Box culvert desilting device based on underwater robot form and use method of box culvert desilting device

Abstract

The invention relates to the technical field of box culvert desilting, in particular to a box culvert desilting device based on an underwater robot form and a using method of the box culvert desilting device based on the underwater robot form, the box culvert desilting device based on the underwater robot form comprises a moving frame, a separation box is arranged on the moving frame, and a suction pump is arranged on the separation box. The silt suction assembly is driven by the moving assembly to walk in the box culvert, silt sucked out by the silt suction assembly is introduced into the separation box through the suction pump to be separated, an efficient suction-conveying-separation closed loop is formed, power output of the suction pump is stable, the silt can be continuously conveyed to the separation box, the situation that the silt is blocked or interrupted in the conveying process is avoided, and the conveying efficiency of the silt is improved. According to the box culvert and buried culvert dredging device, remote and non-contact type pumping of sludge is achieved, too much space is not occupied during operation in a box culvert, mutual interference between components is avoided, and the core problems that traditional box culvert and buried culvert dredging is limited in space, low in efficiency and huge in potential safety hazard, and operation is affected by closure are systematically solved.

Description

Technical Field

[0001] This invention relates to the field of box culvert dredging technology, and in particular to a box culvert dredging device based on an underwater robot and its usage method. Background Technology

[0002] In the field of water conservancy engineering, box culverts and underground culverts serve as important water passages, playing a crucial role in guiding water flow and regulating water volume. However, over time, these box culverts and underground culverts generally face the serious problem of siltation. Due to the extremely limited internal space of box culverts and underground culverts, traditional manual dredging methods have encountered many insurmountable obstacles.

[0003] On the one hand, manual dredging is extremely difficult. The confined space restricts the workers' range of movement, making it difficult to effectively use dredging tools and resulting in extremely low dredging efficiency. On the other hand, manual dredging poses significant safety hazards. The environment inside box culverts and underground culverts is complex, potentially containing toxic and harmful gases, oxygen-deficient environments, and unstable structures, all of which seriously threaten the lives of dredging workers. To ensure the normal flow capacity of water conservancy projects, the commonly used strategies currently include manual dredging after damming and the use of dredging garbage trucks. However, manual dredging after damming not only requires a significant amount of time and manpower to complete the damming work, but also severely impacts the normal operation of water conservancy projects during the damming period, affecting water use upstream and downstream. Furthermore, the manual dredging process remains difficult and unsafe. While using dredging garbage trucks reduces the workload to some extent, these trucks are limited by the space inside box culverts and underground culverts, making it difficult to penetrate deeply and conduct comprehensive and efficient dredging operations, often resulting in unsatisfactory dredging results.

[0004] Against this backdrop, it is urgent to develop a dredging device that can adapt to the complex environment of underwater culverts, achieve precise positioning, rapid dredging, and be safe and reliable. Summary of the Invention

[0005] The purpose of this invention is to address the problem that the internal space of box culverts and underground culverts is extremely limited, and traditional manual dredging methods encounter many insurmountable obstacles. This invention provides a box culvert dredging device based on an underwater robot that can systematically solve the core problems faced by traditional box culvert and underground culvert dredging, such as space limitations, low efficiency, huge safety hazards, and the impact of damming on operation.

[0006] To achieve the above objectives, the present invention provides a culvert dredging device based on an underwater robot, comprising a mobile frame, a separation box mounted on the mobile frame, a suction pump mounted on the separation box, the suction pump being connected to one end of a mobile component via a connecting pipe, the other end of the mobile component being connected to a sludge suction component, and the separation box being connected to a storage box below via a sludge conveying component; wherein, the mobile component is used to drive the sludge suction component to move within the culvert, and the suction pump is used to guide the sludge sucked out by the sludge suction component into the separation box for separation.

