Submersible multifunctional water supply and drainage robot

Abstract

The present application relates to the technical field of water supply and drainage robot, and discloses a submersible multifunctional water supply and drainage robot, which comprises a robot body and an auxiliary operation unit. Two groups of water pumps are arranged in the body, a plurality of groups of drainage through holes are arranged on the two sides and the bottom of the main body and are communicated with the water pumping cavities, thereby forming a low-resistance multidirectional water taking and draining channel; a scanning sonar, a single-beam, an electronic compass, an inclination sensor, a harmful gas detection sensor, a camera and a lighting lamp are arranged, and are cooperated with an electric control system to support remote and autonomous operation, path planning is carried out based on environmental perception, and the pump group is cooperated to improve the water draining efficiency per unit time in a complex environment. The auxiliary operation unit is a mechanical arm installed on the main body, which is sequentially connected with a first connecting arm, an angle adjusting arm and a second connecting arm, and a clamping mechanism and a crushing mechanism are arranged at the tail end, which are used for obstacle removal and fixed-point crushing in narrow positions, thereby guaranteeing continuous operation and safety. The present application is suitable for flood prevention and flood fighting, urban waterlogging, mine, underground pipe gallery and tunnel drainage and the like.

Description

Technical Field

[0001] This invention relates to the field of water supply and drainage robot technology, and more specifically, to a submersible multi-functional water supply and drainage robot. Background Technology

[0002] Existing drainage robots are mainly designed for drainage and emergency tasks in enclosed and complex environments such as mine tunnels, underground rail transit, and basements. They generally possess remote control capabilities, autonomous obstacle crossing, and the ability to operate in deep / turbid water with visibility, and integrate drainage, sensing, and tracked walking systems. However, in narrow spaces such as corners, cracks, and track gaps, the robot's overall size and rigid structure limit its ability to effectively dock with irregular water accumulation areas even when it reaches the entrance. At the same time, obstacles such as wall / pipe protrusions, high embankments, and falling rocks are often located at critical nodes in the drainage path, making it difficult for the robot to directly climb over or bypass them. Water accumulation areas behind these obstacles are difficult to drain in a timely manner, thus increasing operational complexity and reducing overall drainage efficiency.

[0003] Furthermore, underground and subsurface spaces commonly experience wireless communication interruptions / delays due to metal structures and concrete shielding, as well as harsh environments such as high temperatures, high humidity, strong dust, or harmful gases. These conditions place higher demands on the robot's electrical systems, protection levels, and sensor reliability. Sensor data is also susceptible to interference from dust and turbid media, reducing its effectiveness. Traditional manual drainage operations in such environments require personnel to enter slippery, dimly lit, or even hazardous spaces to pump out and clear obstacles, posing safety hazards such as falls, trapping, and secondary injuries. Moreover, manual surveying and positioning are costly.

[0004] In actual emergency drainage, high-flow main pumps are key to increasing drainage volume per unit time. However, the bottleneck affecting continuous high-flow operation is often not the pump itself, but rather local blockages and obstructions in the drainage path. Some existing solutions attempt to perform low-flow pumping at the end-point tools, but the power gap with the main pump is too large to substantially improve overall efficiency. Conversely, if targeted breaking / clearing can be carried out at narrow / obstructed locations to promptly open the channel, and then the main pump can handle high-flow pumping, it would better meet the efficiency and safety requirements of emergency response.

[0005] Therefore, there is an urgent need for a submersible multi-functional water supply and drainage robot: on the one hand, it should form multi-directional, low-resistance water intake and drainage channels in its main body structure and work in conjunction with high-power pump sets to meet the needs of high-flow continuous drainage in complex scenarios; on the other hand, it should be equipped with auxiliary operation units that can perform fixed-point breaking and clamping obstacle clearing in narrow or obstructed locations, for clearing obstacles first and then draining, opening up the connection between the obstacle and the main drainage path; at the same time, it should be able to maintain stable perception, remote / autonomous operation and safety linkage control even in communication-restricted and harsh environments, so as to reduce the risk of personnel exposure and improve overall operation efficiency. Summary of the Invention

[0006] To address the challenges of effectively pumping out accumulated water in narrow or obstructed locations within enclosed and complex environments such as underground spaces and wells, obstacles such as protruding walls / pipes and high embankments restricting the robot's passage, as well as communication limitations and unstable operations and safety risks associated with manual entry in harsh environments such as high temperature / humidity / dust / harmful gases, a submersible multi-functional water supply and drainage robot capable of continuously, efficiently, and safely carrying out drainage operations under the aforementioned conditions is proposed.

