Self-adaptive multi-scene desilting robot and desilting method

Abstract

The invention belongs to the technical field of dredging robots, and discloses a self-adaptive multi-scene dredging robot which comprises a bucket, side plates are fixedly mounted on the front side and the rear side of the bucket, circular shafts are movably connected into the side plates in a sleeving mode, and movable plates are fixedly connected to the outer surfaces of the circular shafts in a sleeving mode. By arranging the movable plate, a rotating rod, round blocks and tooth plates, an operator can start a servo motor to enable a rotating shaft to drive a gear to rotate when facing different operation scenes, so that the gear drives the two tooth plates to move in opposite directions, and then the two round rods are driven to move through a mounting plate; and the outer surface of the rotating rod is extruded and pushed by the circular block, so that the rotating rod is driven to rotate, the rotating rod drives the movable plates to rotate through the circular shaft, then the opening and closing degree of the two movable plates is adjusted, the sludge cleaning width is increased when the whole bucket advances, and the use flexibility of the whole bucket is improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of dredging robots, and particularly relates to a self-adaptive multi-scene dredging robot and a dredging method. BACKGROUND

[0002] In a sedimentation tank, a chemical plant, various process tanks and a box culvert, the sedimentation tank is mainly filled with sediment, suspended matter and impurities in the water, which will reduce the water purification efficiency after long-term accumulation; the reaction tank and liquid storage tank of the chemical plant are prone to residual chemical precipitates, waste materials and oil stains generated during the production process, which may affect the production safety and subsequent processes if not cleaned in time; the box culvert is an underground water conveying or drainage channel, which is easy to accumulate sediment, household garbage and pipeline scouring materials, resulting in a reduction of the flow section and poor drainage.

[0003] When the sludge in the sedimentation tank, the chemical plant, various process tanks and the box culvert is cleaned, the efficiency of manual dredging is extremely low, and the harsh environment will harm the construction personnel, so a self-adaptive multi-scene dredging robot is needed for cleaning. Although the existing dredging robot can be applied to multiple scenes such as the sedimentation tank, the chemical plant, various process tanks and the box culvert, the cleaning port size of the existing dredging robot is fixed and cannot be adjusted according to the working scene, so that the width of the sludge cleaned by the robot during advancing is fixed, thereby reducing the dredging efficiency, and thus needs to be improved. SUMMARY

[0004] The purpose of the present application is to provide a self-adaptive multi-scene dredging robot and a dredging method to solve the problems in the background.

[0005] In order to achieve the above object, the present application provides the following technical scheme: The adaptive multi-scene dredging robot comprises a bucket, side plates are fixedly installed on the front and rear sides of the bucket, a round shaft is movably sleeved in the side plates, a movable plate is fixedly sleeved on the outer surface of the round shaft, a rotating rod is fixedly sleeved on the top of the outer surface of the round shaft and located on the top of the side plate, a protection box is fixedly installed on the top of the bucket, round rods are movably sleeved on the front and rear sides in the protection box, the number of the round rods is two, limit blocks are movably sleeved on the outer surfaces of the two round rods, the bottoms of the limit blocks are fixedly connected with the top of the bucket, mounting blocks are fixedly sleeved on the outer surfaces of the round rods, circular blocks are fixedly connected with the bottoms of the mounting blocks, the outer surface of the circular blocks is movably connected with the inner surface of the rotating rod, mounting plates are fixedly connected with the inner ends of the round rods, toothed plates are fixedly connected with the inner side of the mounting plates, a servo motor is fixedly connected with the top of the inner surface of the protection box, a rotating shaft is fixedly connected with the other end of the output shaft of the servo motor, a gear is fixedly sleeved on the outer surface of the rotating shaft, and the outer surface of the gear is meshed with the outer surface of the toothed plate.

[0006] As preferred, the inside of the bucket is movably sleeved with a movable shaft, the front and rear sides of the outer surface of the movable shaft are fixedly sleeved with auger blades, and the rear side of the outer surface of the movable shaft is fixedly sleeved with a driven roller located outside the bucket.

