A waterlogging relief robot capable of preventing water from entering an exhaust pipe

Abstract

The present application relates to a kind of drainage robots, more particularly to a kind of drainage robots of preventing air pipe from being waterlogged.The technical problem of the present application is to provide a kind of drainage robot, which can utilize the inertia generated by swinging and water flow fluctuation, reduce the sewage retention in elbow pipe, hose A and hose B, avoid impurities deposition to block pipeline, and maintain the continuous operation of sewage discharge work.A kind of drainage robot of preventing air pipe from being waterlogged, comprising a robot body, anti-skid wheels are installed on both sides of the robot body, a one-way air exhaust mechanism is arranged on the top of the robot body, a swinging drainage mechanism is installed on the front of the robot body, and the sewage forms dynamic flow state in long sewage pipe and elbow pipe, hose A and hose B by reciprocating swing, which utilizes the inertia generated by swinging and water flow fluctuation to reduce the sewage retention in long sewage pipe and elbow pipe, hose A and hose B, and improves sewage discharge efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to a drainage robot, in particular to a drainage robot capable of preventing water from entering the exhaust pipe. BACKGROUND

[0002] The drainage robot can be used in places with deep accumulated water and narrow space in urban waterlogging; when the drainage robot enters the accumulated water area, the diesel generator inside the drainage robot operates, and the exhaust port cannot be adjusted in the process of diesel generator operation. When entering the area with deep accumulated water, the exhaust port may be flooded, affecting the working life and use of the drainage robot, and the water-cooling heat dissipation cannot be carried out during the exhaust process of the exhaust pipe.

[0003] To solve the above problems, through retrieval, a drainage robot capable of preventing water from entering the exhaust pipe is disclosed in Chinese patent No. CN217002024U, which comprises a robot main body, an upper end of the robot main body is provided with a lifting annular plate, an inner ring of the lifting annular plate is integrally formed with a heat dissipation annular plate, a heat-resistant telescopic pipe connected with the heat dissipation annular plate is arranged in the heat dissipation annular plate, an exhaust pipe axially arranged in the heat-resistant telescopic pipe is arranged in the heat-resistant telescopic pipe, the exhaust pipe is in communication with the robot main body, so that the robot main body can exhaust through the exhaust pipe, and the upper and lower ends of the heat-resistant telescopic pipe are in sealing connection with the exhaust pipe.

[0004] The above device can drive the lifting annular plate and the heat dissipation annular plate through the electric telescopic rod, drive the exhaust pipe up and down through the heat dissipation annular plate, prevent the exhaust pipe from being submerged by high water level, and realize sealing of the electric telescopic rod when moving up and down through the sealing ring, prevent water from entering the robot main body, and achieve the effect of preventing the exhaust pipe from being flooded. However, in actual application, a large amount of silt deposits may accumulate in the accumulated water area, and the drainage robot may block the sewage pipe when discharging sewage at this position, affecting the sewage flow, and in severe cases, the sewage work may not be carried out. SUMMARY

[0005] The present application aims to provide a drainage robot capable of preventing water from entering the exhaust pipe to solve the defects mentioned in the background.

[0006] The application discloses a waterlogging drainage robot capable of preventing water from entering an exhaust pipe, which comprises a robot body, anti-skid wheels installed on both sides of the robot body, a one-way exhaust mechanism arranged on the top of the robot body, a swing type waterlogging drainage mechanism installed on the front of the robot body, a cluster negative pressure mechanism installed at the end of the swing type waterlogging drainage mechanism, a focused sewage mechanism installed on the outer side of the cluster negative pressure mechanism, a step transmission mechanism arranged on the side wall of the robot body, a transmission column arranged on the cluster negative pressure mechanism, an impeller pump arranged at the end of the transmission column, a rotating shaft of the impeller pump fixed to the transmission column, a central stirring mechanism, an edge stirring mechanism A and an edge stirring mechanism B respectively installed on the cluster negative pressure mechanism, a grating cover wrapped on the outer side of the central stirring mechanism, the edge stirring mechanism A and the edge stirring mechanism B, a plurality of groups of openings uniformly arranged on the grating cover, and the central stirring mechanism, the edge stirring mechanism A and the edge stirring mechanism B synchronously driven to rotate through a transmission wheel, a transmission chain and the transmission column.

[0007] As an improvement of the above scheme, the anti-skid wheel comprises a walking disc, a friction seat, a connecting column, a reinforcing ring, a butt joint disc, a butt joint hole, a transmission disc, a stud, a butt joint seat and a robot transmission shaft, the robot transmission shaft is fixed to a diesel engine output shaft in the waterlogging drainage robot, the end of the robot transmission shaft is fixedly provided with the transmission disc, five groups of studs are uniformly arranged on the outer side of the surface of the transmission disc, the middle of the surface of the transmission disc is provided with the butt joint seat, the butt joint disc is circularly arranged, the butt joint hole is arranged in the middle of the butt joint disc, and five groups of threaded holes are uniformly arranged on the outer side of the surface of the butt joint disc.

[0008] As an improvement of the above scheme, the five groups of studs respectively pass through the five groups of threaded holes arranged on the butt joint disc and are fixedly connected through nuts, the butt joint hole and the butt joint seat are matched in size, the butt joint seat is inserted into the butt joint hole, the butt joint hole and the butt joint seat are triangularly arranged in cross section, and the length of the butt joint seat is greater than that of the stud; five groups of connecting columns are uniformly arranged on the circumferential outer wall of the butt joint disc, the outer side of the five groups of connecting columns is fixedly provided with the reinforcing ring, the reinforcing ring is circularly arranged, and the ends of the five groups of connecting columns are fixedly connected to the circumferential inner wall of the annular walking disc; a plurality of groups of friction seats are uniformly arranged on the circumferential outer wall of the walking disc, the distance between adjacent two groups of friction seats is consistent, the friction seat comprises a clamping seat, a pointed end and an arc-shaped slot, the clamping seat is fixed to the bottom of the friction seat and clamped to the outer side of the walking disc, the pointed end is fixedly arranged on the top of the friction seat and is "W"-shaped, and the arc-shaped slot is arranged on the surface of the pointed end.

[0009] As the improvement of the above scheme, the focusing dirt-removing mechanism comprises a passive disc, a focusing sheet, a shielding sheet, a rotating shaft, a guide channel and a guide column, the passive disc is arranged in a fan shape, the rotating shaft is fixedly connected to the passive disc, a driving motor is installed on the inner wall of the robot body, the output shaft of the driving motor is fixedly connected to the rotating shaft, the guide channel is arranged on the passive disc in an arc shape, the center of the guide channel coincides with the center of the rotating shaft, the guide column is arranged in the guide channel, the end of the guide column is fixedly connected to the outer wall of the robot body, the focusing sheet is fixedly connected to the end of the passive disc, the bottom of the focusing sheet is provided with the shielding sheet, the focusing sheet is arranged in two groups and is installed on the two sides of the agglomeration negative pressure mechanism, the two groups of focusing sheets are arranged in an eight-character shape, the two groups of focusing sheets are connected through a U-shaped grid plate, and the focusing dirt-removing mechanism drives the one-way exhaust mechanism of the exhaust pipe to ascend and descend through the stepping transmission mechanism; the front part of the grid plate is provided with an adsorption and stirring mechanism, the adsorption and stirring mechanism comprises a bearing seat A, a central shaft, a negative pressure wheel, a fixed track, an arc-shaped knife, a negative pressure groove, a worm wheel, a rotating disc, a bearing seat B, an eccentric bottom dirt stirring sheet, a worm and a bearing seat C, the bearing seat A, the bearing seat B and the bearing seat C are respectively installed on the grid 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, the worm is movably installed on the bearing seat C, the negative pressure wheel is fixedly arranged at the bottom of the central shaft, four groups of negative pressure grooves are uniformly arranged on the circumferential outer wall of the negative pressure wheel, the cross section of the negative pressure groove is arranged in a fan shape, four groups of fixed tracks are uniformly installed on the negative pressure wheel, the arc-shaped knife is screw-connectedly installed in the fixed track, the worm wheel is installed at the bottom of the negative pressure wheel, one end of the rotating shaft of the worm wheel is fixedly connected to the negative pressure wheel, the other end of the rotating shaft of the worm wheel is fixedly connected to the rotating disc, the eccentric bottom dirt stirring sheet is fixedly installed at the bottom of the rotating disc, the eccentric bottom dirt stirring sheet is made of a metal material and has a spiral structure, the worm wheel and the worm are matched in size, the worm wheel and the worm are meshed and connected, the central shaft is fixedly installed at the end of the worm, and the three central shafts drive the three adsorption and stirring mechanisms respectively.

