedly connected to the rotating shaft 34. A guide channel 35 is opened on the passive disk 31. The guide channel 35 is arranged in an arc shape. The center of the guide channel 35 coincides with the center of the rotating shaft 34. A guide column 36 is arranged inside the guide channel 35. The end of the guide column 36 is fixedly connected to the outer wall of the robot body 1. The end of the passive disk 31 is fixedly connected to the focusing piece 32. The bottom of the focusing piece 32 is set There is a shielding piece 33, and the focusing piece 32 is set into two groups and is respectively installed on both sides of the agglomeration negative pressure mechanism 6. The two groups of focusing pieces 32 are arranged in an eight-shaped shape. The two groups of focusing pieces 32 are connected by a U-shaped grid plate 320. The focusing waste removal mechanism 3 drives the exhaust pipe one-way exhaust mechanism 4 to rise and fall through the stepping transmission mechanism 5; the front of the grid plate 320 is installed with an adsorption and stirring mechanism 321, which includes a bearing seat A3211, a central shaft 3212, a negative pressure wheel 3213, a fixed track 3214, an arc knife 3215, a negative pressure groove 3216, a worm gear 3217, a turntable 32171, a bearing seat B32172, and an eccentric bottom dirt stirring piece 32173. , worm 3218 and bearing seat C3219, bearing seat A3211, bearing seat B32172 and bearing seat C3219 are respectively installed on the grid plate 320, the central shaft 3212 is movably installed on the bearing seat A3211, the rotating shaft of the worm wheel 3217 is movably installed on the bearing seat B32172, and the worm 3218 is movably installed on the bearing seat C3219. A negative pressure wheel 3213 is fixed at the bottom of the central shaft 3212, and four groups of negative pressure grooves 3216 are evenly opened on the outer wall of the circumference of the negative pressure wheel 3213. The cross section of the negative pressure groove 3216 is fan-shaped, and four groups of fixed rails 3214 are evenly installed on the negative pressure wheel 3213. The internal screws of the fixed rails 3214 An arc-shaped knife 3215 is installed on the bottom of the negative pressure wheel 3213, and a worm gear 3217 is installed on the bottom of the negative pressure wheel 3213. One end of the rotating shaft of the worm gear 3217 is fixedly connected to the negative pressure wheel 3213, and the other end of the rotating shaft of the worm gear 3217 is fixedly connected to the turntable 32171. An eccentric bottom dirt stirring piece 32173 is fixedly installed on the bottom of the turntable 32171. The eccentric bottom dirt stirring piece 32173 is a spiral structure made of metal. The size of the worm gear 3217 is matched with that of the worm 3218. The worm gear 3217 is meshed with the worm 3218. The center shaft 634 is fixedly installed on the end of the worm 3218. The three groups of center shafts 634 respectively drive the three groups of adsorption and stirring mechanisms 321.

[0053] like Figure 28 、 Figure 29 、 Figure 30 、 Figure 31 、 Figure 32As shown: three groups of adsorption and stirring mechanisms 321 are respectively installed in front of the grid plate 320. The adsorption and stirring mechanisms 321 are driven by three groups of central shafts 634. The working method of the adsorption and stirring mechanisms 321 is as follows: when the central shaft 634 rotates, the negative pressure wheel 3213 is driven to rotate by the worm 3218 and the worm gear 3217. Four groups of fan-shaped negative pressure grooves 3216 are evenly opened on the negative pressure wheel 3213. When the negative pressure wheel 3213 rotates, negative pressure is generated near it. The local vortex generated will expand the effective negative pressure area in front of the water suction port, helping to suck Light floating objects or loose particles at a slightly longer distance can reduce the energy consumption of the impeller pump 70, and sewage suction only relies on the negative pressure of the impeller pump 70, and the suction range is limited; the vortex effect of the negative pressure wheel 3213 can disturb and "pull" light floating objects at a slightly longer distance, such as plastic pieces, leaves or loose particles, to move them toward the water suction port, significantly improving the cleaning coverage rate; in still water or slow flow environments, traditional sewage suction effects are poor, and the active vortex of the negative pressure wheel 3213 can make up for the lack of water flow and maintain efficient adsorption; the three groups of negative pressure wheels 3213 are linearly distributed, which can cover a wider working surface, and the negative pressure fields generated may overlap with each other, further Expand the adsorption area or form a directional suction flow field, such as guiding pollutants to converge toward the center. The rotation of the negative pressure wheel 3213 not only generates negative pressure, but also performs preliminary compression and acceleration on the inhaled air and sewage mixture, reducing the inlet resistance of the impeller pump 70, thereby reducing its load; under the same working conditions, the motor current of the impeller pump 70 is reduced, and considerable energy is saved in long-term operation; when the negative pressure wheel 3213 rotates, its mechanical structure and vortex will disturb the sludge or gravel in front of the water suction port to prevent compaction, which is especially suitable for cleaning long-term deposited sticky sludge or fine sand; four sets of fixed tracks are evenly installed on the negative pressure wheel 3213 3214, the internal screw connection of the fixed track 3214 is equipped with an arc knife 3215. The four sets of symmetrically distributed knife systems form continuous and staggered cutting tracks during rotation, and construct a three-dimensional crushing network through the superposition of actions in time and space. It not only completely solves the "cutting dead angle" problem of traditional fixed knives, but also produces a unique disturbance effect at the fluid level, breaking the laminar state of the fluid, improving the comprehensiveness and uniformity of debris crushing, and ensuring that pollutants can be effectively captured and processed regardless of their position or form. In particular, it has a breakthrough treatment effect on entangled fibers or viscous sediments.