[0007] As preferred, the back of the bucket is fixedly installed with a protection shell, a power motor is fixedly installed in the inside of the protection shell and located on the top of the bucket, a power shaft is fixedly connected with the other end of the output shaft of the power motor, a driving roller is fixedly sleeved on the outer surface of the power shaft, and the driving roller is drivingly connected with the driven roller through a transmission belt.

[0008] As preferred, the top and the bottom of the left side of the bucket are fixedly installed with positioning blocks, and a vertical rod is movably sleeved between the positioning blocks.

[0009] As preferred, the top of the vertical rod is fixedly installed with a top plate, an L-shaped block is fixedly connected with the top of the top plate, the outer surface of the L-shaped block is movably connected with the outer surface of the protection box, and a fixed block is fixedly connected with the top of the L-shaped block.

[0010] As preferred, two vertical blocks are fixedly installed on the left side of the top of the protection box, the two vertical blocks are respectively located on the front and rear sides of the L-shaped block, a bolt is movably sleeved in the inside of the vertical block, and the outer surface of the bolt is threadedly sleeved with the inner surface of the fixed block.

[0011] As preferred, the right side of the bucket is fixedly installed with a vehicle body, both the front and rear sides of the vehicle body are movably connected with track wheels, the inside of the vehicle body is fixedly sleeved with a hose, the left side of the hose is fixedly connected with a connecting pipe, and the left end of the connecting pipe is fixedly connected with the right side of the bucket.

[0012] As preferred, the top of the vehicle body is fixedly installed with a mounting rack, the top of the mounting rack is fixedly installed with a spherical camera, the top of the mounting rack is fixedly installed with a first support rod located at the rear side of the spherical camera, the inside of the first support rod is movably sleeved with a rotating shaft, the front end of the rotating shaft is fixedly connected with an arc-shaped plate, the inner side of the arc-shaped plate is fixedly connected with a cleaning block, and the outer surface of the cleaning block is movably connected with the outer surface of the spherical camera.

[0013] As preferred, the top of the mounting rack is fixedly installed with a second support rod located at the front side of the spherical camera, the front side of the second support rod is fixedly installed with a driving motor, the other end of the output shaft of the driving motor is fixedly connected with a driving shaft, the inner end of the driving shaft is fixedly connected with the outer surface of the arc-shaped plate, and the outer surface of the driving shaft is movably sleeved with the inner surface of the second support rod.

[0014] As preferred, the method comprises the following steps:

[0015] Firstly, the operator connects the sludge pump with the hose, so that the sludge in the bucket can be sucked in and discharged to the outside through the hose when the sludge pump is started. In use, the operator can adjust the opening degree of the movable plates according to the scene of dredging. When the opening degree of the movable plates needs to be increased, the servo motor is started to drive the rotating shaft and the gear to rotate, so that the two toothed plates move towards each other, and then the two round rods move towards each other through the mounting plate, so that the round block can extrude and push the inner surface of the rotating rod, thereby driving the rotating rod to rotate, and the rotating rod drives the movable plates to rotate through the circular shaft, thereby adjusting the opening degree of the two movable plates outward, so that a larger area of sludge can be cleaned when the bucket advances as a whole.

[0016] The caterpillar wheel operation will move the whole shovel forward, when the power motor is started, the power shaft will drive the driving roller to rotate, and then the driven roller will drive the movable shaft to rotate through the transmission belt, so that the auger blades can rotate, and because the directions of the two auger blades are opposite, the auger blades can transport the sludge entering the inside of the shovel to the middle of the inside of the shovel, so that the sludge can be sucked into the hose through the connecting pipe, and when the whole shovel advances, the vertical rod can block the large hard objects mixed in the sludge, so as to avoid the contact between the hard objects and the auger blades and cause damage to the auger blades, when it is necessary to remove the vertical rod, only the bolt needs to be rotated, so that the bolt is separated from the inside of the fixed block, and then the L-shaped block can be lifted upwards, so that the vertical rod can be removed by driving the vertical rod upwards through the top plate.

[0017] The operator can observe the picture in front of the shovel through the spherical camera, when the sludge adheres to the outer surface of the spherical camera and affects the image collection of the spherical camera, at this time, the driving motor can be started to drive the arc-shaped plate to rotate, so that the cleaning block rotates, and the spherical camera is cleaned.