[0007] As a further description of the above technical solution: a support frame is provided inside the separation box, a filter screen is provided on the support frame, an agitator is provided on the filter screen, a cleaning component is provided below the filter screen, a drainage component is provided inside the support frame, a sludge guide hopper is provided on one side of the support frame, the sludge guide hopper is connected to the sludge conveying component, a connecting pipe is connected to the bottom of the moving component, and the connecting pipe is connected to the connecting pipe.

[0008] As a further description of the above technical solution: the movable component includes a mounting frame, inside which a first lead screw and a second lead screw are provided. The ends of the first lead screw and the second lead screw are both connected to a drive motor. Adjustment plates are provided on the first lead screw and the second lead screw. Multiple movable brackets are provided on the adjustment plates. The ends of the movable brackets are provided with wheels.

[0009] As a further description of the above technical solution: each of the movable supports is hinged to the mounting frame via a support rod, and the walking wheels are connected to the walking motor via transmission wheels.

[0010] As a further description of the above technical solution: the suction component includes a protective frame, one end of which is connected to a movable component, and the other end of which is connected to a mounting plate. A dredging component is rotatably connected to one side of the mounting plate, and a suction pipe is installed on the mounting plate. A crushing component is provided inside the suction pipe, and a sludge outlet is opened at the bottom of the suction pipe. The sludge outlet is connected to a connecting pipe through a conduit.

[0011] As a further description of the above technical solution: the sludge conveying component includes a conveying pipe, and a conveying auger is provided inside the conveying pipe. One end of the conveying auger is connected to a conveying motor, and the discharge end of the conveying pipe is connected to a storage tank.

[0012] As a further description of the above technical solution: the drainage component includes a drainage pump, and a drainage pipe is provided at one end of the drainage pump.

[0013] As a further description of the above technical solution: the unblocking component includes a drive cylinder and a mounting plate. Multiple arc-shaped unblocking blades are connected at equal intervals between the drive cylinder and the mounting plate. Each unblocking blade is provided with multiple unblocking blocks. The drive cylinder is connected to an unblocking motor through a drive shaft. The unblocking motor is mounted on the mounting plate.

[0014] As a further description of the above technical solution: the crushing component includes a crushing shaft, on which multiple crushing blades are provided, one end of the crushing shaft is connected to a crushing motor, and the crushing motor is mounted on the suction pipe.

[0015] A method for using a culvert dredging device based on an underwater robot: S1, the device is moved to the target dredging area by controlling the walking motor of the moving component to drive the walking wheels; S2, the dredging motor is started to drive the arc-shaped dredging blade to rotate, breaking up the plated silt layer, and the suction pump is turned on, and the silt mixture enters the separation box sequentially through the suction pipe; S3, the silt mixture undergoes solid-liquid separation on the filter screen, and the clean water passes through the filter screen to enter the lower layer; S4, the dewatered silt is pushed to the storage box through the conveying pipe by the conveying motor to drive the conveying auger.

[0016] The above technical solution has the following advantages or beneficial effects:

[0017] This invention uses a moving component to drive a sludge suction component within a box culvert. A suction pump then draws the sludge from the suction component into a separation box for separation, forming a highly efficient "suction-delivery-separation" closed loop. The suction pump provides stable power output, continuously delivering sludge to the separation box, preventing blockages or interruptions during transport. The separation box effectively removes moisture from the sludge, resulting in less resistance and higher transport efficiency for the sludge conveying component. The components are combined in a rational manner, enabling remote, non-contact sludge extraction. This method minimizes space requirements within the box culvert and avoids interference between components, systematically solving the core challenges of traditional box culvert dredging, such as space limitations, low efficiency, significant safety hazards, and operational disruptions caused by damming. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of a box culvert dredging device in one embodiment of the present invention;

[0019] Figure 2 for Figure 1 Schematic diagram of the internal structure of the middle separation box;

[0020] Figure 3 for Figure 1 Schematic diagram of the structure of the suction sludge assembly;

[0021] Figure 4 for Figure 1A schematic diagram of the structure of the China Mobile component;

[0022] Figure 5 for Figure 1 Schematic diagram of the structure of the medium-speed silt transport component;

[0023] Figure 6 for Figure 3 Schematic diagram of the structure of the central unblocking component;

[0024] Figure 7 for Figure 3 Schematic diagram of the structure of the crushing component;

[0025] Figure 8 for Figure 2 A schematic diagram of the structure of the cleaning component.