[0054] When the worm gear 3217 rotates, the turntable 32171 rotates as well. An eccentric bottom dirt stirring piece 32173 is eccentrically arranged at the bottom of the turntable 32171. The eccentric bottom dirt stirring piece 32173 is spirally arranged, which can stir the compacted or agglomerated sludge at the bottom of the sewage; it can lift up the stubborn sediments close to the bottom of the water or embedded in the gaps, making them easier to be sucked in, thereby improving the thoroughness of cleaning, especially for hard bottoms or uneven surfaces; the eccentrically arranged spiral eccentric bottom dirt stirring piece 32173 produces a compound fluid disturbance effect through a unique asymmetric motion trajectory, achieving multiple optimizations at the mechanical and fluid dynamics levels: the periodic centrifugal force generated by the eccentric rotation causes the eccentric bottom dirt stirring piece 32173 to form a wave-like propulsion motion, and the spiral structure produces a vertical upward flow in the axial direction and a horizontal shear flow in the radial direction, producing The generated three-dimensional fluid disturbance can deeply penetrate the compacted sludge layer, and through the dual effects of mechanical shearing and fluid erosion, the agglomerated sludge is peeled off layer by layer and broken into inhalable particles. The unique non-uniform velocity distribution of eccentric motion causes the eccentric bottom sewage stirring blade 32173 to produce different stirring forces at different rotation phases, forming a high-speed vortex zone near the water suction port to enhance sludge suspension, while maintaining a low-speed and high-torque state on the far side to prevent secondary deposition of heavy particles. The spiral structure continuously transports the bottom sludge towards the central negative pressure zone during rotation. At the same time, its inclined design produces a Venturi effect, forming a local low-pressure zone behind the blade to accelerate the floating of the sludge. This design has a breakthrough effect in the treatment of sticky sludge, which can improve the stirring efficiency of compacted sludge. Due to the self-cleaning characteristics of eccentric motion, the surface of the eccentric bottom sewage stirring blade 32173 is not easy to foul.

[0055] Through the combination of active negative pressure and mechanical agitation, the suction range, efficiency, energy saving and anti-blocking of the sewage suction robot are improved in multiple dimensions. It is especially suitable for complex waters with a lot of debris, sticky sediments or long-distance adsorption, such as rivers, ports, and sewage treatment pools. Its core creativity lies in transforming traditional "passive suction" into "active grasping", which is a significant improvement.

[0056] like Figure 23 、 Figure 24 、 Figure 25 、 Figure 26 and Figure 27As shown: the one-way exhaust mechanism 4 of the exhaust pipe includes an exhaust pipe 41, an internal pipe 42, an exhaust end 43, a one-way seat 44, a limiting pipe 45, a limiting core 46 and a fixing platform 47. The exhaust pipe 41 is installed on the top of the robot body 1. The internal seal of the exhaust pipe 41 is interspersed with the internal pipe 42. The internal pipe 42 is distributed in an "S" shape. The exhaust end 43 is installed at the end of the internal pipe 42 away from the exhaust pipe 41. The one-way seat 44 is installed on the exhaust end 43. A fixing platform 47 is fixedly provided on the outside of the internal pipe 42. Limiting cores 46 are installed on both sides of the bottom of the fixing platform 47. The bottom of the limiting core 46 is inserted into the inside of the limiting pipe 45. The bottom of the limiting pipe 45 is fixedly connected to the top of the robot body 1. The outer side of the fixing platform 47 is fixedly connected to a driving arm 591, and the driving arm 591 is set in an "L" shape; the one-way seat 44 includes a clamping seat 441, a conical platform 442, a mounting plate 443, an exhaust hole 444, a vertical cylinder 445 , one-way cylinder 446, sealing port 447 and sealing ball 448, the cross section of the card seat 441 on the one-way seat 44 is "U" shaped, the card seat 441 is screwed to the top of the exhaust end 43, the bottom of the card seat 441 is installed with a conical platform 442, the bottom of the conical platform 442 is installed with a one-way cylinder 446, the bottom of the one-way cylinder 446 is provided with a sealing port 447, the inside of the sealing port 447 is clamped with a sealing ball 448, the sealing ball 448 is a plastic hollow ball, the sealing ball 4 A gravity block 4481 is installed on the lower side of the interior of 48, a circular mounting plate 443 is installed on the inner wall of the conical platform 442, and multiple groups of exhaust holes 444 are evenly provided on the mounting plate 443. A vertical cylinder 445 is installed on the top of the sealing ball 448, and the vertical cylinder 445 is connected to the guide port opened in the middle of the mounting plate 443. An annular limit plate 4482 is provided on the outer wall of the vertical cylinder 445, and a conical groove 4483 is provided on the upper side of the interior of the vertical cylinder 445.

[0057] like Figure 23 、 Figure 24 and Figure 25 As shown: the stepping transmission mechanism 5 includes a driving disk 50, an arc-shaped channel 51, a transmission plate 52, a transmission core 521, a limit block 53, a limit rail 531, a special-shaped seat 54, a linkage seat 55, a limit rod 56, a bracket 57, a vertical frame 58, a driving block 59 and a driving arm 591. The driving arm 591 is fixedly installed with a driving block 59 at the bottom, and the outer side of the driving block 59 is fixedly connected to the vertical frame 58. The bottom of the vertical frame 58 is installed with a linkage seat 55. The linkage seat 55, the vertical frame 58 and the driving block 59 are arranged in a "Z" shape. Two groups of limit rods 56 are evenly interspersed on the linkage seat 55. The bottom of the limit rod 56 is fixedly connected to the bracket 57. One end of the bracket 57 is fixedly connected to the side wall of the robot body 1, and the other end of the bracket 57 is fixedly connected to the limit rail 531.

[0058] like Figure 23 、 Figure 24 and Figure 25As shown: a limiting channel adapted to the size of the limiting block 53 is opened inside the limiting track 531, the limiting block 53 is slidably arranged inside the limiting channel, the cross-section of the limiting block 53 and the limiting channel is dovetail-shaped, one end of the limiting block 53 is fixedly connected to a special-shaped seat 54, the other end of the limiting block 53 is fixedly connected to a transmission piece 52, the end of the special-shaped seat 54 away from the limiting block 53 is fixedly connected to a linkage seat 55, the bottom of the transmission piece 52 is fixedly provided with a transmission core 521, The moving core 521 is adapted to the size of the arc-shaped channel 51. The transmission core 521 is inserted into the inside of the arc-shaped channel 51. The arc-shaped channel 51 is opened on the surface of the driving disk 50. The rotating shaft 34 is fixedly installed at the center of the driving disk 50. The driving disk 50 rotates through the arc-shaped channel 51, the transmission core 521, the transmission plate 52, the limit block 53, the special-shaped seat 54, the linkage seat 55, the vertical frame 58, the driving block 59 and the driving arm 591 to drive the fixed platform 47 to rise and fall.