[0018] The beneficial effects of the present application are as follows:

[0019] 1、The movable plate, rotating rod, round block and toothed plate are arranged, when facing different working scenes, the operator can start the servo motor to drive the rotating shaft to rotate, so that the two toothed plates move towards each other, and then the two round rods are driven to move by the mounting plate, so that the round block extrudes and pushes the outer surface of the rotating rod, so that the rotating rod rotates, and the movable plate rotates through the round shaft, so that the opening and closing degree of the two movable plates is adjusted, the width of the sludge cleaning when the whole shovel advances is increased, and the use flexibility of the whole shovel is improved.

[0020] 2、The vertical rod, fixed block and bolt are arranged, due to the design of the vertical rod, the large-volume hard objects mixed in the sludge can be blocked, so that the large-volume hard objects entering the inside of the shovel do not cause damage to the auger blades, so that the service life of the auger blades is improved, when the vertical rod needs to be removed, only the bolt needs to be rotated, so that the bolt is separated from the inside of the fixed block, so that the fixing effect of the fixed block is released, and then the L-shaped block is lifted upwards, so that the vertical rod can be removed by driving the vertical rod upwards through the top plate.

[0021] 3、The arc-shaped plate, the cleaning block, the driving motor and the driving shaft are arranged, when the silt adhered to the outer surface of the spherical camera influences the image collection of the spherical camera, the driving motor is started, the driving shaft drives the arc-shaped plate to rotate, the cleaning block rotates, the silt on the outer surface of the spherical camera is cleaned, and the spherical camera can normally collect images. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of the present application;

[0023] Figure 2 It is a structural schematic diagram of the present application;

[0024] Figure 3 It is a structural schematic diagram of the present application;

[0025] Figure 4 It is a structural schematic diagram of the present application;

[0026] Figure 5 It is a structural schematic diagram of the present application;

[0027] Figure 6 It is a structural schematic diagram of the present application;

[0028] Figure 7 It is a structural schematic diagram of the present application;

[0029] Figure 8 It is a structural schematic diagram of the present application;

[0030] Figure 9 It is a structural schematic diagram of the present application;

[0031] Figure 10 It is a structural schematic diagram of the present application;

[0032] Figure 11 It is Figure 4 It is a structural schematic diagram of the present application;

[0033] In the diagram: 1. Bucket; 2. Side plate; 3. Round shaft; 4. Movable plate; 5. Rotating rod; 6. Protective box; 7. Limit block; 8. Round rod; 9. Mounting block; 10. Round block; 11. Mounting plate; 12. Toothed plate; 13. Servo motor; 14. Rotating shaft; 15. Gear; 16. Movable shaft; 17. Screwdriver blade; 18. Driven roller; 19. Power motor; 20. Power shaft; 21. Protective shell; 22. Driven roller; 2 3. Drive belt; 24. Positioning block; 25. Vertical rod; 26. Top plate; 27. L-shaped block; 28. Fixing block; 29. ​​Vertical block; 30. Bolt; 31. Body; 32. Track wheel; 33. Hoses; 34. Connecting pipe; 35. Mounting bracket; 36. Dome camera; 37. First support rod; 38. Rotating shaft; 39. Arc plate; 40. Cleaning block; 41. Second support rod; 42. Drive motor; 43. Drive shaft. Detailed Implementation

[0034] 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.