[0007] This invention provides a submersible multi-functional water supply and drainage robot, comprising a robot body and auxiliary operation units. The robot body includes a main body with tracked walking mechanisms on both sides to improve its ability to traverse muddy, waterlogged, and uneven terrain. Two sets of water pumps are installed inside the main body. Multiple drainage holes are formed on both sides and the bottom of the main body, communicating with pumping chambers adapted to the water pumps, thereby forming a low-resistance, multi-directional water intake and drainage channel. The two sets of water pumps have anti-dry-burning and over-temperature protection, and support pumping power / speed adjustment and drainage volume / speed feedback display. The robot body is equipped with a sensor system and an electronic control system. The sensor system includes a scanning sonar, a single-beam sonar, a depth gauge, an electronic compass, a tilt sensor, a hazardous gas detection sensor, a camera, and lighting, used for environmental modeling, heading and attitude estimation, and low-light visibility operation. The electronic control system includes a multi-voltage power supply module, a motor protection module, and a control module. The control module implements group control of the two sets of water pumps and the sensors, and improves power supply stability through filters and reactors, and implements emergency stop protection through braking resistors. The robot supports remote control and local / remote status monitoring, and in autonomous operation mode, it performs path planning, dynamic obstacle recognition, and obstacle avoidance decisions based on sensor fusion data. At the same time, it implements coordinated scheduling of the two sets of water pumps to improve drainage efficiency per unit time.

[0008] The auxiliary working unit is a robotic arm installed on the main body. The robotic arm is sequentially connected to a first connecting arm, an angle adjusting arm, and a multi-stage telescopic second connecting arm. A clamping mechanism and a crushing mechanism are assembled at the end of the second connecting arm. The axial feed mechanism is connected to the crushing mechanism and is used to achieve axial feed and retraction of the crushing disc under the coordination of the robotic arm's posture adjustment and telescopic movement, enabling point crushing in narrow or obstructed locations. The clamping mechanism is used to grasp, move, and position foreign objects, creating a clear path for the main drainage system.

[0009] During operation, the control module of the submersible multi-functional water supply and drainage robot uses fused data from sensors such as sonar, vision, attitude, and depth gauges to complete environmental perception and path generation. In narrow / obstructed areas, the robotic arm is prioritized for obstacle clearing and targeted demolition; in open areas, the two sets of water pumps are prioritized for high-flow-rate drainage, forming a working mode of obstacle clearing / targeted demolition and continuous high-flow-rate drainage. When communication is limited or environmental visibility is poor, the robot can switch between remote and autonomous operation modes according to sensor status and task requirements to ensure stable operation under adverse conditions.

[0010] Compared to existing technologies, the submersible multi-functional water supply and drainage robot achieves multi-directional, low-resistance pumping through a combination of two sets of water pumps, a pumping chamber, and drainage holes on both sides / bottom. This reduces the precision requirements for the robot's alignment and increases the drainage volume per unit time. Utilizing the robotic arm's angle adjustment and multi-stage extension, along with an axial feed mechanism, it achieves precise delivery and fine-tuning of the crushing disc, precisely crushing and clearing obstructions / attached obstacles, thereby opening drainage paths and reaching water accumulation areas behind obstacles, ensuring continuous drainage. Multi-source sensing and group control enable environmental modeling, path planning, and obstacle avoidance decisions, and coordinated scheduling of the two sets of water pumps, maintaining stable operation even in communication-limited and harsh environments. Simultaneously, safety designs such as anti-dry-burn / over-temperature protection, filter / reactor steady-state protection, and braking resistor emergency stop enhance system reliability. Replacing manual entry into dangerous areas with a robot reduces the risks of slips, pinching, and secondary injuries, significantly improving drainage efficiency and operational safety in complex scenarios. Attached Figure Description