[0059] like Figure 6 、 Figure 7 、 Figure 8 、 Figure 9 、 Figure 10 、 Figure 11 and Figure 12 As shown: the agglomeration negative pressure mechanism 6 includes a transmission column 60, a central stirring mechanism 61, an edge stirring mechanism A62, an edge stirring mechanism B63, a grille cover 64, an opening 641, a back plate 642, a support column 65 and a universal wheel 66. Two groups of support columns 65 are installed on both sides of the bottom of the grille cover 64. The bottom of the support column 65 is equipped with a universal wheel 66. The interior of the grille cover 64 is movably equipped with a central stirring mechanism 61, an edge stirring mechanism A62 and an edge stirring mechanism B63. The structures of the central stirring mechanism 61, the edge stirring mechanism A62 and the edge stirring mechanism B63 are consistent. The back of the grille cover 64 is fixedly provided with a back plate 642; the edge stirring mechanism B63 includes an inner fixed disk 631, an outer fixed disk 632, a cutting blade 633, a central stirring mechanism The shaft 634 and the transmission wheel 635, the transmission wheel 635 is installed at the end of the central shaft 634, an inner fixed disk 631 is fixedly provided on one side of the central shaft 634, and an outer fixed disk 632 is fixedly provided on the other side of the central shaft 634, the outer fixed disk 632 and the inner fixed disk 631 are both circular, and five groups of cutting blades 633 are evenly arranged between the outer fixed disk 632 and the inner fixed disk 631, the cutting blades 633 are spirally arranged, and the five groups of cutting blades 633 are centrally symmetrical about the central axis of the central shaft 634, two groups of holes 6331 are opened on the cutting blade 633, and the ends of the five groups of cutting blades 633 are all provided with cutting edges 6332, and the five groups of cutting blades 633 are fixed by three groups of reinforcement plates 6333, and the reinforcement plates 6333 are circular.