[0035] like Figures 1 to 11 As shown, this embodiment of the invention provides an adaptive multi-scenario dredging robot, including a bucket 1. Side plates 2 are fixedly installed on both the front and rear sides of the bucket 1. A circular shaft 3 is movably sleeved inside the side plate 2. A movable plate 4 is fixedly sleeved on the outer surface of the circular shaft 3. A rotating rod 5 located at the top of the side plate 2 is fixedly sleeved on the top of the outer surface of the circular shaft 3. A protective box 6 is fixedly installed on the top of the bucket 1. Two circular rods 8 are movably sleeved on both the front and rear sides inside the protective box 6. Limiting blocks 7 are movably sleeved on the outer surfaces of both circular rods 8. The bottom of the limiting blocks 7 is connected to the bucket 1. The top of the rod 8 is fixedly connected to the mounting block 9, the bottom of the mounting block 9 is fixedly connected to the round block 10, the outer surface of the round block 10 is movably connected to the inner surface of the rotating rod 5, the inner end of the round rod 8 is fixedly connected to the mounting plate 11, the inner side of the mounting plate 11 is fixedly connected to the toothed plate 12, the top of the inner surface of the protective box 6 is fixedly connected to the servo motor 13, the other end of the output shaft of the servo motor 13 is fixedly connected to the rotating shaft 14, the outer surface of the rotating shaft 14 is fixedly fitted with the gear 15, and the outer surface of the gear 15 meshes with the outer surface of the toothed plate 12.

[0036] When the opening and closing degree of the two movable plates 4 needs to be adjusted, the servo motor 13 can be started to make the rotating shaft 14 rotate the gear 15, so that the gear 15 drives the two toothed plates 12 to move away from each other or towards each other, and then the mounting plate 11 drives the circular rod 8 to move under the limiting action of the limiting block 7, so that the outer surface of the circular block 10 extrudes and pushes the inner surface of the rotating rod 5, so that the rotating rod 5 rotates, thereby driving the circular shaft 3 to rotate, so that the movable plate 4 can rotate, thereby adjusting the opening and closing degree of the two movable plates 4.

[0037] The inside of the bucket 1 is sleeved with a movable shaft 16, and the front and rear sides of the outer surface of the movable shaft 16 are fixedly sleeved with auger blades 17. The rear side of the outer surface of the movable shaft 16 is fixedly sleeved with a driven roller 18 located outside the bucket 1.

[0038] The directions of the two auger blades 17 are opposite, so that when the movable shaft 16 drives the two auger blades 17 to rotate, the auger blades 17 can transport the sludge towards the middle of the inside of the bucket 1.

[0039] The back of the bucket 1 is fixedly installed with a protective shell 21, and the inside of the protective shell 21 is fixedly installed with a power motor 19 located at the top of the bucket 1. The other end of the output shaft of the power motor 19 is fixedly connected with a power shaft 20, and the outer surface of the power shaft 20 is fixedly sleeved with a driving roller 22. The driving roller 22 is in transmission connection with the driven roller 18 through a transmission belt 23.

[0040] The operator can start the power motor 19 to make the power shaft 20 drive the driving roller 22 to rotate, and then the driving roller 22 drives the driven roller 18 to rotate through the transmission belt 23, so that the movable shaft 16 can rotate.

[0041] The top and bottom of the left side of the bucket 1 are fixedly installed with positioning blocks 24, and the vertical rod 25 is movably sleeved between the positioning blocks 24.

[0042] The vertical rod 25 can intercept large hard objects in the sludge, so as to avoid the hard objects from contacting the auger blades 17 and causing damage to the auger blades 17.

[0043] The top of the vertical rod 25 is fixedly installed with a top plate 26, and the top of the top plate 26 is fixedly connected with an L-shaped block 27. The outer surface of the L-shaped block 27 is movably connected with the outer surface of the protective box 6, and the top of the L-shaped block 27 is fixedly connected with a fixing block 28.

[0044] When the fixing block 28 is fixed, the L-shaped block 27 and the top plate 26 will be fixed, thereby fixing the vertical rod 25.

[0045] The left side of the top of the protection box 6 is fixedly installed with a vertical block 29, the number of the vertical block 29 is two, the two vertical blocks 29 are located on the front and back of the L-shaped block 27 respectively, the inside of the vertical block 29 movably sleeves a bolt 30, and the outer surface of the bolt 30 is in threaded connection with the inner surface of the fixed block 28.

[0046] The operator can rotate the bolt 30, so that the bolt 30 is separated from the inside of the fixed block 28, and then the fixed effect of the fixed block 28 can be released.

[0047] The right side of the bucket 1 is fixedly installed with a vehicle body 31, the front and back of the vehicle body 31 are movably connected with track wheels 32, the inside of the vehicle body 31 is fixedly sleeved with a hose 33, the left side of the hose 33 is fixedly connected with a connecting pipe 34, and the left end of the connecting pipe 34 is fixedly connected with the right side of the bucket 1.