[0010] As an improvement of the above scheme, the exhaust pipe one-way exhaust mechanism comprises an exhaust pipe, an inner connecting pipe, an exhaust end, a one-way seat, a limiting pipe, a limiting core and a fixing table, the exhaust pipe is installed at the top of the robot body, the inside of the exhaust pipe is inserted with the inner connecting pipe, the inner connecting pipe is arranged in an "S" shape, an exhaust end is installed at the end of the inner connecting pipe away from the exhaust pipe, a one-way seat is installed on the exhaust end, a fixing table is fixedly arranged on the outside of the inner connecting pipe, limiting cores are installed on both sides of the bottom of the fixing table, the bottom of the limiting core is inserted into the inside of the limiting pipe, the bottom of the limiting pipe is fixedly connected to the top of the robot body, a driving arm is fixedly connected to the outside of the fixing table, and the driving arm is arranged in an "L" shape.

[0011] As an improvement of the above scheme, the step transmission mechanism comprises a driving disc, an arc-shaped channel, a transmission piece, a transmission core, a limiting block, a limiting track, a special-shaped seat, a linkage seat, a limiting rod, a support, a vertical support, a driving block and a driving arm, the bottom of the driving arm is fixedly provided with the driving block, the outside of the driving block is fixedly connected with the vertical support, the bottom of the vertical support is provided with the linkage seat, the linkage seat, the vertical support and the driving block are arranged in a "Z" shape, two groups of limiting rods are uniformly inserted into the linkage seat, the bottom of the limiting rod is fixedly connected to the support, one end of the support is fixedly connected to the side wall of the robot body, and the other end of the support is fixedly connected to the limiting track.

[0012] As an improvement of the above scheme, the limiting track is internally provided with a limiting channel matched with the size of the limiting block, the limiting block is slidingly arranged in the limiting channel, the cross section of the limiting block and the limiting channel is arranged in a dovetail shape, one end of the limiting block is fixedly connected with the special-shaped seat, the other end of the limiting block is fixedly connected with the transmission piece, the end of the special-shaped seat away from the limiting block is fixedly connected with the linkage seat, the bottom of the transmission piece is fixedly provided with the transmission core, the transmission core is matched with the size of the arc-shaped channel, the transmission core is inserted into the inside of the arc-shaped channel, the arc-shaped channel is arranged on the surface of the driving disc, a rotating shaft is fixedly installed at the center of the driving disc, and the driving disc rotates to drive the fixing table to ascend and descend through the arc-shaped channel, the transmission core, the transmission piece, the limiting block, the special-shaped seat, the linkage seat, the vertical support, the driving block and the driving arm.

[0013] As the improvement of the above-mentioned scheme, the agglomeration negative pressure mechanism comprises a transmission column, a center stirring mechanism, an edge stirring mechanism A, an edge stirring mechanism B, a grid cover, an opening, a back plate, a support column and a universal wheel, two groups of support columns are installed on the bottom of the grid cover, universal wheels are installed on the bottom of the support columns, the center stirring mechanism, the edge stirring mechanism A and the edge stirring mechanism B are movably installed in the grid cover, the center stirring mechanism, the edge stirring mechanism A and the edge stirring mechanism B are consistent in structure, and the back plate is fixedly arranged on the back of the grid cover.

[0014] As the improvement of the above-mentioned scheme, the swing type drainage mechanism is further included, the swing type drainage mechanism comprises an impeller pump, a guide space, a rubber sleeve A, a sewage pipe, a hose A, a hose B, an elbow pipe, a limiting seat, a limiting column, a clamp, a first transmission arm and a lever seat, the rotating shaft of the impeller in the impeller pump is fixed with the pump motor output shaft through the rubber sleeve A away from the agglomeration negative pressure mechanism, the pump motor output shaft end is provided with a second transmission arm, the rubber sleeve A covers the outside of the guide space arranged on the robot body, the second transmission arm is provided with an interference hole in the middle, the interference hole is inserted with an eccentric disc, the eccentric disc is provided with an interference column on the top, the upper side of the interference column is provided with a speed reducer, the speed reducer is installed in the robot body through a rack, the output shaft of the speed reducer is fixed with the rotating shaft of the interference column, the second transmission arm end is provided with a lever seat, the lever seat is movably installed on the support through a pin shaft, and the support is installed on the bottom plate of the robot body.

[0015] As the improvement of the above-mentioned scheme, the lever seat end is provided with the first transmission arm, the first transmission arm passes through the rectangular opening arranged on the robot body and is connected with the elbow pipe through the clamp, the outside of the rectangular opening is wrapped with a rubber sleeve B, the rubber sleeve B is wrapped outside the first transmission arm, the limiting seat is installed on the circumferential outer wall of the elbow pipe, the limiting column in the limiting seat is arranged in an arc shape, the limiting column is installed on the side wall of the robot body, the center of the limiting column coincides with the center of the support, the elbow pipe top is provided with the hose B, the hose B is provided with the hose A through the flange away from the elbow pipe, the hose A is provided with the sewage pipe away from the hose B, and the sewage pipe is arranged on the top of the impeller pump.

[0016] The present application has the following advantages:

[0017] 1. The present application is characterized in that a plurality of friction seats are uniformly arranged outside the ring-shaped walking plate, and the friction seats are arranged in a "W" shape as a whole, which facilitates the movement of the robot body and prevents skidding in the presence of a large amount of sludge deposition, effectively solving the problem of skidding of the drainage robot in a high-sludge environment, and the combined mechanism of wedging and extrusion significantly improves the stability of the robot body movement and environmental adaptability;

[0018] 2. The present application is characterized in that the center stirring mechanism, the edge stirring mechanism A and the edge stirring mechanism B work synchronously: for lumpy sludge or debris, under the action of the five sets of cutting blades and the cutting edges thereon rotating at high speed, the lumpy sludge is subjected to high-frequency impact, and the large sludge is broken into pieces to prevent the pipeline on the swing drainage mechanism from being blocked; the lumpy sludge can be effectively broken into small particles to prevent large sludge from entering the pipeline and causing blockage, ensuring the continuity and stability of the drainage process;

[0019] 3. The present application is characterized in that when the center shaft rotates, the five sets of cutting blades thereon rotate at high speed, and the five sets of cutting blades are arranged in a spiral shape to break the sludge tending to the impeller pump; the five sets of spiral cutting blades on the center shaft can form high-efficiency cutting and breaking action, and the spiral design enhances the rolling and tearing effect of the sludge, so that the large sludge is quickly broken into small particles to prevent the impeller pump from being blocked;

[0020] 4. The present application is characterized in that when the agglomeration negative pressure mechanism is sucking at the waterlogging position, combined with the horizontal reciprocating swing function of the swing drainage mechanism, the stirring range of the three sets of stirring mechanisms can be significantly improved, thereby enhancing the suction efficiency; ensure that the water and impurities are uniformly mixed and quickly sucked; at the same time, the swing action can disturb the bottom sediments to prevent hardening and improve the overall drainage effect, especially suitable for water cleaning in complex terrain or narrow area, and has flexibility and high efficiency;

[0021] 5. The present application is characterized in that under the action of the impeller pump, when sucking, the two sets of focusing pieces distributed in a moustache shape form a horn-shaped flow guide structure, which can converge the surrounding dispersed sewage to the center area of the agglomeration negative pressure mechanism, expand the suction range, improve the aggregation efficiency of the sewage to the stirring mechanism, and avoid suction dead angle; the shielding piece covers both sides of the agglomeration negative pressure mechanism to reduce 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 the debris lumps in the sewage, form more uniform fluid, and improve the suction efficiency of the impeller pump and the utilization rate of suction force;

[0022] 6. The application increases the height of the exhaust end by driving the inner connecting pipe of the one-way exhaust mechanism of the exhaust pipe to move upward through the stepping transmission mechanism when the passive disc and focusing piece are moving, reduces the risk of water entering the exhaust end, increases the height of the exhaust end through mechanical linkage, avoids backflow into the exhaust system due to rising water level, ensures stable air pressure in the negative pressure mechanism, maintains continuous and efficient suction capacity, enhances the environmental adaptability and operation stability of the equipment under complex working conditions;

[0023] 7. The application discharges sewage in the sewage pipe through the hose A, hose B and elbow pipe in turn, and can dock the long sewage hose at the end of the elbow pipe to transport water over a long distance. The long sewage hose, elbow pipe, hose A and hose B can reciprocate when discharging sewage, which can form a dynamic flow state in the long sewage hose, elbow pipe, hose A and hose B, reduce the retention of sewage in the long sewage hose, elbow pipe, hose A and hose B, avoid impurities deposition and blockage, increase the contact area between sewage and pipe wall, and improve the sewage discharge efficiency;

[0024] 8. The eccentric bottom stirring piece is spirally arranged, which can stir the hardened or agglomerated sludge at the bottom of the sewage, lift the stubborn deposits close to the water bottom or embedded in the gap, and make them easier to be sucked into, improve the cleaning thoroughness, especially for hard bottom or uneven surface. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 It is the first kind of three-dimensional structure schematic diagram of the application.