[0026] Legend:

[0027] 1. Mobile frame; 2. Separation box; 3. Suction pump; 4. Connecting pipe; 5. Mobile assembly; 6. Sludge suction assembly; 7. Sludge conveying assembly; 8. Storage box; 9. Support frame; 10. Filter screen; 11. Mixing component; 12. Cleaning component; 13. Drainage component; 14. Sludge guide hopper; 15. Connecting pipe; 16. Camera; 51. First lead screw; 52. Second lead screw; 53. Drive motor; 54. Adjusting plate; 55. Mobile support; 56. Traveling wheel; 57. Support rod; 58. Transmission wheel; 59. Travel motor; 510. Mounting frame; 61. Protective frame; 62. Mounting plate; 63. Unblocking component; 64. Suction... 65. Sludge pipe; 66. Crushed parts; 67. Conduit; 68. Sludge outlet; 631. Drive cylinder; 632. Mounting plate; 633. Arc-shaped dredging blade; 634. Dredging block; 635. Drive shaft; 636. Dredging motor; 651. Crushing shaft; 652. Crushing blade; 653. Crushing motor; 71. Conveying pipe; 72. Conveying auger; 73. Conveying motor; 1101. Agitating motor; 1102. Agitating shaft; 1103. Agitating rod; 1201. Cleaning screw; 1202. Transmission plate; 1203. Brush plate; 1204. Cleaning motor; 1301. Drain pump; 1302. Drain pipe. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] In the description of this invention, it should be noted that the terms "vertical," "upper," "lower," "horizontal," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0030] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set up," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0031] like Figure 1-8 As shown, the present invention provides a culvert dredging device based on an underwater robot, comprising a mobile frame 1, a separation box 2 mounted on the mobile frame 1, a suction pump 3 mounted on the separation box 2, the suction pump 3 being connected to one end of a mobile component 5 via a connecting pipe 4, the other end of the mobile component 5 being connected to a sludge suction component 6, and the lower part of the separation box 2 being connected to a storage box 8 via a sludge conveying component 7; wherein, the mobile component 5 is used to drive the sludge suction component 6 to move within the culvert, and the suction pump 3 is used to guide the sludge sucked out by the sludge suction component 6 into the separation box 2 for separation.

[0032] In the technical solution of this invention, the moving component 5 drives the suction component 6 to move inside the box culvert. The walking path and speed can be flexibly adjusted according to the actual distribution of silt inside the box culvert. The suction pump 3 draws the silt from the suction component 6 into the separation box 2 for separation, forming an efficient "suction-delivery-separation" closed loop. The suction pump 3 has a stable power output and can continuously transport the silt to the separation box 2, avoiding blockage or interruption during the transport process. Through the separation action of the separation box 2, the water in the silt can be removed in time. The silt conveying component has less resistance and higher transport efficiency during transport. The components are combined together in a reasonable connection method to realize remote, non-contact silt extraction. It does not occupy too much space when operating inside the box culvert and avoids mutual interference between components. This compact structure makes the device more stable during movement and operation, systematically solving the core problems faced by traditional box culvert dredging, such as space limitations, low efficiency, huge safety hazards, and the impact of diversion on operation.