[0048] The track wheels 32 are arranged, so that the bucket 1 can move more stably as a whole, and after the external silt pump is connected with the hose 33, the silt in the bucket 1 can be sucked into and transported to the outside.

[0049] The top of the vehicle body 31 is fixedly installed with a mounting frame 35, the top of the mounting frame 35 is fixedly installed with a spherical camera 36, the top of the mounting frame 35 is fixedly installed with a first supporting rod 37 located at the back of the spherical camera 36, the inside of the first supporting rod 37 movably sleeves a rotating shaft 38, the front end of the rotating shaft 38 is fixedly connected with an arc-shaped plate 39, the inner side of the arc-shaped plate 39 is fixedly connected with a cleaning block 40, and the outer surface of the cleaning block 40 is movably connected with the outer surface of the spherical camera 36.

[0050] The cleaning block 40 is arranged, so that when the cleaning block 40 rotates around the rotating shaft 38 as the axis, the dirt on the outer surface of the spherical camera 36 can be wiped, so that the dirt does not affect the image collection of the spherical camera 36.

[0051] The top of the mounting frame 35 is fixedly installed with a second supporting rod 41 located at the front of the spherical camera 36, the front of the second supporting rod 41 is fixedly installed with a driving motor 42, the other end of the output shaft of the driving motor 42 is fixedly connected with a driving shaft 43, the inner end of the driving shaft 43 is fixedly connected with the outer surface of the arc-shaped plate 39, and the outer surface of the driving shaft 43 movably sleeves the inner surface of the second supporting rod 41.

[0052] When the driving motor 42 is started, the driving shaft 43 will drive the arc-shaped plate 39 to rotate, so that the cleaning block 40 rotates, and the spherical camera 36 is cleaned.

[0053] The method comprises the following steps:

[0054] First, the operator connects the sludge pump to the hose 33, so that when the sludge pump is started, the sludge inside the bucket 1 can be sucked in through the hose 33 and discharged to the outside. During use, the operator can adjust the opening degree of the movable plate 4 according to the sludge removal scenario. When it is necessary to increase the opening degree of the movable plate 4, the servo motor 13 is started, which causes the rotating shaft 14 to drive the gear 15 to rotate. The gear 15 drives the two toothed plates 12 to move in opposite directions, which in turn drives the two round rods 8 to move in opposite directions through the mounting plate 11. This allows the round block 10 to squeeze and push the inner surface of the rotating rod 5, thereby driving the rotating rod 5 to rotate. The rotating rod 5 drives the movable plate 4 to rotate through the round shaft 3, thereby adjusting the outward opening degree of the two movable plates 4. This allows for the cleaning of a larger area of ​​sludge when the bucket 1 moves forward as a whole.

[0055] The operation of the track wheel 32 will cause the bucket 1 to move forward as a whole. When the power motor 19 is started, the power shaft 20 will drive the drive roller 22 to rotate, which in turn will drive the driven roller 18 to rotate the movable shaft 16 through the transmission belt 23, thereby causing the auger blades 17 to rotate. Since the two auger blades 17 are in opposite directions, the auger blades 17 can transport the sludge that enters the bucket 1 towards the center of the bucket 1, so that the sludge can be sucked in by the hose 33 through the connecting pipe 34. When the bucket 1 moves forward as a whole, the vertical rod 25 can block large hard objects mixed in with the sludge, preventing these hard objects from contacting the auger blades 17 and causing damage to the auger blades 17. When it is necessary to remove the vertical rod 25, simply rotate the bolt 30 to disengage the bolt 30 from the inside of the fixing block 28, thereby releasing the fixing effect of the fixing block 28. Then lift the L-shaped block 27 upward, so that the vertical rod 25 can be moved upward through the top plate 26 and removed.

[0056] Operators can observe the scene in front of the bucket 1 through the spherical camera 36. When the outer surface of the spherical camera 36 is covered with silt and it affects the acquisition of images by the spherical camera 36, ​​the drive motor 42 can be started to make the drive shaft 43 drive the arc plate 39 to rotate, thereby making the cleaning block 40 rotate and thus cleaning the spherical camera 36.