[0026] Figure 2 It is the second kind of three-dimensional structure schematic diagram of the application.

[0027] Figure 3 It is the bottom view of the application.

[0028] Figure 4 It is the side view of the application.

[0029] Figure 5 It is the rear view of the application.

[0030] Figure 6 It is the sectional view of the agglomeration negative pressure mechanism structure of the application.

[0031] Figure 7 It is the bottom view of the agglomeration negative pressure mechanism of the application.

[0032] Figure 8 It is the top view of the agglomeration negative pressure mechanism of the application.

[0033] Figure 9It is the side view of the agglomeration negative pressure mechanism of the application.

[0034] Figure 10 It is the perspective structural diagram of the edge stirring mechanism B of the application.

[0035] Figure 11 It is the top view of Figure 10 .

[0036] Figure 12 It is the partial enlarged view of the edge stirring mechanism B.

[0037] Figure 13 It is the perspective structural diagram of the swing type water-logging drainage mechanism of the application.

[0038] Figure 14 It is the bottom view of the swing type water-logging drainage mechanism of the application.

[0039] Figure 15 It is the internal structure diagram of the robot body of the application.

[0040] Figure 16 It is the side view of Figure 15 .

[0041] Figure 17 It is the front view of Figure 15 .

[0042] Figure 18 It is the structure diagram of the anti-skid wheel of the application.

[0043] Figure 19 It is the exploded view of the anti-skid wheel of the application.

[0044] Figure 20 It is the structure diagram of the friction seat of the application.

[0045] Figure 21 It is the perspective structural diagram of the focusing sewage walking mechanism of the application.

[0046] Figure 22 It is the bottom view of the focusing sewage walking mechanism of the application.

[0047] Figure 23 It is the perspective structural diagram of the one-way exhaust mechanism and the step transmission mechanism of the exhaust pipe of the application.

[0048] Figure 24 It is the structure diagram of the removal of the limiting track in Figure 23 .

[0049] Figure 25 It is the transmission core and its connecting structure diagram in Figure 24 .

[0050] Figure 26 It is the sectional view of the one-way seat of the application.

[0051] Figure 27 Figure 6 is a bottom view of the one-way seat of the present invention.

[0052] Figure 28 Figure 7 is a schematic view of the attachment of the suction and agitation mechanism to the end of the grid plate of the present invention.

[0053] Figure 29 Figure 8 is a bottom view of the attachment of the suction and agitation mechanism to the end of the grid plate of the present invention.

[0054] Figure 30 Figure 9 is a schematic view of the structure of the suction and agitation mechanism of the present invention.

[0055] Figure 31 Figure 10 is a bottom view of the suction and agitation mechanism of the present invention. Figure 32

[0056] Figure 30 Figure 11 is a rear view of the suction and agitation mechanism of the present invention. Figure 32

[0057] ​​The labels of the components in the drawings are as follows: 1, robot body; 2, anti-skid wheels; 20, walking disc; 21, friction seat; 211, clamping seat; 212, pointed end; 213, arc-shaped slot; 22, connecting column; 23, reinforcing ring; 24, butt joint disc; 25, butt joint hole; 26, transmission disc; 27, stud; 28, butt joint seat; 29, robot transmission shaft; 3, focusing dirt-removing mechanism; 31, passive disc; 32, focusing sheet; 320, grid plate; 321, adsorption and stirring mechanism; 3211, bearing seat A; 3212, central shaft; 3213, negative pressure wheel; 3214, fixed track; 3215, arc-shaped knife; 3216, negative pressure groove; 3217, worm gear; 32171, rotating disc; 32172, bearing seat B; 32173, eccentric bottom dirt stirring sheet; 3218, worm; 3219, bearing seat C; 33, shielding sheet; 34, rotating shaft; 35, guide channel; 36, guide column; 4, one-way exhaust mechanism of exhaust pipe; 41, exhaust pipe; 42, inner connecting pipe; 43, exhaust end; 44, one-way seat; 441, clamping seat; 442, conical table; 443, mounting disc; 444, exhaust hole; 445, vertical cylinder; 446, one-way cylinder; 447, sealing opening; 448, sealing ball; 4481, gravity block; 4482, limiting disc; 4483, conical groove; 45, limiting pipe; 46, limiting core; 47, fixed table; 5, step transmission mechanism; 50, driving disc; 51, arc-shaped channel; 52, transmission sheet; 521, transmission core; 53, limiting block; 531, limiting track; 54, special-shaped seat; 55, linkage seat; 56, limiting rod; 57, support; 58, vertical support; 59, driving block; 591, driving arm; 6, agglomeration negative pressure mechanism; 60, transmission column; 61, central stirring mechanism; 62, edge stirring mechanism A; 63, edge stirring mechanism B; 631, inner fixed disc; 632, outer fixed disc; 633, cutting knife; 6331, hole; 6332, knife edge; 6333, reinforcing sheet; 634, central shaft; 635, transmission wheel; 64, grid cover; 641, opening; 642, back plate; 65, support column; 66, universal wheel; 7, swing type drainage mechanism; 70, vane pump; 700, guide space; 701, rubber sleeve A; 71, sewage pipe; 72, hose A; 73, hose B; 74, elbow pipe; 75, limiting seat; 751, limiting 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 disc; 784, interference column; 785, speed reducer; 7851, rack; 79, support. DETAILED DESCRIPTION

[0058] Embodiments of the present application will be described below with reference to the accompanying drawings.

[0059] Example 1

[0060] A drainage robot that prevents water from entering the exhaust pipe, such as Figures 1-5 As shown, the system includes a robot body 1, with anti-slip wheels 2 installed on both sides of the robot body 1. A one-way exhaust mechanism 4 is installed on the top of the robot body 1. A swing-type drainage mechanism 7 is installed at the front of the robot body 1. A negative pressure aggregation mechanism 6 is installed at the end of the swing-type drainage mechanism 7. A focusing and wastewater removal mechanism 3 is installed on the outside of the negative pressure aggregation mechanism 6. A stepping transmission mechanism 5 is installed on the side wall of the robot body 1. A transmission column 60 is installed on the negative pressure aggregation mechanism 6. An impeller pump 70 is installed at the end of the transmission column 60. The rotating shaft on 70 is fixed to the transmission column 60. The agglomeration negative pressure mechanism 6 is equipped 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 covered with a grid cover 64. Multiple sets of openings 641 are evenly opened on the grid 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.

[0061] like Figure 18 and Figure 19 As shown: The anti-slip wheel 2 includes a walking disc 20, a friction seat 21, a connecting column 22, a reinforcing ring 23, a docking disc 24, a docking hole 25, a transmission disc 26, studs 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 sets 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 sets of threaded through holes are evenly opened on the outer surface of the docking disc 24.

[0062] like Figure 18 , Figure 19 and 20As shown: five groups of studs 27 respectively pass through five groups of threaded holes opened on the butt joint disc 24 and are fixed by screwing nuts, the sizes of the butt joint holes 25 and the butt joint seats 28 are matched, the butt joint seats 28 are inserted into the inside of the butt joint holes 25, the cross sections of the butt joint holes 25 and the butt joint seats 28 are all triangularly arranged, the length of the butt joint seats 28 is greater than the length of the studs 27; the circumferential outer wall of the butt joint disc 24 is uniformly provided with five groups of connecting columns 22, the outer side of the five groups of connecting columns 22 is fixedly provided with reinforcing rings 23, the reinforcing rings 23 are circularly arranged, the ends of the five groups of connecting columns 22 are respectively fixedly connected to the circumferential inner wall of the annular running disc 20; the circumferential outer wall of the running disc 20 is uniformly provided with multiple groups of friction seats 21, the distance between the two adjacent groups of friction seats 21 is consistent, the friction seat 21 comprises a clamping seat 211, a pointed end portion 212 and an arc-shaped slot 213, the bottom of the friction seat 21 is fixedly provided with the clamping seat 211, the clamping seat 211 is clamped to the outer side of the running disc 20, the top of the friction seat 21 is fixedly provided with the pointed end portion 212, the pointed end portion 212 is arranged in a "W" shape, and the surface of the pointed end portion 212 is provided with the arc-shaped slot 213.