[0033] like Figure 1 and Figure 2As shown, the separation chamber 2 has a support frame 9 inside, a filter screen 10 on the support frame 9, an agitator 11 on the filter screen 10, a cleaning component 12 below the filter screen 10, a drainage component 13 inside the support frame 9, and a sludge guide hopper 14 on one side of the support frame 9. The sludge guide hopper 14 is connected to the sludge conveying component 7. The bottom of the moving component 5 is connected to a connecting pipe 15, which is connected to a connecting pipe 4. The support frame 9, as the "skeleton" inside the separation chamber, provides a stable installation foundation for components such as the filter screen 10, agitator 11, and cleaning component 12. It can accurately position these components in the appropriate positions, ensuring that each component will not shift or loosen due to vibration, sludge impact, or other factors during operation, thus ensuring the orderly operation inside the separation chamber. At the same time, the support frame 9 rationally divides the internal space of the separation chamber 2, allowing sludge separation, drainage, and other processes to be carried out efficiently in their respective areas, avoiding mutual interference between different operation stages. The filter screen 10 is the core component for achieving the separation of sludge and water. It can intercept solid particles in sludge, allowing water to seep through the filter screen, thus completing solid-liquid separation. This separation reduces the water content in the sludge, increasing its concentration, which not only facilitates the subsequent transport of sludge by the conveying component 7 but also reduces the storage pressure in the storage tank 8. Through the synergistic effect of multiple components, efficient and continuous sludge separation and self-maintenance are achieved, completely solving the industry pain points of traditional separation equipment being prone to clogging and requiring shutdown for cleaning.

[0034] The stirring component 11 includes a stirring motor 1101, the lower end of which is connected to a stirring shaft 1102. The stirring shaft 1102 is provided with multiple stirring rods 1103. The stirring motor 1101 drives the stirring shaft 1102 and the stirring rods 1103 to rotate, stirring the sludge accumulated on the filter screen 10. The stirring breaks down the dense filter cake layer formed by the sludge on the filter screen 10, maintaining the permeability of the filter screen and preventing rapid clogging. The stirring helps water to be extracted from the sludge, significantly improving separation efficiency and continuity, and avoiding frequent shutdowns for cleaning the filter screen.

[0035] Specifically, the cleaning component 12 includes a cleaning screw 1201, a transmission plate 1202 mounted on the cleaning screw 1201, and a brush plate 1203 mounted on the transmission plate 1202. One end of the cleaning screw 1201 is connected to a cleaning motor 1204. The cleaning motor 1204 drives the cleaning screw 1201 to rotate, which in turn moves the transmission plate 1202 and the brush plate 1203 along the screw axis. The bristles on the brush plate 1203 scrape the bottom surface of the filter screen 10, physically scraping away small particles embedded or adhered to the filter screen holes, further preventing the filter screen 10 from clogging. Together with the stirring component, they ensure the long-term effective separation capability of the filter screen, extend the service life of the filter screen, reduce maintenance needs, and ensure the continuous and efficient separation process.

[0036] like Figure 3 and Figure 4As shown, the movable component 5 includes a mounting frame 510. A first lead screw 51 and a second lead screw 52 are disposed inside the mounting frame 510. Both the ends of the first lead screw 51 and the second lead screw 52 are connected to a drive motor 53. Adjusting plates 54 are disposed on both the first lead screw 51 and the second lead screw 52. Multiple movable supports 55 are disposed on the adjusting plates 54. Each movable support 55 has a traveling wheel 56 at its end. Each movable support 55 is hinged to the mounting frame 510 via a support rod 57. The traveling wheel 56 is connected to a traveling motor 59 via a transmission wheel 58. The traveling motor 59 drives the traveling wheel 56 via the transmission wheel 58, causing the entire device to move at the bottom of the box culvert. The first lead screw 51 and the second lead screw 52 drive the adjusting plate 54 to move up and down, which in turn changes the angle of the moving bracket 55 and the height of the walking wheels 56 through the support rod 57. The lead screw adjustment mechanism enables the device to adapt to uneven bottom surfaces of the box culvert, the presence of obstacles, or varying heights of silt accumulation, always maintaining effective contact between the silt suction component 6 and the silt. It can raise or lower the wheel height to help cross small obstacles. Multiple wheels can be driven independently or in groups, providing stable support and traction. This solves the problems of complex bottom environments of box culverts, the difficulty of traditional equipment to walk stably, and the inability to effectively approach the silt layer, greatly improving the robot's adaptability and operational stability in complex box culvert environments.