[0011] Figure 1 This is a three-dimensional structural schematic diagram of the present invention;

[0012] Figure 2 This is a side view of the structure of the present invention;

[0013] Figure 3 This is a schematic diagram of the three-dimensional structure of the partial explosion of the present invention. Figure 1 ;

[0014] Figure 4 This is a schematic diagram of the three-dimensional structure of the partial explosion of the present invention. Figure 2 ;

[0015] Figure 5 This is the invention Figure 4 Enlarged view of the structure at point A in the middle;

[0016] Figure 6 This is a schematic diagram showing the positional relationship of the rinsing units of the present invention;

[0017] Figure 7 This is a three-dimensional structural diagram of the rinsing unit of the present invention;

[0018] Figure 8 This is a schematic diagram showing the positional relationship between the main body and the second drainage through hole of the present invention;

[0019] Figure 9 This is a schematic diagram showing the positional relationship between the main body and the water pump of the present invention;

[0020] Figure 10 This is a three-dimensional structural diagram of the auxiliary operation unit of the present invention;

[0021] Figure 11 This is a three-dimensional structural diagram of the telescopic mechanism of the present invention;

[0022] Figure 12 This is a partial three-dimensional structural diagram of the auxiliary operation unit of the present invention;

[0023] Figure 13 This is a three-dimensional structural diagram of the clamping mechanism of the present invention;

[0024] Figure 14 This is a three-dimensional structural diagram of the second connecting arm, clamping mechanism, and crushing mechanism of the present invention;

[0025] Figure 15 This is a three-dimensional cross-sectional view of the second connecting arm, clamping mechanism, and crushing mechanism of the present invention.

[0026] In the diagram: 100, Robot body; 110, Main body; 111, First drainage hole; 112, Second drainage hole; 120, Tracked walking mechanism; 130, Camera; 140, Lighting lamp; 150, Water pump; 200, Auxiliary operation unit; 210, Robotic arm; 220, First connecting arm; 230, First motor; 240, Angle adjustment arm; 250, Telescopic mechanism; 251, First telescopic arm; 252, Second telescopic arm; 253, Third telescopic arm; 254, First telescopic component; 255, Second telescopic component; 256, Third telescopic component; 260, Second connecting arm; 270, Clamping mechanism; 271, Connecting seat; 272. Connecting frame; 273. Clamping plate; 274. Rack column; 275. Sector gear; 276. Swing arm; 277. Connecting rod; 278. Fourth telescopic component; 279. Connecting column; 280. Axial feed mechanism; 281. Drainage plate; 282. Water inlet; 283. Connecting pipe; 284. Drainage pipe; 285. Connecting hose; 286. Fifth telescopic component; 290. Crushing mechanism; 291. Crushing disc; 292. Rotating sleeve; 293. Second motor; 294. First gear; 295. Second gear; 300. Flushing unit; 310. Water supply pipe; 320. Flushing pipe; 330. Flushing head; 340. Connection port. Detailed Implementation

[0027] To further understand the present invention, preferred embodiments of the present invention are described below. However, it should be understood that these descriptions are only for further illustrating the features and advantages of the present invention, and are not intended to limit the scope of the claims of the present invention. The functions, structures and arrangements of the elements discussed may be changed without departing from the scope of protection described in this specification. Features of the various embodiments may also be omitted, substituted or combined with each other as needed.

[0028] Example 1: Overall Structure and Motion Platform; see appendix Figure 1 Appendix Figure 2 A submersible multi-functional water supply and drainage robot includes a robot body 100 and an auxiliary operation unit 200. The robot body 100 includes a main body 110, with tracked walking mechanisms 120 mounted on both sides. The tracked walking mechanisms 120 are equipped with high-torque drive motors, enabling them to overcome obstacles and adapt to complex terrain. Compared to traditional wheeled structures, the tracked walking mechanisms 120 effectively improve traversal capabilities on muddy, flooded, and uneven surfaces, expanding the operational range. In one embodiment, the tracked walking mechanism 120 features an approach angle of approximately 45°, supports climbing stairs of approximately 20cm, and has a walking speed of ≥5km / h to adapt to complex terrain.