[0063] As Figure 22 and Figure 23The focus and dirt removal mechanism 3 includes a passive disc 31, a focusing piece 32, a shielding piece 33, a rotating shaft 34, a guide channel 35 and a guide column 36. The passive disc 31 is arranged in a fan shape. The rotating shaft 34 is fixedly connected to the passive disc 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. The guide channel 35 is arranged in an arc shape on the passive disc 31. The center of the guide channel 35 coincides with the center of the rotating shaft 34. The guide column 36 is arranged in the guide channel 35. The end of the guide column 36 is fixedly connected to the outer wall of the robot body 1. The focusing piece 32 is fixedly connected to the end of the passive disc 31. The shielding piece 33 is arranged at the bottom of the focusing piece 32. The focusing piece 32 is arranged in two groups and is installed on the two sides of the agglomeration negative pressure mechanism 6. The two groups of focusing pieces 32 are arranged in an eight-character shape. The two groups of focusing pieces 32 are connected through a U-shaped grid plate 320. The focus and dirt removal mechanism 3 is driven by the stepping transmission mechanism 5 to drive the one-way exhaust mechanism 4 of the exhaust pipe to ascend and descend. The grid plate 320 is provided with an adsorption and stirring mechanism 321. The adsorption and stirring mechanism 321 includes a bearing seat A 3211, a central shaft 3212, a negative pressure wheel 3213, a fixed track 3214, an arc-shaped knife 3215, a negative pressure groove 3216, a worm wheel 3217, a rotating disc 32171, a bearing seat B 32172, an eccentric bottom dirt stirring piece 32173, a worm 3218 and a bearing seat C 3219. The bearing seat A 3211, the bearing seat B 32172 and the bearing seat C 3219 are respectively installed on the grid plate 320. The central shaft 3212 is movably installed on the bearing seat A 3211. The rotating shaft of the worm wheel 3217 is movably installed on the bearing seat B 32172. The worm 3218 is movably installed on the bearing seat C 3219. The central shaft 3212 is fixedly provided with the negative pressure wheel 3213 at the bottom. Four groups of negative pressure grooves 3216 are uniformly arranged on the circumferential outer wall of the negative pressure wheel 3213. The cross section of the negative pressure groove 3216 is arranged in a fan shape. Four groups of fixed tracks 3214 are uniformly installed on the negative pressure wheel 3213. The arc-shaped knife 3215 is screwed and installed in the fixed track 3214. The worm wheel 3217 is installed at the bottom of the negative pressure wheel 3213. One end of the rotating shaft of the worm wheel 3217 is fixedly connected to the negative pressure wheel 3213. The other end of the rotating shaft of the worm wheel 3217 is fixedly connected to the rotating disc 32171. The eccentric bottom dirt stirring piece 32173 is fixedly installed at the bottom of the rotating disc 32171. The eccentric bottom dirt stirring piece 32173 is made of metal material and has a spiral structure. The worm wheel 3217 and the worm 3218 are matched in size. The worm wheel 3217 is meshingly connected with the worm 3218. The end of the worm 3218 is fixedly installed with a central shaft 634. The three central shafts 634 drive the three adsorption and stirring mechanisms 321.

[0064] As Figure 28 , Figure 29 , Figure 30 , Figure 31 , Figure 32As shown: the front part of the grid plate 320 is respectively installed with three groups of adsorption and stirring mechanisms 321, which are driven to move through three groups of center shafts 634, and the working mode of the adsorption and stirring mechanism 321 is that: when the center shaft 634 rotates, the negative pressure wheel 3213 is driven to rotate through the worm 3218 and the worm wheel 3217, and the negative pressure wheel 3213 is uniformly provided with four groups of fan-shaped negative pressure grooves 3216, and when the negative pressure wheel 3213 rotates, a negative pressure is generated near it, and the generated local vortex can expand the effective negative pressure area in front of the water suction port, help to suck the light floating objects or loose particles at a slight distance, reduce the energy consumption of the impeller pump 70, and the suction is only dependent on the negative pressure of the impeller pump 70, and the suction range is limited; while the vortex effect of the negative pressure wheel 3213 can disturb and "pull" the light floating objects at a slight distance, such as plastic sheets, leaves or loose particles, so that they move towards the water suction port, significantly improving the cleaning coverage; in still water or slow flow environment, the traditional suction effect is 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, can cover a wider working surface, and the generated negative pressure field can be superimposed, further expanding the adsorption area or forming a directional suction flow field, such as guiding the pollutants to converge to the center, the rotation of the negative pressure wheel 3213 not only generates negative pressure, but also preliminarily compresses and accelerates the mixture of air and sewage sucked, reduces the inlet resistance of the impeller pump 70, and thus reduces the load; under the same working condition, the motor current of the impeller pump 70 is reduced, and considerable energy is saved during 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, prevent it from being hardened, and be especially suitable for cleaning the long-term deposited viscous sludge or fine sand; the negative pressure wheel 3213 is uniformly provided with four groups of fixed tracks 3214, the arc-shaped knives 3215 are screw-connectedly installed in the fixed tracks 3214, the four groups of symmetrically distributed knife systems form continuous and staggered cutting tracks in rotation, and a three-dimensional crushing network is constructed through the action of time and space superposition, not only solving the "cutting dead angle" problem of the traditional fixed knife, but also producing a unique disturbance effect on the fluid level, breaking the laminar flow state of the fluid, improving the comprehensiveness and uniformity of the debris crushing, and ensuring that the pollutants in any position or form can be effectively captured and treated, especially for the winding fibers or viscous deposits.

[0065] When the worm gear 3217 rotates, the rotating disc 32171 rotates, and the eccentric bottom stirring blade 32173 at the bottom of the rotating disc 32171 is eccentrically arranged. The eccentric bottom stirring blade 32173 is spirally arranged and can agitate the hardened or agglomerated sludge at the bottom of the sewage. The stubborn deposits close to the water bottom or embedded in the gap are lifted, so that they are more easily sucked in, improving the thoroughness of cleaning, especially for hard or uneven surfaces. The spirally arranged eccentric bottom stirring blade 32173 produces a complex fluid disturbance effect through a unique asymmetric motion trajectory, achieving multiple optimizations in the mechanical and fluid dynamics levels: the periodic centrifugal force generated by eccentric rotation makes the eccentric bottom stirring blade 32173 form a wave-like propulsion motion, the spiral structure produces a vertical upward flow in the axial direction and a horizontal shear flow in the radial direction, and the three-dimensional fluid disturbance can deeply penetrate the hardened sludge layer. Through the dual action of mechanical shearing and fluid erosion, the agglomerated sludge is peeled off layer by layer and broken into particles that can be sucked in; the non-uniform velocity distribution of eccentric motion makes the eccentric bottom stirring blade 32173 produce differential stirring intensity at different rotation phases, forming a high-speed vortex area on the near suction port side to strengthen sludge suspension, and 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 to the central negative pressure area during rotation, and the inclined surface design produces a Venturi effect, forming a local low-pressure zone behind the blade body to accelerate the sludge to float upwards; this design has a breakthrough effect on the treatment of viscous sludge, which can improve the stirring efficiency of hardened sludge, and the eccentric bottom stirring blade 32173 is not easy to accumulate dirt due to the self-cleaning characteristics of eccentric motion.

[0066] Through the combination of active negative pressure and mechanical stirring, the suction robot realizes multi-dimensional improvement of suction range, efficiency, energy saving and anti-blocking, especially suitable for complex water areas with many sundries, viscous deposits or long-distance adsorption, such as river channels, ports and sewage treatment ponds; the core creativity is to transform traditional “passive suction” into “active grabbing”, which has made significant progress.

[0067] For example, Figure 23 , Figure 24 , Figure 25 , Figure 26 and Figure 27As shown: exhaust pipe one-way exhaust mechanism 4 includes exhaust pipe 41, inner pipe 42, exhaust end 43, one-way seat 44, limiting pipe 45, limiting core 46 and fixed table 47, exhaust pipe 41 is installed at the top of the robot body 1, the inside of exhaust pipe 41 is inserted with inner pipe 42, inner pipe 42 is distributed in "S" shape, the end of inner pipe 42 away from exhaust pipe 41 is provided with exhaust end 43, exhaust end 43 is provided with one-way seat 44, the outer side of inner pipe 42 is fixedly provided with fixed table 47, the bottom of fixed table 47 is provided with limiting core 46 on both sides, the bottom of limiting core 46 is inserted into the inside of limiting pipe 45, the bottom of limiting pipe 45 is fixedly connected to the top of the robot body 1, the outer side of fixed table 47 is fixedly connected with driving arm 591, driving arm 591 is provided in "L" shape; one-way seat 44 includes clamping seat 441, conical table 442, mounting disc 443, exhaust hole 444, vertical cylinder 445, one-way cylinder 446, sealing port 447 and sealing ball 448, the cross section of clamping seat 441 on one-way seat 44 is provided in "U" shape, clamping seat 441 is screwed at the top of exhaust end 43, conical table 442 is installed at the bottom of clamping seat 441, one-way cylinder 446 is installed at the bottom of conical table 442, sealing port 447 is formed at the bottom of one-way cylinder 446, sealing ball 448 is clamped in the inside of sealing port 447, sealing ball 448 is plastic hollow ball, gravity block 4481 is installed at the inside of sealing ball 448, circular mounting disc 443 is installed on the circumferential inner wall of conical table 442, a plurality of groups of exhaust holes 444 are uniformly formed on mounting disc 443, vertical cylinder 445 is installed at the top of sealing ball 448, vertical cylinder 445 is inserted into the guide port formed in the middle of mounting disc 443, limiting disc 4482 is arranged on the circumferential outer wall of vertical cylinder 445, conical groove 4483 is formed at the inside of vertical cylinder 445.