[0037] like Figure 2 and Figure 3 As shown, the sludge suction assembly 6 includes a protective frame 61. One end of the protective frame 61 is connected to the moving assembly 5, and the other end is connected to the mounting plate 62. A dredging component 63 is rotatably connected to one side of the mounting plate 62. A sludge suction pipe 64 is installed on the mounting plate 62. A crushing component 65 is installed inside the sludge suction pipe 64. A sludge outlet 67 is opened at the bottom of the sludge suction pipe 64, and the sludge outlet 67 is connected to the connecting pipe 15 through a conduit 66. The sludge is directly contacted and processed by the dredging component 63. The dredging component 63 rotates and crushes the hardened and viscous sludge layer, making it easy to suction. The sludge suction pipe 64 is the inlet of the sludge slurry, and the internal crushing component... Component 65 further crushes lumpy debris in the suction material, and guides the pre-treated sludge slurry to the connecting pipe 15 through the conduit 66 and the outlet 67. The unblocking component 63 and the crushing component 65 are specifically designed to deal with hardened, viscous sludge or sludge containing debris (such as plastic bags and branches), solving the problems of easy clogging and low efficiency of traditional suction heads. The dual crushing (unblocking component + crushing component) greatly reduces the risk of pipe blockage. The protective frame 61 protects the internal components from impact, significantly improving suction efficiency and reliability, solving the most common clogging problem in dredging operations, and improving the quality and safety of operations through visualization.

[0038] Specifically, a camera 16 is installed on the protective frame 61. The camera 16 is a camera device (with lighting) installed on the protective frame 61. It captures the working environment, siltation status and dredging effect in front of the sludge suction component in real time and transmits the images to the operator's console. This allows the operator to clearly understand the internal conditions of the culvert and the working status of the robot in a safe external environment. It enables precise, controllable and safe dredging operations under the premise of "no one entering". It is the core sensory component for remote control and human-machine interaction.

[0039] like Figure 1 and Figure 8 As shown, the sludge conveying assembly 7 includes a conveying pipe 71, inside which a conveying auger 72 is installed. One end of the conveying auger 72 is connected to a conveying motor 73, and the discharge end of the conveying pipe 71 is connected to a storage tank 8. The conveying pipe 71 receives dewatered sludge falling from the sludge guide hopper 14 of the separation box, and the rotating conveying auger 72 continuously and stably conveys the sludge to the storage tank 8, avoiding the accumulation of sludge at the outlet of the sludge guide hopper. The auger conveying is well adapted to sludge that still has a certain degree of stickiness after dewatering, realizing the orderly transfer of sludge to the storage tank 8.

[0040] like Figure 1 and Figure 2 As shown, the drainage component 13 includes a drainage pump 1301, and a drainage pipe 1302 is provided at one end of the drainage pump 1301. The drainage pump 1301 draws out the water that has been preliminarily filtered below the filter screen 10 in the separation tank 2, and discharges it back to the downstream of the culvert or a designated location through the drainage pipe 1302. The separated water is discharged in a timely manner, maintaining the effective working volume of the separation tank, completing the water treatment closed loop, realizing the recycling or safe discharge of water resources, and maintaining the normal operation of the device.

[0041] like Figure 3 and Figure 6 As shown, the unblocking component 63 includes a drive cylinder 631 and a mounting plate 632. Multiple arc-shaped unblocking blades 633 are connected at equal intervals between the drive cylinder 631 and the mounting plate 632. Each arc-shaped unblocking blade 633 is equipped with multiple unblocking blocks 634. The drive cylinder 631 is connected to an unblocking motor 636 via a drive shaft 635. The unblocking motor 636 is mounted on the mounting plate 62. The unblocking motor 636 drives the drive cylinder 631 and the mounting plate 632 to rotate via the drive shaft 635, causing the multiple arc-shaped blades 633 with unblocking blocks to rotate at high speed. The rotating blades cut, break, and loosen hardened silt or debris, specifically targeting hard, hardened silt and fibrous, tangled debris (such as plastic bags, aquatic plants, and cloth). This addresses the biggest challenge of traditional silt suction methods. By breaking down and loosening hardened silt that is difficult to suck up directly, it facilitates suction by the suction pipe 64. The rotating blades and unblocking blocks 634 help cut or break up tangled debris, greatly expanding the applicability and capability of the silt removal device. This enables it to effectively handle the most difficult and clog-prone types of silt, improving the success rate and efficiency of silt removal.