[0029] Example 2: Sensor System; see appendix Figure 1 To be continued Figure 6 The main body 110 has cameras 130 installed on its front and rear sides, and lighting lamps 140 installed on both sides of the cameras 130. A scanning sonar and a first single-beam receiver are installed at the forward end of the main body 110, and second and third single-beam receivers are installed on the sides of the tracked walking mechanism 120 away from the main body 110. A hazardous gas sensor assembly is installed inside the main body 110, preferably located in a position with good air diffusion and above the water surface, and uses a waterproof and breathable membrane and protective cover to ensure both IP protection and gas diffusion. The sensor is used to detect carbon monoxide (CO), hydrogen sulfide (H2S), combustible gases, and oxygen (O2) in real time. The scanning sonar, combined with the first, second, and third single-beam receivers, enables omnidirectional environmental detection in both forward and lateral directions. The cameras 130 and lighting lamps 140 work together to achieve visual monitoring in low-light scenarios, providing data support for remote control or autonomous operation and reducing manual surveying costs.

[0030] The scanning sonar at the forward end can perform three-dimensional environmental scanning of the work area and identify information such as pipeline structure and obstacle distribution. The first single beam located at the forward end of the main body 110 works in conjunction with the second and third single beams located on the outside of the track to detect the distance of obstacles in front and to the side, providing reliable protection for the equipment's movement.

[0031] It is important to note that the sensor system also includes an electronic compass and an inclinometer. The power supply to each sensor can be independently controlled via a lower-level relay, avoiding interference and improving energy efficiency. The sensor system may also include a single-beam receiver, an electronic compass, and an inclinometer; each sensor can be independently powered via a lower-level relay to reduce mutual interference and improve energy efficiency.

[0032] Example 3: Drainage system and flow channel design; see appendix Figure 3 Appendix Figure 4 The main body 110 is equipped with multiple sets of water pumps 150, and in one embodiment, it is configured with two sets. For example, two high-performance water pumps 150 can be configured, and anti-dry burning and over-temperature protection functions can be set; the water pumps 150 support speed feedback, and work with flow meters to realize real-time display of drainage volume.

[0033] See appendix Figure 2 Appendix Figure 8 The main body 110 has several first drainage holes 111 on both sides and several second drainage holes 112 on its bottom. The main body 110 has an internal pumping chamber adapted to the water pump 150. The first drainage holes 111 and second drainage holes 112 are connected to the pumping chamber. The combination of multiple water pumps 150 and the multi-directional drainage holes 111 and 112 allows for flexible selection of water intake paths based on water distribution, improving drainage efficiency per unit time. The connection between the pumping chamber and the drainage holes reduces water flow resistance and energy consumption. During operation, the water pump 150 creates negative pressure through the pumping chamber, pumping water in multiple directions through the first drainage holes 111 and second drainage holes 112, and discharging the water outwards.

[0034] Example 4: Electrical Control System and Cooperative Control; The robot also includes an electrical control system, which comprises a multi-voltage power supply module, a motor protection module, and a control module. The control module can achieve group control of the water pump 150 and sensors via relays; the filter and reactor are used to ensure current and voltage stability; the braking resistor is used for emergency stop protection. During operation, the robot performs environmental perception and status monitoring through the aforementioned sensor system, supporting remote control and local / remote status monitoring; in autonomous operation mode, the control module performs path planning, dynamic obstacle recognition, and obstacle avoidance decisions based on sensor fusion data, and implements cooperative scheduling of the multiple groups of water pumps 150 to improve drainage efficiency per unit time. When an obstacle is encountered, the auxiliary operation unit 200 performs obstacle clearing, thereby ensuring the continuity and efficiency of the operation.