[0068] As shown in Figure 23 , Figure 24 and Figure 25 : step drive mechanism 5 includes driving disc 50, arc-shaped channel 51, transmission piece 52, transmission core 521, limiting block 53, limiting rail 531, special-shaped seat 54, linkage seat 55, limiting rod 56, support 57, vertical support 58, driving block 59 and driving arm 591, driving arm 591 is fixedly provided with driving block 59 at the bottom, vertical support 58 is fixedly connected with driving block 59 at the outer side, linkage seat 55 is installed at the bottom of vertical support 58, linkage seat 55, vertical support 58 and driving block 59 are provided in "Z" shape, two groups of limiting rods 56 are uniformly inserted into linkage seat 55, limiting rods 56 are fixedly connected with support 57 at the bottom, support 57 is fixedly connected with limiting rail 531 at one end, support 57 is fixedly connected with limiting rail 531 at the other end.

[0069] As shown in Figure 23 , Figure 24 and Figure 25As shown: The limit rail 531 is internally provided with a limit passage matched with the size of the limit block 53, the limit block 53 is slidingly arranged inside the limit passage, the section of the limit block 53 and the limit passage is arranged in dovetail shape, one end of the limit block 53 is fixedly connected with the special-shaped seat 54, the other end of the limit block 53 is fixedly connected with the transmission piece 52, one end of the special-shaped seat 54 away from the limit block 53 is fixedly connected with the linkage seat 55, the bottom of the transmission piece 52 is fixedly provided with a transmission core 521, the size of the transmission core 521 is matched with that of the arc-shaped passage 51, the transmission core 521 is inserted into the arc-shaped passage 51, the arc-shaped passage 51 is arranged on the surface of the driving disc 50, the center of the driving disc 50 is fixedly installed with the rotating shaft 34, the driving disc 50 rotates to drive the fixed table 47 to ascend and descend through the arc-shaped passage 51, the transmission core 521, the transmission piece 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.

[0070] As shown in Figure 6 , Figure 7 , Figure 8 , Figure 9 , Figure 10 , Figure 11 and Figure 12 : The agglomeration negative pressure mechanism 6 includes a transmission column 60, a center stirring mechanism 61, an edge stirring mechanism A 62, an edge stirring mechanism B 63, a grid 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 the two sides of the bottom of the grid cover 64, the universal wheels 66 are installed on the bottom of the support columns 65, the center stirring mechanism 61, the edge stirring mechanism A 62 and the edge stirring mechanism B 63 are movably installed in the grid cover 64, the structures of the center stirring mechanism 61, the edge stirring mechanism A 62 and the edge stirring mechanism B 63 are consistent, and the back plate 642 is fixedly arranged on the back of the grid cover 64; the edge stirring mechanism B 63 includes an inner fixed disc 631, an outer fixed disc 632, a cutting blade 633, a center shaft 634 and a transmission wheel 635, the transmission wheel 635 is installed at the end of the center shaft 634, the inner fixed disc 631 is fixedly arranged on one side of the center shaft 634, the outer fixed disc 632 is fixedly arranged on the other side of the center shaft 634, the outer fixed disc 632 and the inner fixed disc 631 are circularly arranged, five groups of cutting blades 633 are uniformly arranged between the outer fixed disc 632 and the inner fixed disc 631, the cutting blades 633 are spirally arranged, the five groups of cutting blades 633 are centrally symmetric about the central axis of the center shaft 634, two groups of holes 6331 are arranged on the cutting blades 633, the cutting blades 633 are provided with cutting edges 6332 at the ends, and the five groups of cutting blades 633 are fixed by three groups of reinforcing pieces 6333, which are circularly arranged.