[0042] like Figure 3 and Figure 7 As shown, the crushing component 65 includes a crushing shaft 651 with multiple crushing blades 652 mounted on it. One end of the crushing shaft 651 is connected to a crushing motor 653, which is mounted on the suction pipe 64. The crushing motor 653 drives the crushing shaft 651 and the crushing blades 652 to rotate at high speed, thereby performing secondary crushing on the sludge slurry sucked into the suction pipe 64. This further crushes the lumps, debris, and incompletely loosened mud lumps within the sludge. This secondary crushing before the sludge enters the main conveying pipeline ensures that the particle size of the sucked material is sufficiently small, greatly reducing the risk of blockage in the connecting pipes, connecting pipes, and suction pump. It also makes the sludge slurry more uniform, which is beneficial for subsequent separation. This is a key line of defense to ensure the unobstructed flow of the entire suction and conveying pipeline, improving the reliability of the system operation.

[0043] A method for using a culvert dredging device based on an underwater robot: S1, drive the walking wheels 56 by controlling the walking motor 59 of the moving component 5 to move the device to the target dredging area; S2, start the dredging motor 636 to drive the arc-shaped dredging blade 633 to rotate, breaking up the plated silt layer, and start the suction pump 3, so that the silt mixture enters the separation box 2 through the suction pipe 64; S3, the silt mixture undergoes solid-liquid separation on the filter screen 10, and the clean water passes through the filter screen 10 to enter the lower layer; S4, drive the conveying auger 72 by the conveying motor 73 to push the dewatered silt to the storage box 8 through the conveying pipe 71.

[0044] Specifically, step one: equipment inspection and debugging

[0045] Conduct a comprehensive inspection of the entire device, checking whether any components such as the mobile frame 1, separation box 2, and suction pump 3 are loose or damaged; check whether the connecting pipe 4, connecting pipe 15, and conduit 66 are damaged or blocked, and ensure that the pipelines are unobstructed and well-sealed.

[0046] Start the drive motor 53, and adjust the position of the adjusting plate 54 through the first lead screw 51 and the second lead screw 52, ​​thereby adjusting the spacing of the moving support 55 so that the traveling wheels 56 adapt to the width of the box culvert. Adjust the angle of the moving support 55 with the support rod 57 to change the height of the traveling wheels 56, ensuring that the traveling wheels 56 can stably contact the bottom of the box culvert. Start the traveling motor 59, suction pump 3, conveying motor 73, dredging motor 636, crushing motor 653, drainage pump 1301, etc., and test whether each motor and pump body is operating normally. Observe whether the rotation of the traveling wheels 56, the suction force of the suction pump 3, the operation of the conveying auger 72, the rotation of the dredging component 63 and the crushing component 65, and the drainage of the drainage pump 1301 meet the requirements. Turn on the camera on the protective frame 61 and check whether the camera image is clear and can accurately observe the situation inside the box culvert.

[0047] Step 2: Installation and Positioning of the Device

[0048] The device is placed smoothly at the entrance of the box culvert. The traveling motor 59 drives the transmission wheel 58 to rotate, causing the traveling wheels 56 to propel the device into the box culvert. During the movement, a camera monitors the environment inside the box culvert and the distribution of silt in real time, controlling the speed of the traveling motor 59 to adjust the movement speed. When the device reaches the silt accumulation area, it stops moving, completing the positioning process.