[0035] Example 5: Flushing unit 300 and anti-clogging structure design; see appendix Figure 5 Appendix Figure 6 Appendix Figure 7 In one embodiment, a flushing unit 300 is provided inside the pumping chamber. The flushing unit 300 includes a water supply pipe 310, on which multiple sets of flushing pipes 320 are installed. Multiple sets of flushing heads 330 are installed on the flushing pipes 320. The flushing heads 330 are inclined and used to remove blockages and impurities in the first drainage through hole 111, preventing blockages near the track walking mechanism 120 and thus avoiding interference with walking. A connection port 340 is provided on the water supply pipe 310 for connecting to the drain end of the water pump 150. During connection, a T-junction can be provided at the drain end of the water pump 150, with one end connected to the connection port 340 via a flexible hose, which can supply water to the water supply pipe 310 and complete the flushing of the first drainage through hole 111.

[0036] Example 6: End-point operation unit; see appendix Figure 1 Appendix Figure 2 Appendix Figure 10 The auxiliary operation unit 200 includes a robotic arm 210 mounted on the main body 110. The robotic arm 210 is provided with a first connecting arm 220. An angle adjustment arm 240 is provided at the end of the first connecting arm 220 away from the robotic arm 210. The end of the angle adjustment arm 240 away from the first connecting arm 220 is connected to a second connecting arm 260. A first motor 230 is mounted on the robotic arm 210, and the output shaft of the first motor 230 is fixedly connected to the first connecting arm 220.

[0037] See appendix Figure 10 The second connecting arm 260 is equipped with a clamping mechanism 270 and a crushing mechanism 290. The clamping mechanism 270 and the crushing mechanism 290 are used to clear obstacles and crush them at specific points to open up the passage and create unobstructed conditions for the main drainage system. The first motor 230 drives the first connecting arm 220 to rotate horizontally or vertically. With the bending and extending action of the angle adjusting arm 240, the second connecting arm 260 can be accurately delivered to the target position (such as a narrow section of the pipe, an obstruction, or the location of an obstacle). Combined with the fifth telescopic member 286, the crushing mechanism 290 is axially fed / retracted to achieve point crushing and fine adjustment of the contact pressure.

[0038] When obstacles such as rocks and branches are detected, the clamping mechanism 270 grabs and removes small obstacles; for hard or large obstacles, the crushing mechanism 290 crushes them at a fixed point to form passable fragments, avoiding blockage of the drainage path and reducing the need for manual obstacle removal.

[0039] Example 7: Axial feed mechanism 280 and fixed-point crushing; see appendix Figure 11 Appendix Figure 14 Appendix Figure 15An axial feed mechanism 280 is provided on the second connecting arm 260. The axial feed mechanism 280 includes a drain pan 281 disposed outside the second connecting arm 260. Multiple sets of water inlets 282 are arranged in a ring on the drain pan 281. A connecting pipe 283 is installed on the drain pan 281. A drain pipe 284 is installed on the second connecting arm 260. A connecting hose 285 is installed between the connecting pipe 283 and the drain pipe 284. The middle part of the connecting hose 285 is a corrugated pipe structure. A fifth telescopic member 286 is installed on the second connecting arm 260, and the telescopic end of the fifth telescopic member 286 is fixedly connected to the drain pan 281. The fifth telescopic member 286 is an electric push rod.

[0040] Specifically, the fifth telescopic component 286, through its telescopic movement, drives the drain tray 281 to move axially. In conjunction with the robotic arm 210 and angle adjustment arm 240 of the auxiliary work unit 200, the drain tray 281 can be precisely pushed to narrow drainage points, such as pipe gaps or recessed corners. The corrugated connecting hose 285 can flexibly bend and stretch along with the movement of the drain tray 281 during this process, preventing pipe breakage or blockage due to changes in position.

[0041] The annularly distributed water inlets 282 on the drainage tray 281 can simultaneously draw water from multiple directions, making it particularly suitable for irregular water accumulation areas, such as scattered puddles formed by leaks at pipe joints. After entering the drainage tray 281 through the water inlets 282, the water is transported to the drainage pipe 284 via the connecting pipe 283 and the connecting hose 285, and finally discharged into the external drainage channel, forming a complete drainage path.