[0060] Working principle: When in actual use, the robot body 1 is placed in a position where drainage is required. The running wheel of the robot body 1 is in the form of a steel wheel. Specifically, multiple groups of friction seats 21 are evenly arranged on the outside of the annular running disc 20. The friction seat 21 is arranged in a "W" shape as a whole. In a position where a large amount of sludge is deposited, it is convenient for the robot body 1 to move without slipping. In scenes where a large amount of sludge is deposited, such as urban waterlogging areas and sewer sediment accumulation sections, traditional circular smooth wheels are prone to slipping on the contact surface due to sludge adhesion. When the "W"-shaped friction seat 21 cuts into the sludge, its two side bevels form a tip 212 and an arc-shaped slot 213, which act like a "wedge" to squeeze the soft sludge to both sides. The bottom tip of the friction seat 21 is directly in contact with the hard foundation, such as a cement road surface, to reduce the sliding effect of the floating mud layer; it effectively solves the problem of the drainage robot slipping in a high-sludge environment, and its wedging and squeezing composite mechanism significantly improves the movement stability and environmental adaptability of the robot body 1; when the walking plate 20 is installed on the robot transmission shaft 29, the docking seat 28 is first inserted into the inside of the docking hole 25, which allows the five groups of studs 27 to be quickly docked with the five groups of screw through holes, so that the five groups of studs 27 pass through the five groups of screw through holes opened on the docking plate 24 and are screwed and fixed by nuts, thereby realizing the rapid positioning and installation of the walking plate 20 and the robot transmission shaft 29; when the robot body 1 moves to the flooded position for drainage At this time, the impeller pump 70 starts working, and negative pressure is formed inside the impeller pump 70 to suck sewage and drain water from the flooded area. At the same time, in order to prevent a large amount of sludge from entering the pipe and causing blockage, the central stirring mechanism 61, the edge stirring mechanism A62 and the edge stirring mechanism B63 are synchronously driven to rotate through the transmission wheel 635, the transmission chain and the transmission column 60, so that the water and sludge inside the three groups of stirring mechanisms impact the central stirring mechanism 61, the edge stirring mechanism A62 and the edge stirring mechanism B63 under the negative pressure adsorption work of the impeller pump 70, and are crushed by the central stirring mechanism 61, the edge stirring mechanism A62 and the edge stirring mechanism B63. The impeller pump 70 motor is driven by a single shaft The shunt transmission simultaneously drives the sewage suction and stirring systems, eliminating the need for independent drive motors. Compared with the dual-motor solution, energy consumption is reduced. The central stirring mechanism 61, the edge stirring mechanism A62, and the edge stirring mechanism B63 work synchronously: for clumps of sludge or debris, the five sets of cutting blades 633 rotating at high speed and the blades 6332 thereon perform high-frequency impact on the clumps of sludge, breaking large pieces of dirt into fragments, thus preventing the pipes on the swing-type drainage mechanism 7 from being blocked. The synchronous rotation drive of the central stirring mechanism 61, the edge stirring mechanism A62, and the edge stirring mechanism B63 can effectively break up the clumps of sludge into fine particles, preventing large pieces of sludge from entering the pipes and causing blockages, thereby ensuring the continuity and stability of the drainage process.The coordinated work of the three groups of stirring mechanisms expands the sludge treatment range and improves the crushing efficiency. At the same time, the negative pressure adsorption effect generated by the impeller pump 70 is combined with the crushing function of the stirring mechanism to form an efficient sludge treatment process, which not only speeds up the drainage speed, but also reduces the risk of system blockage; the synchronous driving mechanism of the transmission wheel 635, the transmission chain and the transmission column 60 ensures the coordination and stability of the operation of each stirring mechanism, reduces energy loss, and improves the reliability and durability of the overall system; this integrated design not only optimizes the drainage effect, but also enhances the system's adaptability to complex sludge environments. It is suitable for different waterlogging scenarios and has strong practicality and operability; through three crushing and synchronous driving, a system is constructed from large foreign matter interception to fine particles. The full-process anti-clogging system of particle dispersion not only solves the pain points of easy clogging and high energy consumption of traditional drainage equipment, but also achieves a double improvement in efficiency and life through mud-water pre-separation and fluid optimization. It is especially suitable for complex scenes such as urban waterlogging and industrial sludge pools; the central stirring mechanism 61, the edge stirring mechanism A62 and the edge stirring mechanism B63 work in the same way. Only the working method of the edge stirring mechanism B63 is described here, specifically: when the central shaft 634 rotates, the five groups of cutting blades 633 thereon rotate at high speed. The five groups of cutting blades 633 are spirally arranged and can crush the sludge tending to the impeller pump 70; the five groups of spiral cutting blades 633 on the central shaft 634 can It forms an efficient cutting and crushing effect, and its spiral design enhances the sludge entrainment and tearing effect, so that large pieces of sludge are quickly broken down into fine particles to prevent clogging of the impeller pump 70; this structure can not only improve the crushing efficiency, but also reduce the resistance of the sludge during transportation, ensuring that the drainage system runs more smoothly; at the same time, the high-speed rotating cutting blade 633 can generate a strong centrifugal force, further promoting the dispersion and flow of sludge, and avoiding sludge accumulation affecting the suction efficiency of the impeller pump 70; the spiral layout can also optimize the fluid dynamics characteristics, reduce energy consumption, and improve the stability and durability of the overall system, so that it can maintain efficient operation in a complex sludge environment; a plurality of groups of openings 641 are evenly arranged on the outside of the grille cover 64 to block garbage such as branches At the same time, two groups of support columns 65 are installed on both sides of the bottom of the grille cover 64, and universal wheels 66 are installed at the bottom of the support columns 65, which can support the agglomeration negative pressure mechanism 6 to ensure the stability of the agglomeration negative pressure mechanism 6 when it swings to suck sewage; at the same time, when the agglomeration negative pressure mechanism 6 is sucking at the waterlogging position, under the action of the swinging drainage mechanism 7, the agglomeration negative pressure mechanism 6 can be made to swing back and forth horizontally when sucking, which can increase the stirring area of ​​the water body by the three groups of stirring mechanisms on the agglomeration negative pressure mechanism 6. When the agglomeration negative pressure mechanism 6 is sucking at the waterlogging position, combined with the horizontal reciprocating swinging function of the swinging drainage mechanism 7, the stirring range of the water body by the three groups of stirring mechanisms can be significantly improved, thereby enhancing the suction efficiency;This dynamic swing design not only expands the operation coverage area, but also avoids local siltation or suction blind spots, ensuring that the water and impurities are evenly mixed and quickly sucked in; at the same time, the swinging action can disturb the bottom sediment, prevent compaction, and improve the overall drainage effect. It is especially suitable for cleaning up accumulated water in complex terrain or narrow areas, and has both flexibility and efficiency; when the impeller pump 70 is pumping sewage from the flooded area, at the same time, the focusing pieces 32 and the shielding pieces 33 on both sides of the focusing sewage removal mechanism 3 move downward and cover both sides of the agglomeration negative pressure mechanism 6. The two groups of focusing pieces 32 are arranged in an eight-shaped shape, so that the three groups of stirring mechanisms on the agglomeration negative pressure mechanism 6 are under the action of the impeller pump 70. When suction is performed, the two groups of focusing pieces 32 distributed in an eight-shaped manner form a trumpet-shaped diversion structure, which can gather the sewage scattered around to the central area of ​​the agglomeration negative pressure mechanism 6, expand the suction range, and improve the efficiency of sewage aggregation to the stirring mechanism, avoiding suction dead corners; the shielding piece 33 covers both sides of the agglomeration negative pressure mechanism 6, reducing lateral leakage during suction, so that the negative pressure is concentrated on the focusing area, and cooperates with the stirring action of the stirring mechanism to quickly break up the debris clumps in the sewage, forming a more uniform fluid, and improving the suction efficiency and suction utilization rate of the impeller pump 70; the three groups of stirring mechanisms can stir and mix more fully in the sewage flow after focusing, break larger impurities into smaller particles, and reduce The risk of clogging of the impeller pump 70 is reduced, and at the same time, the sewage is more fully in contact with the negative pressure area, thereby enhancing the suction and transportation capacity of high-concentration sewage or sewage containing solid waste; by gathering sewage, the water flow dispersion problem caused by uneven ground is reduced, which is especially suitable for waterlogging scenes with uneven ground or obstacles, thereby improving the adaptability and sewage discharge reliability of the whole system in complex environments; the passive disk 31 and the focusing piece 32 on the agglomerated negative pressure mechanism 6 are driven by a motor installed on the inner wall of the robot body 1. When the passive disk 31 and the focusing piece 32 are in motion, the inner pipe 42 on the one-way exhaust mechanism 4 of the exhaust pipe can be driven upward through the stepping transmission mechanism 5, so that the exhaust pipe can be discharged upward. The height of the air end 43 is increased to reduce the risk of water entering the exhaust end 43. The height of the exhaust end 43 is increased through mechanical linkage to prevent backflow of water into the exhaust system due to rising water levels, ensure the stability of the air pressure inside the negative pressure mechanism, and maintain continuous and efficient suction capacity. During the suction process, the exhaust end 43 is raised synchronously with the movement of the focusing plate 32 and other components, and can adapt to fluctuations in the water level without the need for an additional control system, thereby enhancing the environmental adaptability and operational stability of the equipment under complex working conditions. The stepping transmission mechanism 5 realizes action linkage, and there is no need to independently drive the exhaust end 43 to rise and fall, thereby reducing the number of motors and the complexity of the control system, making the overall structure more compact, and improving the integration and reliability of the equipment.The specific working mode of the stepping transmission mechanism 5 is as follows: when the passive disk 31 rotates, it can drive the driving disk 50 fixed thereon to rotate, and the driving disk 50 drives the arc channel 51 thereon to move. A transmission core 521 is provided inside the arc channel 51. Driven by the arc channel 51, the transmission core 521 drives the limit block 53 to move upward through the transmission plate 52. When the limit block 53 moves, it slides inside the limit track 531 to limit and guide the limit block 53 when lifting, ensuring that the limit block 53 and the transmission plate 52 will not tilt when lifting. At the same time, the special-shaped seat 54 is connected to the driving seat 55, the vertical frame 58, the driving block 59, and the driving arm 591. And the fixed platform 47 drives the exhaust end 43 to move upward, thereby increasing the exhaust height of the exhaust end 43; when the fixed platform 47 is lifted or lowered, the bottom of the limit core 46 is inserted into the inside of the limit tube 45, which can limit and guide the internal tube 42 during movement, and at the same time, the bottom of the internal tube 42 is inserted into the inner wall of the exhaust pipe 41 through a sealing structure, and the sealing structure includes but is not limited to a sealing gasket and a sealing filler; the internal tube 42 is an "S" shape as a whole, and is arranged in a winding and spiral manner. A small amount of gas or liquid will naturally accumulate at the bend of the "S"-shaped internal tube 42, forming a barrier effect similar to a "U-shaped water seal"; when the robot is operating in a deep water area, if the external water level is higher than the inlet of the exhaust pipe 41, the retained liquid at the bend It can prevent sewage from flowing back into the robot due to water pressure, which is equivalent to a passive anti-backflow barrier and can achieve waterproof sealing without additional power; the winding internal pipe 42 structure requires sewage to go through a longer path and multiple changes of direction if it wants to flow back into the body; in this process, the kinetic energy of the sewage will gradually decay due to friction and gravity, especially at the bends, which is prone to stagnation, greatly reducing the possibility of backflow; even if a small amount of sewage enters the internal pipe 42, it will be difficult to reach the core components quickly due to the complex path; the final exhaust end 43 of the "S"-shaped internal pipe 42 is located at a higher position on the top of the robot. In a deep water environment, the outlet height is far above the water surface, and the height difference is used to reduce the direct effect of external water pressure on the exhaust port, reducing water circulation The risk of water flowing into the exhaust port is reduced; a one-way seat 44 is installed on the exhaust end 43 at the top of the internal pipe 42. When the diesel engine inside the robot body 1 exhausts gas, the gas moves upward inside the exhaust end 43 and impacts the sealing ball 448, overcoming the gravity of the gravity block 4481, causing the sealing ball 448 to detach from the inside of the sealing port 447 and be discharged from the exhaust hole 444. When the force on the sealing ball 448 disappears or becomes less than the gravity of the gravity block 4481, the sealing ball 448 moves downward, blocking the exhaust hole 444, achieving the purpose of waterproofing the exhaust end 43. The provision of the one-way seat 44 allows one-way exhaust of the exhaust pipe 41 of the robot body 1.