[0049] Step 3: Dredging and Breaking Up Silt

[0050] The dredging motor 636 is started, and the drive shaft 635 drives the drive cylinder 631 to rotate, causing the arc-shaped dredging blade 633 between the drive cylinder 631 and the mounting plate 632 to rotate accordingly. The dredging blocks 634 on the arc-shaped dredging blade 633 strike and break up the hardened silt at the bottom of the culvert, decomposing large pieces of silt into smaller pieces. At the same time, the crushing motor 653 is started, and the crushing shaft 651 drives the crushing blades 652 to rotate at high speed inside the suction pipe 64, preparing for subsequent silt suction.

[0051] Step 4: Sludge suction and transportation

[0052] The suction pump 3 is started. Under the action of the suction pump 3, the dredged and crushed sludge is sucked into the suction pipe 64. The crushing blade 652 inside the suction pipe 64 further crushes the sucked sludge and its impurities to prevent impurities from clogging the pipe. The crushed sludge is then transported to the separation box 2 through the sludge outlet 67 at the bottom of the suction pipe 64, the guide pipe 66, the connecting pipe 15, and the connecting pipe 4.

[0053] Step 5: Silt separation, drainage, and silt removal

[0054] After the sludge enters the separation chamber 2, it falls onto the filter screen 10. The drive unit of the agitator 11 is activated, and the agitator shaft 1102 drives the agitator rod 1103 to rotate, agitating the sludge on the filter screen 10 to prevent it from caking and promoting the penetration of water from the sludge to the area below the filter screen 10. The drive unit of the cleaning unit 12 is then activated, and the cleaning screw 1201 rotates, driving the transmission plate 1202 to move, causing the brush plate 1203 to clean the area below the filter screen 10, preventing fine particles from clogging it. The drain pump 1301 is then activated, draining the water below the filter screen 10 out of the separation chamber 2 through the drain pipe 1302.

[0055] The concentrated sludge filtered by the filter screen 10, under its own gravity and agitation, enters the conveying pipe 71 of the sludge conveying assembly 7 through the sludge guide hopper 14. The conveying motor 73 is started, and the conveying auger 72 rotates inside the conveying pipe 71, conveying the sludge to the storage tank 8 for storage.

[0056] Step Six: Adjustment and Continuation of the Work Process

[0057] During the dredging operation, the thickness of the silt is observed via camera. If the silt is thick, the speed of the walking motor 59 is reduced to slow down the device's movement, while the speeds of the unblocking motor 636 and the crushing motor 653 are increased to enhance the unblocking and crushing effects. If the silt is thin, the device's movement speed can be appropriately increased. The drainage of the separation tank 2 is observed. If the drainage speed slows down, it indicates that the filter screen 10 may be becoming clogged, and the cleaning frequency of the cleaning component 12 is increased. When the storage tank 8 is about to be full of silt, the dredging operation is stopped. The device is driven by the walking motor 59 to move to the culvert outlet, the silt in the storage tank 8 is emptied, and then the device is driven back into the culvert to continue the dredging operation.

[0058] Step 7: Completion of work and equipment storage

[0059] After the designated area inside the culvert is cleared, turn off all motors and pumps. Move the device to the culvert outlet using the walking motor 59 and remove it from the culvert. Clean the remaining sludge from the storage tank 8 and thoroughly clean the device, paying special attention to cleaning components that come into contact with the sludge, such as the suction pipe 64, filter screen 10, conveying pipe 71, and sludge guide hopper 14, to remove any residual sludge. Inspect the wear and tear of each component, such as the arc-shaped dredging blade 633, dredging block 634, and crushing blade 652, for wear or damage. Replace or repair any damaged parts. Place the device in a dry, well-ventilated storage area to complete the storage process.

[0060] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0061] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A culvert dredging device based on an underwater robot, characterized in that, Includes a mobile frame (1), on which a separation box (2) is provided, and on which a suction pump (3) is provided, the suction pump (3) is connected to one end of a mobile component (5) through a connecting pipe (4), and the other end of the mobile component (5) is connected to a sludge suction component (6). The bottom of the separation box (2) is connected to a storage box (8) through a sludge conveying component (7). The moving component (5) is used to drive the suction component (6) to move inside the box culvert, and the suction pump (3) is used to pass the sludge sucked out by the suction component (6) into the separation box (2) for separation.