[0057] It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting; it is not intended to exclude myriad other embodiments of the present application that other inventors can develop based on the same general inventive concepts embodied by the described embodiments. That is, although the present application is described in terms of particular embodiments and implementations, it is to be understood that the terminology used is for the purpose of descriptive clarity and that it is intended to be limited only by the words recited in the appended claims. It is to be understood that the terms such as first and second, etc., merely are used to differentiate one from another without necessarily implying or requiring any actual relationship or order between them. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0058] While the embodiments of the application have been shown and described herein, it is to be understood that the application is not limited to these embodiments. Rather, many modifications, changes, substitutions, and alterations can be made thereto without departing from the spirit and scope of the present application as defined by the appended claims and their equivalents.

Claims

1. An adaptive multi-scenario dredging robot, including a bucket (1), characterized in that: Side plates (2) are fixedly installed on both the front and rear sides of the bucket (1). A round shaft (3) is movably sleeved inside the side plate (2). A movable plate (4) is fixedly sleeved on the outer surface of the round shaft (3). A rotating rod (5) located on the top of the side plate (2) is fixedly sleeved on the top of the round shaft (3). A protective box (6) is fixedly installed on the top of the bucket (1). Round rods (8) are movably sleeved on both the front and rear sides inside the protective box (6). There are two round rods (8). Limiting blocks (7) are movably sleeved on the outer surfaces of the two round rods (8). The bottom of the limiting blocks (7) is fixedly connected to the top of the bucket (1). An mounting block (9) is fixedly sleeved on the outer surface of the protective box (6). A round block (10) is fixedly connected to the bottom of the mounting block (9). The outer surface of the round block (10) is movably connected to the inner surface of the rotating rod (5). An mounting plate (11) is fixedly connected to the inner end of the round rod (8). A toothed plate (12) is fixedly connected to the inner side of the mounting plate (11). A servo motor (13) is fixedly connected to the top of the inner surface of the protective box (6). A rotating shaft (14) is fixedly connected to the other end of the output shaft of the servo motor (13). A gear (15) is fixedly sleeved on the outer surface of the rotating shaft (14). The outer surface of the gear (15) meshes with the outer surface of the toothed plate (12).

2. The adaptive multi-scenario dredging robot according to claim 1, characterized in that: The bucket (1) is movably fitted with a movable shaft (16) inside. Screw blades (17) are fixedly fitted on both the front and rear sides of the outer surface of the movable shaft (16). A driven roller (18) located outside the bucket (1) is fixedly fitted on the rear side of the outer surface of the movable shaft (16).

3. The adaptive multi-scenario dredging robot according to claim 1, characterized in that: A protective shell (21) is fixedly installed on the back of the bucket (1). A power motor (19) located on the top of the bucket (1) is fixedly installed inside the protective shell (21). A power shaft (20) is fixedly connected to the other end of the output shaft of the power motor (19). An active roller (22) is fixedly sleeved on the outer surface of the power shaft (20). The active roller (22) is connected to the driven roller (18) through a transmission belt (23).

4. The adaptive multi-scenario dredging robot according to claim 1, characterized in that: Positioning blocks (24) are fixedly installed on the top and bottom of the left side of the bucket (1), and vertical rods (25) are movably connected between the positioning blocks (24).

5. The adaptive multi-scenario dredging robot according to claim 4, characterized in that: A top plate (26) is fixedly installed on the top of the vertical rod (25), and an L-shaped block (27) is fixedly connected to the top of the top plate (26). The outer surface of the L-shaped block (27) is movably connected to the outer surface of the protective box (6), and a fixing block (28) is fixedly connected to the top of the L-shaped block (27).

6. The adaptive multi-scenario dredging robot according to claim 1, characterized in that: A vertical block (29) is fixedly installed on the left side of the top of the protective box (6). There are two vertical blocks (29), which are located on the front and rear sides of the L-shaped block (27) respectively. A bolt (30) is movably sleeved inside the vertical block (29), and the outer surface of the bolt (30) is threadedly sleeved with the inner surface of the fixing block (28).