[0061] Example 2 On the basis of Example 1, Figure 13 、 Figure 14 、 Figure 15 、 Figure 16 and Figure 17 As shown, it also includes a swing-type drainage mechanism 7, which includes an impeller pump 70, a guide space 700, a rubber sleeve A701, a sewage pipe 71, a hose A72, a hose B73, a bending pipe 74, a limit seat 75, a limit column 751, a clamp 76, a first transmission arm 77 and a lever seat 78. The side of the impeller shaft of the impeller pump 70 away from the agglomeration negative pressure mechanism 6 passes through the rubber sleeve A701 and is fixed to the pump motor output shaft. A second transmission arm 781 is provided at the end of the pump motor output shaft. The rubber sleeve A701 covers the guide space opened on the robot body 1. On the outside of 700, an interference hole 782 is opened in the middle of the second transmission arm 781, and an eccentric disk 783 is inserted into the interference hole 782. An interference column 784 is installed on the top of the eccentric disk 783. A reducer 785 is provided on the upper side of the interference column 784. The reducer 785 is installed inside the robot body 1 through a frame 7851. The output shaft of the reducer 785 is fixed to the rotating shaft of the interference column 784. A lever seat 78 is provided at the end of the second transmission arm 781. The lever seat 78 is movably mounted on the support 79 through a pin shaft, and the bottom of the support 79 is mounted on the bottom plate of the robot body 1.

[0062] like Figure 13 、 Figure 14 、 Figure 15 、 Figure 16 and Figure 17 As shown: a first transmission arm 77 is installed at the end of the lever seat 78, the first transmission arm 77 passes through the rectangular opening 772 opened on the robot body 1 and is connected to the bending tube 74 through a clamp 76, the outer side of the rectangular opening 772 is wrapped with a rubber sleeve B771, and the rubber sleeve B771 is wrapped around the outer side of the first transmission arm 77, a limit seat 75 is installed on the circumferential outer wall of the bending tube 74, and an arc-shaped limit column 751 is opened inside the limit seat 75, and the limit column 751 is installed on the side wall of the robot body 1, and the center of the limit column 751 coincides with the center of the support 79, and a hose B73 is installed on the top of the bending tube 74, and a hose A72 is installed on the end of the hose B73 away from the bending tube 74 through a flange, and a drain pipe 71 is installed on the end of the hose A72 away from the hose B73, and the drain pipe 71 is arranged on the top of the impeller pump 70.