[0042] When the drain pan 281 contacts the uneven working surface, the annular water inlet 282 can cover more water accumulation areas through the difference in position distribution. At the same time, the fifth telescopic component 286 can finely adjust the height of the drain pan 281 according to the pressure of the contact surface to ensure effective contact between the water inlet 282 and the water accumulation surface, reduce air intake during the water pumping process, and improve water pumping efficiency.

[0043] In addition, during operation, the fifth telescopic member 286 can also push / retract the crushing disc 291 axially, coordinating with the linkage of the robotic arm 210 and the angle adjustment arm 240 to achieve precise delivery to the target crushing point and fine adjustment of the feed rate / contact pressure, adapting to the crushing requirements of irregular working surfaces and materials of different strengths; feed rate control can suppress idling and jumping, improving crushing efficiency and stability. Preferably, during the crushing action, the control module can temporarily reduce the suction power of the two sets of water pumps 150 or keep them at low speed standby to reduce the impact of vibration and negative pressure disturbance on crushing stability; after crushing is completed, the control module increases the water pumps 150 to the operating speed to achieve continuous high-flow pumping.

[0044] Example 8: Telescopic mechanism 250; see appendix Figure 11 In one embodiment, the angle adjusting arm 240 is connected to the first connecting arm 220 via a telescopic mechanism 250. The telescopic mechanism 250 includes a first telescopic arm 251 slidably connected inside the first connecting arm 220, a second telescopic arm 252 slidably connected inside the first telescopic arm 251, and a third telescopic arm 253 slidably connected inside the second telescopic arm 252. A first telescopic component 254 is mounted on the first connecting arm 220, a second telescopic component 255 is mounted on the first telescopic arm 251, and a third telescopic component 256 is mounted on the second telescopic arm 252. The telescopic components are preferably electric push rods. The telescopic mechanism 250 achieves stepped length adjustment through independent control of the three telescopic components: when the working radius needs to be extended, the first telescopic arm 251, the second telescopic arm 252, and the third telescopic arm 253 are sequentially extended; the retraction process is reversed. The telescopic mechanism 250, together with the angle adjusting arm 240 and the robotic arm 210, forms a multi-dimensional motion combination, enabling continuous operation of attitude adjustment, angle control, and length extension at the bottom of a deep ditch or at a high target position. In situations where walls, high embankments, or protruding pipes cannot be directly crossed, the telescopic mechanism 250 can deliver the crushing mechanism 290 or the clamping mechanism 270 to the target area to complete the fixed-point crushing or grabbing and moving in advance, thereby opening up the passage between the main drainage area and reducing the risk of jamming and overturning.

[0045] Example 9: Clamping mechanism 270 and drive transmission; see appendix Figure 12 Appendix Figure 13 Appendix Figure 15 In one embodiment, the clamping mechanism 270 includes a connecting seat 271 disposed at the end of the second connecting arm 260, a connecting frame 272 symmetrically mounted on the connecting seat 271, and a clamping plate 273 rotatably connected to the connecting frame 272 via a rotating shaft; the clamping plate 273 is driven by a control component to achieve clamping / releasing; a connecting post 279 is mounted on the connecting seat 271 and fixedly connected to the second connecting arm 260. The driving component includes a sector gear 275 and a rack column 274. The sector gear 275 is rotatably connected to the connecting frame 272 via a rotating shaft and meshes with the rack column 274. A swing arm 276 is mounted on the sector gear 275. One end of the swing arm 276 away from the sector gear 275 is rotatably connected to a connecting rod 277 via a rotating shaft. One end of the connecting rod 277 away from the swing arm 276 is rotatably connected to the clamping plate 273. A fourth telescopic member 278, preferably an electric push rod, is mounted on the connecting seat 271. The telescopic end of the fourth telescopic member 278 is fixedly connected to the rack column 274.