7. The adaptive multi-scenario dredging robot according to claim 1, characterized in that: The bucket (1) is fixedly mounted on the right side of the vehicle body (31). Track wheels (32) are movably connected to both the front and rear sides of the vehicle body (31). A flexible hose (33) is fixedly sleeved inside the vehicle body (31). A connecting pipe (34) is fixedly connected to the left side of the flexible hose (33). The left end of the connecting pipe (34) is fixedly connected to the right side of the bucket (1).

8. The adaptive multi-scenario dredging robot according to claim 7, characterized in that: A mounting bracket (35) is fixedly installed on the top of the vehicle body (31). A spherical camera (36) is fixedly installed on the top of the mounting bracket (35). A first support rod (37) located behind the spherical camera (36) is fixedly installed on the top of the mounting bracket (35). A rotating shaft (38) is movably sleeved inside the first support rod (37). An arc plate (39) is fixedly connected to the front end of the rotating shaft (38). A cleaning block (40) is fixedly connected to the inner side of the arc plate (39). The outer surface of the cleaning block (40) is movably connected to the outer surface of the spherical camera (36).

9. The adaptive multi-scenario dredging robot according to claim 8, characterized in that: The top of the mounting bracket (35) is fixedly mounted with a second support rod (41) located in front of the spherical camera (36). A drive motor (42) is fixedly mounted on the front of the second support rod (41). The other end of the output shaft of the drive motor (42) is fixedly connected to a drive shaft (43). The inner end of the drive shaft (43) is fixedly connected to the outer surface of the arc plate (39). The outer surface of the drive shaft (43) is movably sleeved with the inner surface of the second support rod (41).

10. The dredging method of the adaptive multi-scenario dredging robot according to any one of claims 1-9, characterized in that, Includes the following steps: First, the operator connects the sludge pump to the hose (33), so that when the sludge pump is started, the sludge inside the bucket (1) can be sucked in through the hose (33) and discharged to the outside. When in use, the operator can adjust the opening degree of the movable plate (4) according to the sludge removal scenario. When the opening degree of the movable plate (4) needs to be increased, the servo motor (13) is started, so that the rotating shaft (14) drives the gear (15) to rotate, so that the gear (15) drives the two tooth plates (12) to move in opposite directions, and then drives the two round rods (8) to move in opposite directions through the mounting plate (11), so that the round block (10) can squeeze and push the inner surface of the rotating rod (5), thereby driving the rotating rod (5) to rotate, so that the rotating rod (5) drives the movable plate (4) to rotate through the round shaft (3), thereby adjusting the opening degree of the two movable plates (4) to the outside, so that a larger area of ​​sludge can be cleaned when the bucket (1) moves forward as a whole. The operation of the track wheels (32) will cause the bucket (1) to move forward as a whole. When the power motor (19) is started, the power shaft (20) will drive the drive roller (22) to rotate, which in turn will drive the driven roller (18) to rotate the movable shaft (16) through the transmission belt (23), thereby enabling the auger blades (17) to rotate. Since the two auger blades (17) are in opposite directions, the auger blades (17) can transport the sludge that has entered the bucket (1) towards the center of the bucket (1), so that the sludge can pass through the connecting pipe (34). The vertical rod (25) is sucked in by the hose (33), and when the bucket (1) moves forward as a whole, the vertical rod (25) can block large hard objects mixed in the sludge, preventing these hard objects from contacting the auger blades (17) and causing damage to the auger blades (17). When it is necessary to remove the vertical rod (25), simply rotate the bolt (30) so that the bolt (30) is removed from the inside of the fixing block (28), thereby releasing the fixing effect on the fixing block (28). Then lift the L-shaped block (27) upward, so that the vertical rod (25) can be moved upward through the top plate (26) and the vertical rod (25) can be removed. Operators can observe the scene in front of the bucket (1) through the spherical camera (36). When the outer surface of the spherical camera (36) is covered with silt and affects the acquisition of images by the spherical camera (36), the drive motor (42) can be started to make the drive shaft (43) drive the arc plate (39) to rotate, thereby making the cleaning block (40) rotate and thus cleaning the spherical camera (36).

Images