[0063] The swing-type drainage mechanism 7 specifically drives the agglomeration negative pressure mechanism 6 to swing as follows: remotely start the external switch of the reducer 785, at which time the output shaft of the reducer 785 drives the eccentric disk 783 to rotate, and the eccentric disk 783 drives the interference column 784 at its bottom to deflect, and the interference column 784 is slidably set inside the interference hole 782, so that the second transmission arm 781 can rotate reciprocatingly with the support 79 as the center of the circle. At this time, the power delivery end of the tail of the impeller pump 70 is slidably set inside the guide space 700, and the guide space 700 can be sealed by the rubber sleeve A701 to prevent the robot body 1 from being in deep water operation. At the same time, under the action of the swing of the second transmission arm 781, the first transmission arm 77 can also swing at this time, and the first transmission arm 77 drives the bending pipe 74 to swing back and forth. The bending pipe 74 is connected to the sewage pipe 71 through the hose A72 and the hose B73. The sewage inside the sewage pipe 71 is discharged in turn through the hose A72, the hose B73 and the bending pipe 74. The long sewage hose can be connected to the end of the bending pipe 74 to transmit the water over a long distance. The long sewage hose is not drawn in the figure. The long sewage hose and the bending pipe 74, the hose A72 and the hose B73 can swing back and forth when discharging sewage. The reciprocating swing can make The sewage forms a dynamic flow state in the long sewage hose and the bent pipe 74, hose A72 and hose B73. The inertia and water flow fluctuations generated by the swing are used to reduce the sewage retention in the long sewage hose and the bent pipe 74, hose A72 and hose B73, avoid impurity deposition and blockage, and at the same time increase the contact area between the sewage and the pipe wall, thereby improving the sewage discharge efficiency; the swing can change the sewage inlet direction and coverage range, and the flexible connection between the hose and the bent hard pipe, combined with the swinging action, can buffer the pressure shock during the sewage discharge process, reduce the stress concentration problem caused by the rigid connection, reduce the risk of damage to the long sewage hose and the bent pipe 74, hose A72 and hose B73, and extend the system. The service life of the system is prolonged; by swinging, the water flow resistance that may be caused by the static laying of the long sewage hose and the bending pipe 74, hose A72 and hose B73 during long-distance transmission is reduced, so that the sewage can maintain continuous flow in the long sewage hose, avoiding the flow rate drop or sedimentation problem caused by the long distance, and ensuring the stability of long-distance sewage discharge; the bending pipe 74 can support the hose A72 and hose B73. When the bending pipe 74 is swinging, the limiting column 751 is inserted into the limiting seat 75 thereon. The limiting column 751 is arranged in an arc shape, and the bending pipe 74 can move along the limiting column 751 to ensure the stability of the bending pipe 74 during movement.

[0064] The embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made within the scope of knowledge of those skilled in the art without departing from the spirit of the present invention.

Claims

1. A drainage robot that prevents water from entering the exhaust pipe, characterized by comprising: The invention discloses a robot body (1), both sides of the robot body (1) are provided with anti-skid wheels (2), the top of the robot body (1) is provided with an exhaust pipe one-way exhaust mechanism (4), the front of the robot body (1) is provided with a swing type drainage mechanism (7), the end of the swing type drainage mechanism (7) is provided with a gathering negative pressure mechanism (6), the outer side of the gathering negative pressure mechanism (6) is provided with a focusing drainage mechanism (3), the side wall of the robot body (1) is provided with a stepping transmission mechanism (5), the gathering negative pressure mechanism (6) is provided with a transmission column (60), the end of the transmission column (60) is provided with an impeller pump (70), the impeller pump (7 0) is fixed to the transmission column (60), and the agglomeration negative pressure mechanism (6) is respectively installed with a central stirring mechanism (61), an edge stirring mechanism A (62) and an edge stirring mechanism B (63), and the outer sides of the central stirring mechanism (61), the edge stirring mechanism A (62) and the edge stirring mechanism B (63) are wrapped with a grille cover (64), and a plurality of groups of openings (641) are evenly provided on the grille cover (64). The central stirring mechanism (61), the edge stirring mechanism A (62) and the edge stirring mechanism B (63) are synchronously driven to rotate through a transmission wheel (635), a transmission chain and a transmission column (60).

2. A drainage robot capable of preventing water from entering the exhaust pipe according to claim 1, characterized in that: The anti-skid walking wheel (2) includes a walking disc (20), a friction seat (21), a connecting column (22), a reinforcement ring (23), a docking disc (24), a docking hole (25), a transmission disc (26), a stud (27), a docking seat (28) and a robot transmission shaft (29). The robot transmission shaft (29) is fixed to the output shaft of the diesel engine inside the drainage robot. The end of the robot transmission shaft (29) is fixedly provided with a transmission disc (26). Five groups of studs (27) are evenly installed on the outer surface of the transmission disc (26). A docking seat (28) is provided in the middle of the surface of the transmission disc (26). The docking disc (24) is circular. A docking hole (25) is opened in the middle of the docking disc (24). Five groups of screw through holes are evenly opened on the outer surface of the docking disc (24).

3. A drainage robot capable of preventing water from entering the exhaust pipe according to claim 2, characterized in that: The five groups of studs (27) are respectively passed through the five groups of screw through holes opened on the docking plate (24) and are screwed and fixed by nuts. The sizes of the docking hole (25) and the docking seat (28) are adapted to each other. The docking seat (28) is inserted into the interior of the docking hole (25). The cross-sections of the docking hole (25) and the docking seat (28) are both triangular. The length of the docking seat (28) is greater than the length of the studs (27). Five groups of connecting columns (22) are evenly installed on the circumferential outer wall of the docking plate (24). The outer sides of the five groups of connecting columns (22) are fixedly provided with reinforcement rings (23). The reinforcement rings (23) are circular. The ends of the five groups of connecting columns (22) are The parts are respectively fixedly connected to the circumferential inner wall of the annular running disc (20); a plurality of groups of friction seats (21) are evenly arranged on the circumferential outer wall of the running disc (20), and the distance between two adjacent groups of friction seats (21) is consistent. The friction seat (21) includes a clamping seat (211), a tip portion (212) and an arc-shaped slot (213). The bottom of the friction seat (21) is fixed with a clamping seat (211), and the clamping seat (211) is clamped on the outside of the running disc (20). The top of the friction seat (21) is fixed with a tip portion (212), and the tip portion (212) is arranged in a "W" shape. The surface of the tip portion (212) is provided with an arc-shaped slot (213).