[0046] During operation, the fourth telescopic component 278 pulls or pushes the rack column 274 to generate axial movement, which drives the sector gears 275 on both sides to rotate synchronously through gear meshing. This drives the swing arm 276 to link with the connecting rod 277, causing the clamping plate 273 to close or open to complete clamping or releasing. The clamping mechanism 270 cooperates with the telescopic mechanism 250 and the angle adjusting arm 240 to send the clamping plate 273 to the obstacle for grabbing, moving and positioning, thereby opening up the working channel and reducing the risk of blockage during drainage. During the crushing operation, the control module can perform closed-loop control of the crushing position and feed speed based on feedback from the scanning sonar, the first single beam, the second single beam, the third single beam and the camera 130, and coordinate with the speed of the water pump 150 to avoid debris scattering and secondary blockage caused by strong suction.

[0047] Example 10: Crushing mechanism 290 and coaxial support; see appendix Figure 14 Appendix Figure 15 The crushing mechanism 290 includes a crushing disc 291 disposed at the end of the second connecting arm 260. A rotating sleeve 292 is mounted on the crushing disc 291, and the rotating sleeve 292 is rotatably connected to the second connecting arm 260 via a bearing. A second motor 293 is mounted on the second connecting arm 260, and a first gear 294 is mounted on the output shaft of the second motor 293. The first gear 294 meshes with a second gear 295 fixedly connected to the rotating sleeve 292 to drive the rotating sleeve 292 to rotate and drive the crushing disc 291 to perform crushing operations.

[0048] Furthermore, the rotating sleeve 292 is fitted onto the outside of the connecting post 279. A through groove adapted to the connecting post 279 is formed inside the rotating sleeve 292, and the through groove and the rotating sleeve 292 are coaxially rotated together via bearings to ensure the relative rotation and coaxial positioning of the end tool and the robotic arm 210 during the crushing operation. When encountering concrete blocks or large rocks, the second motor 293 drives the crushing disc 291 to rotate at high speed, cutting or impacting the obstacle to form removable fragments and avoid clogging the drainage path.

[0049] Example 11: Workflow and Effects; Based on the above structure, the robot operates in complex environments according to the following steps: environmental perception—path decision-making—obstacle clearing / fixed-point crushing—continuous high-flow-rate pumping: In narrow or obstructed areas, if the robot body 100 has difficulty passing through, the robotic arm 210 is prioritized to carry the clamping mechanism 270 or the crushing mechanism 290 to perform obstacle clearing and fixed-point crushing operations. In open areas, the multiple sets of water pumps 150 are prioritized to pump water at high flow rates through the pumping chamber and the first drainage through-hole 111 and the second drainage through-hole 112, so as to maintain stable drainage efficiency and operational continuity in irregular terrain and harsh environments.

[0050] The above embodiments are illustrative and not restrictive. Those skilled in the art may make equivalent substitutions or modifications to the structural form, component arrangement, and connection method without departing from the spirit and scope of this specification, and all such substitutions or modifications shall be covered within the scope of this specification.