2. The culvert dredging device based on an underwater robot as described in claim 1, characterized in that: The separation box (2) is provided with a support frame (9), a filter screen (10) is provided on the support frame (9), a stirring component (11) is provided on the filter screen (10), a cleaning component (12) is provided below the filter screen (10), a drainage component (13) is provided inside the support frame (9), a mud guide hopper (14) is provided on one side of the support frame (9), the mud guide hopper (14) is connected to the sludge conveying component (7), and a connecting pipe (15) is connected to the bottom of the moving component (5), the connecting pipe (15) is connected to the connecting pipe (4).

3. The culvert dredging device based on an underwater robot as described in claim 1, characterized in that: The movable component (5) includes a mounting frame (510), inside which a first lead screw (51) and a second lead screw (52) are provided. The ends of the first lead screw (51) and the second lead screw (52) are connected to a drive motor (53). Adjustment plates (54) are provided on the first lead screw (51) and the second lead screw (52). Multiple movable supports (55) are provided on the adjustment plates (54). The ends of the movable supports (55) are provided with wheels (56).

4. The culvert dredging device based on an underwater robot according to claim 3, characterized in that: Each of the movable supports (55) is hinged to the mounting frame (510) via a support rod (57), and the walking wheels (56) are connected to the walking motor (59) via a transmission wheel (58).

5. The culvert dredging device based on an underwater robot according to claim 1, characterized in that: The suction assembly (6) includes a protective frame (61), one end of which is connected to the moving assembly (5), and the other end of which is connected to the mounting plate (62). A dredging component (63) is rotatably connected to one side of the mounting plate (62). A suction pipe (64) is installed on the mounting plate (62). A crushing component (65) is provided inside the suction pipe (64). A sludge outlet (67) is opened at the bottom of the suction pipe (64). The sludge outlet (67) is connected to the connecting pipe (15) through a conduit (66).

6. The culvert dredging device based on an underwater robot according to claim 1, characterized in that: The silt conveying assembly (7) includes a conveying pipe (71), inside which a conveying auger (72) is installed. One end of the conveying auger (72) is connected to a conveying motor (73), and the discharge end of the conveying pipe (71) is connected to a storage tank (8).

7. The culvert dredging device based on an underwater robot according to claim 2, characterized in that: The drainage component (13) includes a drainage pump (1301), and a drainage pipe (1302) is provided at one end of the drainage pump (1301).

8. The culvert dredging device based on an underwater robot according to claim 5, characterized in that: The unblocking component (63) includes a drive cylinder (631) and a mounting plate (632). Multiple arc-shaped unblocking blades (633) are connected at equal intervals between the drive cylinder (631) and the mounting plate (632). Each arc-shaped unblocking blade (633) is provided with multiple unblocking blocks (634). The drive cylinder (631) is connected to the unblocking motor (636) through a drive shaft (635). The unblocking motor (636) is mounted on the mounting plate (62).

9. The culvert dredging device based on an underwater robot according to claim 5, characterized in that: The crushing component (65) includes a crushing shaft (651), on which a plurality of crushing blades (652) are provided. One end of the crushing shaft (651) is connected to a crushing motor (653), which is mounted on a suction pipe (64).

10. A method for using a box culvert dredging device based on an underwater robot, characterized in that: S1. By controlling the walking motor (59) of the moving component (5) to drive the walking wheels (56), the device is moved to the target dredging area; S2. Start the dredging motor (636) to drive the arc-shaped dredging blade (633) to rotate, break up the plated sludge layer, turn on the suction pump (3), and the sludge mixture enters the separation box (2) through the suction pipe (64) in sequence. S3. The sludge mixture undergoes solid-liquid separation on the filter screen (10), and the clear water passes through the filter screen (10) into the lower layer; S4. Drive the conveying auger (72) through the conveying motor (73) to push the dewatered sludge to the storage tank (8) through the conveying pipe (71).

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