4. A drainage robot capable of preventing water from entering the exhaust pipe according to claim 1, characterized in that: The focusing contamination removal mechanism (3) includes a passive disk (31), a focusing plate (32), a shielding plate (33), a rotating shaft (34), a guide channel (35) and a guide column (36). The passive disk (31) is arranged in a fan shape. The rotating shaft (34) is fixedly connected to the passive disk (31). A driving motor is installed on the inner wall of the robot body (1). The output shaft of the driving motor is fixedly connected to the rotating shaft (34). A guide channel (35) is opened on the passive disk (31). The guide channel (35) is arranged in an arc shape. The center of the guide channel (35) coincides with the center of the rotating shaft (34). The guide channel (35) is provided on the inner wall of the robot body (1). 5) is provided with a guide column (36) inside, the end of the guide column (36) is fixedly connected to the outer wall of the robot body (1), the end of the passive disk (31) is fixedly connected to a focusing piece (32), the bottom of the focusing piece (32) is provided with a shielding piece (33), the focusing piece (32) is provided with two groups, which are respectively installed on both sides of the agglomeration negative pressure mechanism (6), the two groups of focusing pieces (32) are provided in an eight-shaped arrangement, and the two groups of focusing pieces (32) are connected by a U-shaped grid plate (320), and the focusing dirt removal mechanism (3) drives the exhaust pipe one-way exhaust mechanism (4) to move up and down through the stepping transmission mechanism (5);The front of the grid plate (320) is equipped with an adsorption and stirring mechanism (321), which includes a bearing seat A (3211), a central shaft (3212), a negative pressure wheel (3213), a fixed track (3214), an arc knife (3215), a negative pressure groove (3216), a worm wheel (3217), a turntable (32171), a bearing seat B (32172), an eccentric bottom dirt stirring piece (32173), a worm (3218) and a bearing seat C (3219). The grille plate (320) is respectively mounted with a bearing seat A (3211), a bearing seat B (32172) and a bearing seat C (3219). The central shaft (3212) is movably mounted on the bearing seat A (3211), the rotating shaft of the worm wheel (3217) is movably mounted on the bearing seat B (32172), and the worm (3218) is movably mounted on the bearing seat C (3219). A negative pressure wheel (3213) is fixed at the bottom of the central shaft (3212). The outer wall of the negative pressure wheel (3213) is provided with a plurality of Four groups of negative pressure grooves (3216) are evenly arranged, and the cross section of the negative pressure grooves (3216) is fan-shaped. Four groups of fixed rails (3214) are evenly installed on the negative pressure wheel (3213). The interior of the fixed rails (3214) is screwed with an arc knife (3215). A worm gear (3217) is installed at the bottom of the negative pressure wheel (3213). One end of the rotating shaft of the worm gear (3217) is fixedly connected to the negative pressure wheel (3213), and the other end of the rotating shaft of the worm gear (3217) is connected to the turntable (32171). The eccentric bottom dirt stirring piece (32173) is fixedly installed at the bottom of the turntable (32171). The eccentric bottom dirt stirring piece (32173) is a spiral structure made of metal material. The size of the worm wheel (3217) and the worm (3218) are adapted. The worm wheel (3217) and the worm (3218) are meshed and connected. The end of the worm (3218) is fixedly installed with a central shaft (634). The three sets of central shafts (634) respectively drive the three sets of adsorption and stirring mechanisms (321).

5. A drainage robot capable of preventing water from entering the exhaust pipe according to claim 4, characterized in that: The exhaust pipe one-way exhaust mechanism (4) includes an exhaust pipe (41), an internal pipe (42), an exhaust end (43), a one-way seat (44), a limit pipe (45), a limit core (46) and a fixing platform (47). The exhaust pipe (41) is installed on the top of the robot body (1). The internal seal of the exhaust pipe (41) is interspersed with the internal pipe (42). The internal pipe (42) is distributed in an "S" shape. The exhaust end (43) is installed at one end of the internal pipe (42) away from the exhaust pipe (41). The one-way seat (44) is installed on the exhaust end (43). The internal pipe The outer side of (42) is fixedly provided with a fixed platform (47), and both sides of the bottom of the fixed platform (47) are installed with a limit core (46), the bottom of the limit core (46) is plugged into the inside of the limit tube (45), and the bottom of the limit tube (45) is fixedly connected to the top of the robot body (1). The outer side of the fixed platform (47) is fixedly connected with a driving arm (591), and the driving arm (591) is set in an "L" shape; the one-way seat (44) includes a card seat (441), a conical platform (442), a mounting plate (443), an exhaust hole (444), a vertical cylinder ( 445), a one-way cylinder (446), a sealing port (447) and a sealing ball (448), the cross section of the card seat (441) on the one-way seat (44) is set in a "U" shape, the card seat (441) is screwed to the top of the exhaust end (43), the bottom of the card seat (441) is installed with a conical platform (442), the bottom of the conical platform (442) is installed with a one-way cylinder (446), the bottom of the one-way cylinder (446) is provided with a sealing port (447), the inside of the sealing port (447) is clamped with a sealing ball (448), and the sealing ball (448) is a plastic hollow ball. A gravity block (4481) is installed on the lower side of the sealing ball (448), a circular mounting plate (443) is installed on the inner circumferential wall of the conical platform (442), and a plurality of exhaust holes (444) are evenly provided on the mounting plate (443). A vertical cylinder (445) is installed on the top of the sealing ball (448), and the vertical cylinder (445) is connected to the guide opening provided in the middle of the mounting plate (443). An annular limiting plate (4482) is provided on the outer circumferential wall of the vertical cylinder (445), and a conical groove (4483) is provided on the upper side of the interior of the vertical cylinder (445).