[0071] Working principle: when actually used, the robot body 1 is placed in the position where drainage is needed. The walking wheel of the robot body 1 adopts the form of a steel ring wheel. Specifically, a plurality of groups of friction seats 21 are uniformly arranged on the outer side of the annular walking disc 20. The friction seat 21 is arranged in the form of "W". In the position where a large amount of sludge deposits, the robot body 1 can move without slipping. In the scene where a large amount of sludge deposits, such as the urban waterlogging area and the sewer sediment accumulation section, the traditional circular smooth wheel is easy to slip due to the adhesion of sludge. When the "W"-shaped friction seat 21 cuts into the sludge, the two side bevels form a sharp end 212 and an arc-shaped slot 213, which has a wedge-like extrusion effect, extrudes the soft sludge to both sides, and the bottom sharp end of the friction seat 21 directly contacts the hard foundation, such as the cement pavement, reducing the sliding effect of the floating sludge layer. The problem of slipping of the drainage robot in the high-sludge environment is effectively solved. The combined mechanism of wedging and extrusion significantly improves the moving stability and environmental adaptability of the robot body 1. When the walking disc 20 is installed on the robot transmission shaft 29, the first step is to insert the butt joint seat 28 into the inside of the butt joint hole 25, so that the five groups of studs 27 can be quickly connected with the five groups of screw holes, and the five groups of studs 27 pass through the five groups of screw holes on the butt joint disc 24 and are fixed by nuts, realizing the quick positioning and installation of the walking disc 20 and the robot transmission shaft 29. When the robot body 1 moves to the waterlogging position for drainage, the impeller pump 70 starts to work. The negative pressure formed in the impeller pump 70 can suck the sludge in the waterlogging position for drainage. At the same time, in order to avoid the blockage of the pipeline caused by a large amount of sludge, the central stirring mechanism 61, the edge stirring mechanism A 62 and the edge stirring mechanism B 63 are synchronously driven to rotate by the transmission wheel 635, the transmission chain and the transmission column 60. The water and sludge in the three stirring mechanisms are impacted on the central stirring mechanism 61, the edge stirring mechanism A 62 and the edge stirring mechanism B 63 under the negative pressure adsorption of the impeller pump 70, and are crushed by the central stirring mechanism 61, the edge stirring mechanism A 62 and the edge stirring mechanism B 63. The motor of the impeller pump 70 drives the sludge suction and stirring system through single-shaft branch transmission, which saves the independent driving motor and reduces energy consumption compared with the double-motor scheme. The synchronous working of the central stirring mechanism 61, the edge stirring mechanism A 62 and the edge stirring mechanism B 63: for the sludge or sundries, under the action of the five groups of cutting blades 633 and the cutting edges 6332 thereon, the sludge is impacted at high frequency, and the large sludge is cut into small pieces, avoiding the blockage of the pipeline of the swinging drainage mechanism 7. The synchronous rotation of the central stirring mechanism 61, the edge stirring mechanism A 62 and the edge stirring mechanism B 63 can effectively crush the sludge into small particles, preventing the large sludge from entering the pipeline and causing blockage, and ensuring the continuity and stability of the drainage process.The coordinated work of the three sets of stirring mechanisms expands the scope of sludge treatment and improves the crushing efficiency. Meanwhile, the negative pressure adsorption generated by the impeller pump 70 and the crushing function of the stirring mechanisms are combined 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, making it suitable for different waterlogging scenarios and having strong practicality and operability. Through three-stage crushing and synchronous driving, a full-process anti-blocking system is established from large foreign matter interception to fine particle dispersion, which not only solves the problem of easy blockage and high energy consumption of traditional drainage equipment but also realizes the dual improvement of efficiency and service life through sludge-water pre-separation and fluid optimization, especially suitable for complex scenarios such as urban waterlogging and industrial sludge ponds. The working modes of the central stirring mechanism 61, the edge stirring mechanism A 62, and the edge stirring mechanism B 63 are consistent, and only the working mode of the edge stirring mechanism B 63 will be described. Specifically, when the central shaft 634 rotates, the five sets of cutting blades 633 on it rotate at high speed. The five sets of cutting blades 633 are arranged in a spiral shape and can crush the sludge that tends to the impeller pump 70. The five sets of spiral cutting blades 633 on the central shaft 634 can form an efficient cutting and crushing effect when rotating at high speed, and the spiral design enhances the rolling and tearing effect of the sludge, making large sludge quickly broken down into fine particles to prevent clogging the impeller pump 70. This structure not only improves the crushing efficiency but also reduces the resistance of the sludge during transportation, ensuring smoother operation of the drainage system. At the same time, the high-speed rotating cutting blades 633 can generate strong centrifugal force, further promoting the dispersion and flow of the sludge, avoiding the accumulation of sludge affecting the sludge suction efficiency of the impeller pump 70. The spiral layout also optimizes the fluid dynamics characteristics, reduces energy consumption, and improves the stability and durability of the overall system, enabling it to work efficiently in complex sludge environments. The outside of the grid cover 64 is uniformly provided with multiple groups of openings 641, which can block garbage such as branches. Meanwhile, two groups of support columns 65 are installed on the bottom of the grid cover 64, and universal wheels 66 are installed at the bottom of the support columns 65 to support the agglomeration negative pressure mechanism 6 and ensure its stability during swinging and sludge suction. At the same time, when the agglomeration negative pressure mechanism 6 is sucking at the waterlogging position, it can perform horizontal reciprocating swinging work under the action of the swinging drainage mechanism 7, which can improve the stirring area of the three sets 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, it can significantly improve the stirring range of the three sets of stirring mechanisms on the water body, thereby enhancing the suction efficiency.The dynamic swing design not only expands the operation coverage area, but also avoids local accumulation or suction blind area, ensuring that the water body and impurities are uniformly mixed and quickly sucked in; at the same time, the swing action can disturb the bottom sediments, prevent hardening, improve the overall drainage effect, especially suitable for water accumulation cleaning in complex terrain or narrow area, with flexibility and high efficiency; when the impeller pump 70 is sucking sewage in the waterlogging position, at this time, the focusing pieces 32 and the shielding pieces 33 on both sides of the pollution focusing 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 a spread shape, so that the three groups of stirring mechanisms on the agglomeration negative pressure mechanism 6 are sucked under the action of the impeller pump 70, the two groups of focusing pieces 32 arranged in a spread shape form a horn-shaped flow guide structure, which can gather the surrounding dispersed sewage to the center area of the agglomeration negative pressure mechanism 6, expand the suction range, improve the aggregation efficiency of the sewage to the stirring mechanism, and avoid the suction dead angle; the shielding pieces 33 cover both sides of the agglomeration negative pressure mechanism 6, reduce the 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 the impurity blocks in the sewage, form more uniform fluid, and improve the suction efficiency and suction utilization rate of the impeller pump 70; the three groups of stirring mechanisms can more fully stir and mix in the focused sewage flow, break larger impurities into smaller particles, reduce the risk of impeller pump 70 blockage, and make the sewage contact the negative pressure area more fully, thereby enhancing the suction and transportation capacity of high-concentration sewage or solid waste-containing sewage; the agglomeration of sewage reduces the water flow dispersion problem caused by ground unevenness, especially suitable for waterlogging scenes with uneven ground or obstacles, thereby improving the adaptability and pollution discharge reliability of the whole system in complex environments; the driving work of the passive disc 31 and the focusing piece 32 on the agglomeration negative pressure mechanism 6 is driven by the motor installed on the inner wall of the robot body 1, and when the passive disc 31 and the focusing piece 32 move, the inner connecting pipe 42 on the one-way exhaust pipe exhaust mechanism 4 can be driven to move upward through the stepping transmission mechanism 5, so that the height of the exhaust end 43 is increased, the risk of water entering the exhaust end 43 is reduced, the height of the exhaust end 43 is increased through mechanical linkage, the risk of backflow into the exhaust system due to rising water level is avoided, the internal air pressure of the negative pressure mechanism is stable, the suction capacity is maintained, the exhaust end 43 is lifted synchronously with the movement of the focusing piece 32 and other components during the suction process, without the need for additional control system to adapt to waterlogging level fluctuation, thereby enhancing the environmental adaptability and operation stability of the equipment in complex working conditions; the action linkage is realized through the stepping transmission mechanism 5, without the need for independent driving of the exhaust end 43 lifting, the number of motors and the complexity of the control system are reduced, the overall structure is more compact, and the integration and reliability of the equipment are improved;The specific working mode of the step-by-step transmission mechanism 5 is that when the passive disc 31 rotates, it can drive the driving disc 50 fixed thereon to rotate, the driving disc 50 drives the arc-shaped channel 51 thereon to move, the arc-shaped channel 51 is internally provided with a transmission core 521, the transmission core 521 is driven by the arc-shaped channel 51 to drive the limiting block 53 to move upward through the transmission piece 52, when the limiting block 53 moves, it is slidably arranged in the limiting track 531, and the limiting block 53 is limited and guided during lifting, so that the limiting block 53 and the transmission piece 52 will not tilt during lifting, at the same time, the special-shaped seat 54 drives the exhaust end 43 to move upward through the linkage seat 55, the vertical frame 58, the driving block 59, the driving arm 591 and the fixed table 47, and the purpose of increasing the exhaust height of the exhaust end 43 is achieved; when the fixed table 47 lifts, the limiting core 46 is inserted into the limiting pipe 45 at the bottom, and can limit and guide the inner joint pipe 42 during movement, and at the same time, the inner joint pipe 42 is inserted into the inner wall of the exhaust pipe 41 at the bottom through a sealing structure, and the sealing structure includes but is not limited to a sealing gasket and a sealing filler; the inner joint pipe 42 is arranged in an "S" shape and in a spiral shape, a small amount of gas or liquid is naturally stored at the bending part of the "S" shaped inner joint pipe 42, and a blocking effect similar to a "U-shaped water seal" is formed; when the robot works 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 bending part can prevent sewage from flowing into the robot due to water pressure, which is equivalent to a passive anti-inversion barrier, and waterproof sealing can be achieved without additional power; the structure of the spiral inner joint pipe 42 makes it necessary for sewage to pass through a longer path and change direction multiple times if it wants to flow into the body; during this process, the kinetic energy of the sewage will gradually decrease due to friction and gravity, and it is easy to form retention at the bending part, which greatly reduces the possibility of inversion; even if a small amount of sewage enters the inner joint pipe 42, it is difficult to quickly reach the core components due to the complex path; the final exhaust end 43 of the "S" shaped inner joint pipe 42 is located at a high position at the top of the robot, and in a deep water environment, the outlet height is much higher than the water surface, the height difference is used to reduce the direct effect of external water pressure on the exhaust port, and the risk of water flowing into the exhaust port is reduced; the one-way seat 44 is installed on the exhaust end 43 at the top of the inner joint pipe 42, when the diesel engine inside the robot body 1 exhausts, the gas moves upward in the exhaust end 43 and impacts the sealing ball 448, overcomes the gravity of the gravity block 4481, so that the sealing ball 448 is separated from the inside of the sealing port 447, and is discharged from the exhaust hole 444, when the force acting on the sealing ball 448 disappears or is less than the gravity of the gravity block 4481, the sealing ball 448 moves downward to block the exhaust hole 444, and the purpose of waterproofing the exhaust end 43 is achieved, and through the arrangement of the one-way seat 44, the exhaust pipe 41 of the robot body 1 can be used for one-way exhaust work.

[0072] Embodiment 2

[0073] On the basis of embodiment 1, as shown in Figure 13 、 Figure 14 、 Figure 15 、 Figure 16 and Figure 17 , a swing type drainage mechanism 7 is further included, the swing type drainage mechanism 7 includes an impeller pump 70, a guide space 700, a rubber sleeve A 701, a drain pipe 71, a hose A 72, a hose B 73, an elbow pipe 74, a limiting seat 75, a limiting column 751, a clamp 76, a first transmission arm 77 and a lever seat 78, a rotating shaft of an impeller in the impeller pump 70 passes through the rubber sleeve A 701 and is fixed with a pump motor output shaft, a second transmission arm 781 is arranged at an end of the pump motor output shaft, the rubber sleeve A 701 covers an outer side of the guide space 700 arranged on the robot body 1, an interference hole 782 is arranged in a middle part of the second transmission arm 781, an eccentric disc 783 is inserted into the interference hole 782, an interference column 784 is arranged on a top of the eccentric disc 783, a speed reducer 785 is arranged on an upper side of the interference column 784, the speed reducer 785 is installed in an inner part of the robot body 1 through a rack 7851, an output shaft of the speed reducer 785 is fixed with a rotating shaft of the interference column 784, the lever seat 78 is arranged at an end of the second transmission arm 781, the lever seat 78 is movably installed on the support 79 through a pin shaft, the support 79 is installed on a bottom plate of the robot body 1.

[0074] As shown in Figure 13 、 Figure 14 、 Figure 15 、 Figure 16 and Figure 17 : the first transmission arm 77 is installed at an end of the lever seat 78, the first transmission arm 77 passes through a rectangular opening 772 arranged on the robot body 1 and is connected with the elbow pipe 74 through the clamp 76, the outer side of the rectangular opening 772 is wrapped with a rubber sleeve B 771, the rubber sleeve B 771 wraps the outer side of the first transmission arm 77, the limiting seat 75 is installed on a circumferential outer wall of the elbow pipe 74, the limiting column 751 arranged in an arc shape is arranged in an inner part of the limiting seat 75, the limiting column 751 is installed on a side wall of the robot body 1, the center of the limiting column 751 coincides with the center of the support 79, the hose B 73 is installed on a top of the elbow pipe 74, the hose A 72 is installed on an end of the hose B 73 away from the elbow pipe 74 through a flange, the drain pipe 71 is installed on an end of the hose A 72 away from the hose B 73, the drain pipe 71 is arranged on a top of the impeller pump 70.