Claims

1. A submersible multi-functional water supply and drainage robot, characterized in that, include: Robot body and auxiliary operation units; The robot body includes a main body, with tracked walking mechanisms on both sides of the main body. It has two sets of water pumps inside, and drainage holes are opened on both sides and bottom of the main body and connected to the water pumping chamber to form a multi-directional water intake and drainage channel. The robot body is equipped with a sensor system, an electronic control system, and a control module to support remote operation and autonomous operation; the sensor system includes a scanning sonar, a first single beam, a second single beam, a third single beam, a depth gauge, an electronic compass, a tilt sensor, a hazardous gas detection sensor, a camera, and a lighting lamp; The autonomous operation is based on environmental perception data for path planning and automatic obstacle avoidance, and coordinates the two sets of water pumps to improve drainage efficiency. The auxiliary operation unit is a robotic arm installed on the main body. The robotic arm is connected in sequence to a first connecting arm, an angle adjustment arm, and a multi-stage telescopic second connecting arm. The end of the second connecting arm can be equipped with a clamping mechanism and a crushing mechanism. The clamping mechanism and the crushing mechanism are used to clear obstacles to ensure the continuity and safety of drainage operations. The crushing mechanism includes a crushing disc, a rotating sleeve, a gear transmission assembly, and a second motor. A first gear is mounted on the output shaft of the second motor, and a second gear, which is fixedly connected to the rotating sleeve, meshes with the first gear to drive the rotating sleeve to rotate. A bearing is provided between the rotating sleeve and the second connecting arm to achieve a rotatable connection, thereby driving the crushing disc to perform crushing operations. A connecting post is provided at the end of the second connecting arm, and the rotating sleeve is sleeved on the outside of the connecting post. A through groove adapted to the connecting post is formed inside the rotating sleeve, and a bearing is provided between the inner wall of the rotating sleeve and the outer wall of the connecting post to achieve coaxial rotational engagement, thereby ensuring the relative rotation and coaxial positioning of the end tool and the mechanical arm during crushing operations. An axial feeding mechanism is provided on the second connecting arm. The axial feeding mechanism includes a fifth telescopic member. The fifth telescopic member is used to drive the crushing disc to be pushed axially to the target crushing point when the robotic arm is adjusting its angle and / or extending and retracting, so as to achieve fixed-point crushing and fine adjustment of contact pressure, thereby improving the stability and efficiency of crushing operation. The clamping mechanism includes a connecting seat located at the end of the second connecting arm, connecting frames symmetrically arranged on the connecting seat, and a clamping plate rotatably connected to the connecting frame via a rotating shaft. The clamping plate is driven by a control component to achieve clamping / releasing. The connecting seat is provided with a connecting post and is fixedly connected to the second connecting arm, and is used to grab, move and position the target object during the obstacle clearing process.

2. The submersible multi-functional water supply and drainage robot according to claim 1, characterized in that: The two sets of water pumps are connected to the pumping chamber and the drainage holes on both sides and the bottom to achieve multi-directional pumping and drainage, reduce water flow resistance, and increase the drainage volume per unit time. The two sets of water pumps have anti-dry burning and overheat protection functions, and support pumping power / speed adjustment and drainage volume / speed feedback display.

3. The submersible multi-functional water supply and drainage robot according to claim 1, characterized in that: The sensor system provides environmental detection and attitude control data, specifically including: The scanning sonar is used for contour / obstacle detection, the single beam is used to measure the distance between the robot and the obstacle, the depth gauge is used for water level measurement, the electronic compass and tilt sensor are used for heading and attitude estimation, the hazardous gas detection sensor is used to monitor the content of carbon monoxide, hydrogen sulfide and oxygen in real time and trigger an alarm when the limit is exceeded, and the camera and lighting are used for visual operation and low light environment observation.

4. The submersible multi-functional water supply and drainage robot according to claim 1, characterized in that, The electrical control system includes a multi-voltage power supply module, a motor protection module, and a control module. The control module is used to control the two sets of water pumps and the sensor system in groups, and stabilizes the power supply through filters and reactors, and realizes emergency stop protection through braking resistors.

5. The submersible multi-functional water supply and drainage robot according to claim 1, characterized in that: The robot supports remote control and local / remote status monitoring. When operating autonomously, it completes environmental modeling, path planning, and dynamic obstacle recognition / avoidance based on fused data from sonar, vision, attitude, and depth measurement. In occluded areas, the robotic arm is scheduled to perform obstacle clearing and fixed-point crushing, while in open areas, the two sets of water pumps are scheduled to perform drainage operations.

6. The submersible multi-functional water supply and drainage robot according to claim 1, characterized in that: The robot body adopts a tracked walking mechanism to improve its ability to travel and overcome obstacles on muddy, waterlogged and uneven ground. The tracked walking mechanism is designed with a 45° approach angle, supports climbing 20cm stairs, and has a walking speed of ≥5km / h to adapt to complex terrain.

7. The submersible multi-functional water supply and drainage robot according to claim 1, characterized in that, A multi-stage telescopic mechanism is provided between the angle adjustment arm and the first connecting arm. The telescopic mechanism includes a first telescopic arm, a second telescopic arm, and a third telescopic arm that slide along the direction of the first connecting arm. They are driven by a first telescopic component, a second telescopic component, and a third telescopic component respectively disposed on the first connecting arm, the first telescopic arm, and the second telescopic arm, so as to obtain end positioning and delivery capabilities with long stroke and fine step distance.

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