6. A drainage robot capable of preventing water from entering the exhaust pipe according to claim 4, characterized in that: The stepping transmission mechanism (5) includes a driving plate (50), an arc-shaped channel (51), a transmission plate (52), a transmission core (521), a limit block (53), a limit track (531), a special-shaped seat (54), a linkage seat (55), a limit rod (56), a bracket (57), a vertical frame (58), a driving block (59) and a driving arm (591). The driving block (59) is fixedly installed at the bottom of the driving arm (591). The outer side of the driving block (59) is fixedly connected to the A vertical frame (58) is connected, and a linkage seat (55) is installed at the bottom of the vertical frame (58). The linkage seat (55), the vertical frame (58) and the driving block (59) are arranged in a "Z" shape. Two groups of limit rods (56) are evenly interspersed on the linkage seat (55). The bottom of the limit rod (56) is fixedly connected to the bracket (57). One end of the bracket (57) is fixedly connected to the side wall of the robot body (1), and the other end of the bracket (57) is fixedly connected to the limit rail (531).

7. A drainage robot capable of preventing water from entering the exhaust pipe according to claim 6, characterized in that: A limiting channel having a size matching that of the limiting block (53) is provided inside the limiting track (531). The limiting block (53) is slidably arranged inside the limiting channel. The cross-sections of the limiting block (53) and the limiting channel are dovetail-shaped. One end of the limiting block (53) is fixedly connected to a special-shaped seat (54). The other end of the limiting block (53) is fixedly connected to a transmission plate (52). One end of the special-shaped seat (54) away from the limiting block (53) is fixedly connected to a linkage seat (55). A transmission core (521) is fixedly arranged at the bottom of the transmission plate (52). The transmission core (521) The drive core (521) is adapted to the size of the arc channel (51), and is inserted into the interior of the arc channel (51). The arc channel (51) is opened on the surface of the driving disk (50). A rotating shaft (34) is fixedly installed at the center of the driving disk (50). The driving disk (50) rotates through the arc channel (51), the drive core (521), the transmission plate (52), the limit block (53), the special-shaped seat (54), the linkage seat (55), the vertical frame (58), the driving block (59) and the driving arm (591) to drive the fixed platform (47) to move up and down.

8. The drainage robot capable of preventing water from entering the exhaust pipe according to claim 1, characterized in that: The agglomeration negative pressure mechanism (6) includes a transmission column (60), a central stirring mechanism (61), an edge stirring mechanism A (62), an edge stirring mechanism B (63), a grille cover (64), an opening (641), a back plate (642), a support column (65) and a universal wheel (66). Two sets of support columns (65) are installed on both sides of the bottom of the grille cover (64). The bottom of the support column (65) is installed with a universal wheel (66). The central stirring mechanism (61), the edge stirring mechanism A (62) and the edge stirring mechanism B (63) are movably installed inside the grille cover (64). The central stirring mechanism (61), the edge stirring mechanism A (62) and the edge stirring mechanism B (63) have the same structure. The back of the grille cover (64) is fixedly provided with a back plate (642); the edge stirring mechanism B (63) includes an inner fixed disk (631), an outer fixed disk (632), a cutting blade (633), A central shaft (634) and a transmission wheel (635) are provided. The transmission wheel (635) is installed at the end of the central shaft (634). An inner fixing disk (631) is fixedly provided on one side of the central shaft (634). An outer fixing disk (632) is fixedly provided on the other side of the central shaft (634). The outer fixing disk (632) and the inner fixing disk (631) are both circularly arranged. Five groups of cutting blades (633) are evenly arranged between the outer fixing disk (632) and the inner fixing disk (631). The cutting blades (633) are spirally arranged. The five groups of cutting blades (633) are centrally symmetrical about the central axis of the central shaft (634). Two groups of holes (6331) are provided on the cutting blades (633). The ends of the five groups of cutting blades (633) are all provided with cutting edges (6332). The five groups of cutting blades (633) are fixed by three groups of reinforcing sheets (6333). The reinforcing sheets (6333) are circularly arranged.

9. The drainage robot capable of preventing water from entering the exhaust pipe according to claim 1, characterized in that: The invention also includes a swing-type drainage mechanism (7), which includes an impeller pump (70), a guide space (700), a rubber sleeve A (701), a sewage pipe (71), a hose A (72), a hose B (73), a bending pipe (74), a limit seat (75), a limit column (751), a clamp (76), a first transmission arm (77) and a lever seat (78). The impeller shaft of the impeller pump (70) is fixed to the pump motor output shaft through the rubber sleeve A (701) on the side away from the agglomeration negative pressure mechanism (6). The second transmission arm (781) is provided at the end of the pump motor output shaft. The rubber sleeve A (701) covers the guide space ( 700), an interference hole (782) is opened in the middle of the second transmission arm (781), an eccentric disk (783) is inserted into the interference hole (782), an interference column (784) is installed on the top of the eccentric disk (783), a reducer (785) is provided on the upper side of the interference column (784), the reducer (785) is installed inside the robot body (1) through the frame (7851), the output shaft of the reducer (785) is fixed to the rotating shaft of the interference column (784), and a lever seat (78) is provided at the end of the second transmission arm (781), the lever seat (78) is movably installed on the support (79) through a pin shaft, and the bottom of the support (79) is installed on the bottom plate of the robot body (1).

10. A drainage robot capable of preventing water from entering the exhaust pipe according to claim 1, characterized in that: A first transmission arm (77) is installed at the end of the lever seat (78), and the first transmission arm (77) passes through a rectangular opening (772) opened on the robot body (1) and is connected to the bending tube (74) through a clamp (76). The outer side of the rectangular opening (772) is wrapped with a rubber sleeve B (771), and the rubber sleeve B (771) is wrapped around the outer side of the first transmission arm (77). A limit seat (75) is installed on the circumferential outer wall of the bending tube (74), and an arc-shaped inner portion of the limit seat (75) is opened. A limit column (751) is provided, the limit column (751) is installed on the side wall of the robot body (1), the center of the limit column (751) coincides with the center of the support (79), a hose B (73) is installed on the top of the bending tube (74), a hose A (72) is installed on the end of the hose B (73) away from the bending tube (74) through a flange, a drain pipe (71) is installed on the end of the hose A (72) away from the hose B (73), and the drain pipe (71) is provided on the top of the impeller pump (70).

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