[0075] The swing type drainage mechanism 7 specifically drives the agglomeration negative pressure mechanism 6 to swing in the following manner: a remote start switch of the speed reducer 785 is started, at which time the output shaft of the speed reducer 785 drives the eccentric disc 783 to rotate, the eccentric disc 783 drives the interference column 784 at the bottom thereof to deflect, the interference column 784 is slidingly arranged inside the interference hole 782, and the second transmission arm 781 can be reciprocatingly rotated with the support 79 as the center, at which time the power transmission end of the impeller pump 70 tail is slidingly arranged inside the guide space 700, the guide space 700 can be sealed by the rubber sleeve A 701, so as to avoid water from entering the inside of the robot body 1 when the robot body 1 is working in deep water; at the same time, the second transmission arm 781 swings, at which time the first transmission arm 77 can also swing, the first transmission arm 77 drives the elbow pipe 74 to reciprocatingly swing, the elbow pipe 74 is communicated with the drain pipe 71 through the hose A 72 and the hose B 73, the sewage in the drain pipe 71 is sequentially discharged through the hose A 72, the hose B 73 and the elbow pipe 74, and the long drain hose can be connected to the end of the elbow pipe 74 to remotely transport water, the long drain hose is not shown in the figure, and the long drain hose and the elbow pipe 74, the hose A 72 and the hose B 73 can reciprocatingly swing when discharging sewage, the reciprocating swing can make the sewage in the long drain hose and the elbow pipe 74, the hose A 72 and the hose B 73 form a dynamic flow state, the inertia and water flow fluctuation generated by the swing are utilized to reduce the sewage retention in the long drain hose and the elbow pipe 74, the hose A 72 and the hose B 73, avoid impurities deposition and blockage, increase the contact area between the sewage and the pipe wall, and improve the sewage discharge efficiency; the swing can change the sewage inlet direction and coverage range, the flexible connection of the hose and the elbow pipe with the swing action can buffer the pressure impact in the sewage discharge process, reduce the stress concentration problem caused by rigid connection, reduce the damage risk of the long drain hose and the elbow pipe 74, the hose A 72 and the hose B 73, and prolong the service life of the system; the swing can reduce the water flow resistance that may be generated by the static laying of the long drain hose and the elbow pipe 74, the hose A 72 and the hose B 73 in long distance transmission, so that the sewage keeps flowing in the long drain hose, avoids the flow rate reduction or deposition problem caused by too long distance, and ensures the stability of the long distance sewage discharge; the elbow pipe 74 can support the hose A 72 and the hose B 73, when the elbow pipe 74 swings, the limiting column 751 is inserted into the limiting seat 75, the limiting column 751 is arranged in an arc shape, the elbow pipe 74 can move along the limiting column 751, and the stability of the elbow pipe 74 during movement is ensured.

[0076] The embodiments of the present application are described in detail above with reference to the drawings, but the present application is not limited to the above-described embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the purpose of the present application.

Claims

1. A water-logged drainage robot for preventing water from entering an exhaust pipe, the water-logged drainage robot comprising The organic robot body (1) is provided with anti-skid wheels (2) on both sides, a one-way exhaust mechanism (4) on the top, a swing type drainage mechanism (7) on the front, a cluster negative pressure mechanism (6) on the end of the swing type drainage mechanism (7), a focused dirt mechanism (3) on the outer side of the cluster negative pressure mechanism (6), a step drive mechanism (5) on the side wall of the robot body (1), a transmission column (60) on the cluster negative pressure mechanism (6), a impeller pump (70) on the end of the transmission column (60), a rotating shaft on the impeller pump (70) is fixed with the transmission column (60), a central stirring mechanism (61), an edge stirring mechanism A (62) and an edge stirring mechanism B (63) are respectively installed on the cluster negative pressure mechanism (6), the outer side of the central stirring mechanism (61), the edge stirring mechanism A (62) and the edge stirring mechanism B (63) is wrapped with a grille cover (64), a plurality of groups of openings (641) are uniformly arranged on the grille cover (64), and the central stirring mechanism (61), the edge stirring mechanism A (62) and the edge stirring mechanism B (63) are synchronously driven to rotate through the transmission wheel (635), the transmission chain and the transmission column (60).

2. A waterlogging relief robot for preventing water from entering an exhaust pipe according to claim 1, characterized in that, The anti-skid wheel (2) comprises a walking disc (20), a friction seat (21), a connecting column (22), a reinforcing ring (23), a butt joint disc (24), a butt joint hole (25), a transmission disc (26), a stud (27), a butt joint seat (28) and a robot transmission shaft (29), the robot transmission shaft (29) is fixed with the diesel engine output shaft inside the drainage robot, the end of the robot transmission shaft (29) is fixedly provided with the transmission disc (26), five groups of stud (27) are uniformly arranged on the surface of the transmission disc (26), the middle of the surface of the transmission disc (26) is provided with the butt joint seat (28), the butt joint disc (24) is circular, the butt joint hole (25) is arranged in the middle of the butt joint disc (24), and five groups of threaded holes are uniformly arranged on the surface of the butt joint disc (24).

3. A waterlogging relief robot for preventing water from entering an exhaust pipe according to claim 2, characterized in that, Five groups of studs (27) pass through five groups of threaded holes on the butt joint disc (24) and are fixed by nuts, the size of the butt joint hole (25) and the butt joint seat (28) are matched, the butt joint seat (28) is inserted into the butt joint hole (25), the cross section of the butt joint hole (25) and the butt joint seat (28) are triangular, the length of the butt joint seat (28) is greater than the length of the stud (27); The circumferential outer wall of the butt joint disc (24) is uniformly provided with five groups of connecting columns (22), the outer side of the five groups of connecting columns (22) is fixedly provided with a reinforcing ring (23), the reinforcing ring (23) is circular, the ends of the five groups of connecting columns (22) are fixedly connected to the circumferential inner wall of the ring-shaped walking disc (20); The circumferential outer wall of the walking disc (20) is uniformly provided with a plurality of friction seats (21), the distance between the adjacent two groups of friction seats (21) is consistent, the friction seat (21) comprises a clamping seat (211), a sharp end (212) and an arc slot (213), the friction seat (21) is fixedly provided with the clamping seat (211) at the bottom, the clamping seat (211) is clamped on the outer side of the walking disc (20), the friction seat (21) is fixedly provided with the sharp end (212) at the top, the sharp end (212) is in the shape of "W", and the arc slot (213) is formed in the surface of the sharp end (212).

4. The waterlogging relief robot according to claim 1, wherein, The focusing and dirt-removing mechanism (3) comprises a passive disc (31), a focusing piece (32), a shielding piece (33), a rotating shaft (34), a guide channel (35) and a guide column (36), the passive disc (31) is arranged in a fan shape, the rotating shaft (34) is fixedly connected to the passive disc (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), the guide channel (35) is arranged on the passive disc (31) and is arranged in an arc shape, the center of the guide channel (35) coincides with the center of the rotating shaft (34), the guide column (36) is arranged in the guide channel (35), the end of the guide column (36) is fixedly connected to the outer wall of the robot body (1), the focusing piece (32) is fixedly connected to the end of the passive disc (31), the bottom of the focusing piece (32) is provided with the shielding piece (33), the focusing piece (32) is arranged in two groups and is installed on the two sides of the agglomeration negative pressure mechanism (6), the two groups of focusing pieces (32) are arranged in an eight-character shape, the two groups of focusing pieces (32) are connected through the U-shaped grid plate (320), and the focusing and dirt-removing mechanism (3) drives the one-way exhaust mechanism (4) of the exhaust pipe to ascend and descend through the stepping transmission mechanism (5).The front of the grid plate (320) is provided with an adsorption and stirring mechanism (321), which comprises a bearing seat A (3211), a central shaft (3212), a negative pressure wheel (3213), a fixed rail (3214), an arc-shaped knife (3215), a negative pressure groove (3216), a worm wheel (3217), a rotating disc (32171), a bearing seat B (32172), an eccentric bottom dirt stirring piece (32173), a worm (3218) and a bearing seat C (3219). The bearing seat A (3211), the bearing seat B (32172) and the bearing seat C (3219) are respectively arranged on the grid plate (320). The central shaft (3212) is movably arranged on the bearing seat A (3211). The rotating shaft of the worm wheel (3217) is movably arranged on the bearing seat B (32172). The worm (3218) is movably arranged on the bearing seat C (3219). The central shaft (3212) is provided with the negative pressure wheel (3213) at the bottom. The negative pressure wheel (3213) is uniformly provided with four groups of negative pressure grooves (3216) on the circumferential outer wall. The cross section of the negative pressure groove (3216) is fan-shaped. The negative pressure wheel (3213) is uniformly provided with four groups of fixed rails (3214). The arc-shaped knife (3215) is screw-connectedly arranged in the fixed rail (3214). The bottom of the negative pressure wheel (3213) is provided with the worm wheel (3217). One end of the rotating shaft of the worm wheel (3217) is fixedly connected with the negative pressure wheel (3213). The other end of the rotating shaft of the worm wheel (3217) is fixedly connected with the rotating disc (32171). The bottom of the rotating disc (32171) is fixedly provided with the eccentric bottom dirt stirring piece (32173). The eccentric bottom dirt stirring piece (32173) is a spiral structure made of metal. The worm wheel (3217) and the worm (3218) are matched in size. The worm wheel (3217) is meshed and connected with the worm (3218). The worm (3218) is fixedly provided with the central shaft (634) at the end. Three groups of central shafts (634) drive three groups of adsorption and stirring mechanisms (321).

5. A waterlogging relief robot for preventing water from entering an exhaust pipe according to claim 4, wherein The exhaust pipe one-way exhaust mechanism (4) comprises an exhaust pipe (41), an inner connecting pipe (42), an exhaust end (43), a one-way seat (44), a limiting pipe (45), a limiting core (46) and a fixing table (47), the exhaust pipe (41) is installed on the top of the robot body (1), the inner part of the exhaust pipe (41) is inserted with the inner connecting pipe (42), the inner connecting pipe (42) is distributed in an "S" shape, the end of the inner connecting pipe (42) away from the exhaust pipe (41) is provided with the exhaust end (43), the exhaust end (43) is provided with the one-way seat (44), the outer side of the inner connecting pipe (42) is fixedly provided with the fixing table (47), the bottom of the fixing table (47) is provided with the limiting core (46) on both sides, the bottom of the limiting core (46) is inserted into the inner part 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 table (47) is fixedly connected with a driving arm (591), and the driving arm (591) is provided in an "L" shape; the one-way seat (44) comprises a clamping seat (441), a conical table (442), a mounting disc (443), an exhaust hole (444), a vertical cylinder (445), a one-way cylinder (446), a sealing opening (447) and a sealing ball (448), the clamping seat (441) on the one-way seat (44) is provided in a "U" shape, the clamping seat (441) is screwed on the top of the exhaust end (43), the clamping seat (441) is provided with the conical table (442) at the bottom, the conical table (442) is provided with the one-way cylinder (446) at the bottom, the one-way cylinder (446) is provided with the sealing opening (447) at the bottom, the sealing opening (447) is clamped with the sealing ball (448) in the inner part, the sealing ball (448) is a plastic hollow ball, the sealing ball (448) is provided with a gravity block (4481) at the inner lower side, the conical table (442) is provided with the circular mounting disc (443) on the circumferential inner wall, a plurality of groups of exhaust holes (444) are uniformly formed on the mounting disc (443), the sealing ball (448) is provided with the vertical cylinder (445) at the top, the vertical cylinder (445) is inserted into the guide opening formed in the middle of the mounting disc (443), the vertical cylinder (445) is provided with an annular limiting disc (4482) on the circumferential outer wall, and a conical groove (4483) is formed in the inner part of the vertical cylinder (445).

6. A waterlogging relief robot for preventing water from entering an exhaust pipe according to claim 4, wherein The step transmission mechanism (5) comprises a driving disc (50), an arc-shaped channel (51), a transmission piece (52), a transmission core (521), a limiting block (53), a limiting rail (531), a special-shaped seat (54), a linkage seat (55), a limiting rod (56), a support (57), a vertical support (58), a driving block (59) and a driving arm (591), the bottom of the driving arm (591) is fixedly provided with the driving block (59), the outer side of the driving block (59) is fixedly connected with the vertical support (58), the bottom of the vertical support (58) is provided with the linkage seat (55), the linkage seat (55), the vertical support (58) and the driving block (59) are arranged in a "Z" shape, two groups of limiting rods (56) are evenly inserted into the linkage seat (55), the bottom of the limiting rod (56) is fixedly connected with the support (57), one end of the support (57) is fixedly connected with the side wall of the robot body (1), and the other end of the support (57) is fixedly connected with the limiting rail (531).

7. A waterlogging relief robot for preventing water from entering an exhaust pipe according to claim 6, wherein The limiting rail (531) is internally provided with a limiting channel matched with the size of the limiting block (53), the limiting block (53) is slidingly arranged in the limiting channel, the limiting block (53) and the limiting channel are dovetail-shaped, one end of the limiting block (53) is fixedly connected with the special-shaped seat (54), the other end of the limiting block (53) is fixedly connected with the transmission piece (52), the special-shaped seat (54) is fixedly connected with the linkage seat (55) away from the limiting block (53), the bottom of the transmission piece (52) is fixedly provided with the transmission core (521), the transmission core (521) is matched with the size of the arc-shaped channel (51), the transmission core (521) is inserted into the arc-shaped channel (51), the arc-shaped channel (51) is arranged on the surface of the driving disc (50), the center of the driving disc (50) is fixedly provided with a rotating shaft (34), and the driving disc (50) rotates to drive the fixed table (47) to ascend and descend through the arc-shaped channel (51), the transmission core (521), the transmission piece (52), the limiting block (53), the special-shaped seat (54), the linkage seat (55), the vertical support (58), the driving block (59) and the driving arm (591).

8. The waterlogging relief robot according to claim 1, wherein, The agglomeration negative pressure mechanism (6) comprises a transmission column (60), a center stirring mechanism (61), an edge stirring mechanism A (62), an edge stirring mechanism B (63), a grid 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 the bottom of the two sides of the grid cover (64), the universal wheel (66) is installed at the bottom of the support column (65), the center stirring mechanism (61), the edge stirring mechanism A (62) and the edge stirring mechanism B (63) are movably installed in the inner part of the grid cover (64), the structures of the center stirring mechanism (61), the edge stirring mechanism A (62) and the edge stirring mechanism B (63) are consistent, and the back plate (642) is fixedly arranged on the back of the grid cover (64); the edge stirring mechanism B (63) comprises an inner fixed disc (631), an outer fixed disc (632), a cutting blade (633), a center shaft (634) and a transmission wheel (635), the transmission wheel (635) is installed at the end of the center shaft (634), the inner fixed disc (631) is fixedly arranged on one side of the center shaft (634), the outer fixed disc (632) is fixedly arranged on the other side of the center shaft (634), the outer fixed disc (632) and the inner fixed disc (631) are circularly arranged, five groups of cutting blades (633) are uniformly arranged between the outer fixed disc (632) and the inner fixed disc (631), the cutting blades (633) are spirally arranged, the five groups of cutting blades (633) are centrally symmetric structures about the central axis of the center shaft (634), two groups of holes (6331) are formed in the cutting blades (633), the five groups of cutting blades (633) are provided with blade edges (6332) at the ends, and the five groups of cutting blades (633) are fixed through three groups of reinforcing pieces (6333), and the reinforcing pieces (6333) are circularly arranged.

9. The waterlogging relief robot according to claim 1, wherein, Also include the swing type drainage mechanism (7), the swing type drainage mechanism (7) includes impeller pump (70), guide space (700), rubber sleeve A (701), drain pipe (71), hose A (72), hose B (73), elbow pipe (74), limit seat (75), limit column (751), clamp (76), first transmission arm (77) and lever seat (78), the rotation axis of the impeller in the impeller pump (70) is away from the side of the agglomeration negative pressure mechanism (6) and is fixed with the pump motor output shaft through the rubber sleeve A (701), the pump motor output shaft end is provided with the second transmission arm (781), the rubber sleeve A (701) covers the guide space (700) outside on the robot body (1), the second transmission arm (781) is provided with the interference hole (782) in the middle, the interference hole (782) is inserted with the eccentric disc (783), the eccentric disc (783) top is installed with the interference column (784), the upper side of the interference column (784) is provided with the speed reducer (785), the speed reducer (785) is installed in the inside of the robot body (1) through the rack (7851), the output shaft of the speed reducer (785) is fixed with the rotation axis of the interference column (784), the second transmission arm (781) end is provided with the lever seat (78), the lever seat (78) is movably installed on the support (79) through the pin shaft, the support (79) bottom is installed on the robot body (1) bottom plate.

10. The waterlogging relief robot according to claim 1, wherein, The lever seat (78) end is installed with the first transmission arm (77), the first transmission arm (77) passes through the rectangular opening (772) opened on the robot body (1) and is connected with the elbow pipe (74) through the clamp (76), the outside of the rectangular opening (772) is wrapped with the rubber sleeve B (771), the rubber sleeve B (771) is wrapped outside the first transmission arm (77), the circumferential outer wall of the elbow pipe (74) is installed with the limit seat (75), the limit seat (75) is internally provided with the limit column (751) arranged in an arc shape, the limit column (751) is installed on the sidewall of the robot body (1), the center of the limit column (751) coincides with the center of the support (79), the elbow pipe (74) top is installed with the hose B (73), one end of the hose B (73) away from the elbow pipe (74) is installed with the hose A (72) through the flange, one end of the hose A (72) away from the hose B (73) is installed with the drain pipe (71), the drain pipe (71) is arranged on the top of the impeller pump (70).

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