Underwater dredging robot for flood dispatching

Abstract

The underwater dredging robot comprises a vehicle seat and a negative pressure adsorption hopper, sliding arms are slidably connected to the upper portions of the two sides of the vehicle seat, rotating arms are rotatably connected to the interiors of the front sides of the sliding arms, and a first rotating shaft and a second rotating shaft are rotatably connected to the interiors of the other ends of the rotating arms correspondingly; the lower part of the first rotating shaft penetrates through the outer side of the rotating arm and is sleeved with a lifting cylinder, the lower part of the lifting cylinder is fixedly connected with a rotating disc, the lower part of the rotating disc is fixedly connected with a plurality of groups of brushes, and the upper part of the second rotating shaft penetrates through the rotating arm and is fixedly connected with a rake-shaped hook claw; the outer side of the first rotating shaft and the outer side of the second rotating shaft are fixedly connected with turning gears which are meshed with each other, so that the industrial problems that traditional dredging equipment is easy to wind and block and needs to be frequently shut down for cleaning are fundamentally solved, and the continuity and the working efficiency of dredging operation are greatly improved; and the method is completely adapted to the emergency dredging working condition of the riverway with high impurity content after the flood.

Description

Technical Field

[0001] This invention relates to the field of underwater dredging robot technology, specifically to underwater dredging robots used in flood control. Background Technology

[0002] In flood control and river management, after a flood, a large amount of silt, rocks, aquatic plants, domestic waste and other debris will accumulate in the river channel, reservoir and flood passage, which will seriously compress the flow cross-section of the river channel, reduce the flood discharge capacity, and bring great safety hazards to subsequent flood control. Therefore, it is necessary to carry out rapid and efficient dredging operations on the silted river channel to restore the flood discharge capacity of the river channel.

[0003] The existing dredging equipment has a severely insufficient pretreatment capacity. The silt at the bottom of the water is mixed with aquatic plants, rocks and debris. During the dredging process, it is impossible to achieve pre-separation of silt and debris. After a large amount of debris enters the equipment, it is very easy to cause blockage of the suction port and the conveying pipeline, resulting in frequent interruptions of dredging operations. Manual underwater cleaning is required, which not only has extremely low work efficiency, but also poses serious safety risks to underwater operations. Summary of the Invention

[0004] The purpose of this invention is to provide an underwater dredging robot for flood control to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an underwater dredging robot for flood control, comprising a seat and a negative pressure adsorption bucket. An installation plate is fixedly connected to the inside of the front side of the negative pressure adsorption bucket. Several sets of fixed plates are fixedly connected to the outside of the installation plate. A control box is fixedly connected to the other end of the fixed plate. A third rotating shaft is rotatably connected between two adjacent sets of control boxes. A rotating rod is fixedly connected to the outside of the third rotating shaft. A cutting blade is fixedly connected to the outside of the rotating rod. The outermost two sides of the third rotating shaft are rotatably connected to the inner wall of the negative pressure adsorption bucket.

[0006] The upper sides of the seat are slidably connected to sliding arms. The front side of the sliding arms is rotatably connected to rotating arms. The other end of the rotating arms is rotatably connected to a first rotating shaft and a second rotating shaft. The lower part of the first rotating shaft passes through the outer side of the rotating arm and is fitted with a lifting cylinder. The lower part of the lifting cylinder is fixedly connected to a rotating disk. The lower part of the rotating disk is fixedly connected to several sets of brushes. The upper part of the second rotating shaft passes through the rotating arm and is fixedly connected to a rake-shaped hook. The outer sides of the first rotating shaft and the second rotating shaft are fixedly connected to meshing reversing gears.

[0007] Preferably, a first motor is fixedly connected to the upper part of the rotating arm, the power end of the first motor is fixedly connected to the upper part of the first rotating shaft, a follower groove is opened inside the lifting cylinder, a follower tooth is fixedly connected to the lower part of the first rotating shaft, the follower tooth is slidably connected inside the follower groove, and a pressure spring is fixedly connected between the upper part of the follower tooth and the lifting cylinder, the pressure spring is sleeved on the outside of the first rotating shaft.

[0008] Preferably, a second bevel gear is fixedly connected to one side of the third rotating shaft through the inside of the control box, and a first bevel gear is meshed between two adjacent sets of second bevel gears. The tail of the first bevel gear is rotatably connected to the inner wall of the control box.

[0009] Preferably, two sets of sixth rotating shafts are rotatably connected to the inner side of the negative pressure adsorption hopper, and several sets of stirring rods are fixedly connected to the outer side of the sixth rotating shafts.

[0010] Preferably, the negative pressure adsorption bucket has control slots on both sides. A first motor frame is fixedly connected inside one control slot, and a fourth motor is fixedly connected outside the first motor frame. A third rotating shaft penetrates into the control slot and is fixedly connected to the fourth motor. One end of a sixth rotating shaft penetrates into the control slot and is fitted with a third transmission belt. The other end of the sixth rotating shaft penetrates into the control slot on the other side and is fitted with a second transmission belt. The other side of the second transmission belt is fitted outside the third rotating shaft.

[0011] Preferably, mounting brackets are fixedly connected to the upper parts of both sides of the seat, a third motor is fixedly connected to the outer side of the mounting brackets, the power end of the third motor is fixedly connected to a first threaded rod through the mounting brackets, the other end of the first threaded rod is rotatably connected to the outer side of the mounting brackets, a lug is threadedly connected to the outer side of the first threaded rods, the lug is slidably connected to the inside of the mounting brackets, and the lug is fixedly connected to a sliding arm.

[0012] Preferably, a fourth rotating shaft is fixedly connected to the inner side of one end of the rotating arm. The upper and lower ends of the fourth rotating shaft penetrate the rotating arm and are rotatably connected to the sliding arm. A second motor is fixedly connected to the upper part of one end of the sliding arm. The power end of the second motor penetrates into the interior of the sliding arm and is fixedly connected to a fifth rotating shaft. The lower part of the fifth rotating shaft is rotatably connected to the interior of the sliding arm. A first transmission belt is sleeved on the outer side of the fifth rotating shaft and the fourth rotating shaft. Avoidance grooves are opened on both sides of the sliding arm and the rotating arm facing each other at one end.

[0013] Preferably, a storage box is fixedly connected to the upper part of the seat. Two sets of third rotating blocks are fixedly connected to the front side of the storage box. An installation arm is rotatably connected to the outer side of the third rotating block. The other side of the installation arm is fixedly connected to the negative pressure adsorption bucket. A filter plate is fixedly connected to the middle of the negative pressure adsorption bucket. A conveying pipe is fixedly connected between the negative pressure adsorption bucket and the storage box. Connecting boxes are fixedly connected to both sides of the upper part of the storage box. A sliding frame is slidably connected inside the side wall of the connecting box. A second rotating block is fixedly connected to the outer side of the sliding frame. A second rotating frame is rotatably connected to the outer side of the second rotating block. A damping buffer rod is fixedly connected to the other side of the second rotating frame. A first rotating frame is fixedly connected to the other end of the damping buffer rod. A buffer return spring and a bellows are fixedly connected between the first rotating frame and the second rotating frame. The buffer return spring is sleeved on the outer side of the damping buffer rod. The bellows is sleeved on the outer side of the buffer return spring. A first rotating block is rotatably connected inside the second rotating frame. The lower part of the first rotating block is fixedly connected to the negative pressure adsorption bucket.

[0014] Preferably, a sixth motor is fixedly connected to the outside of the connecting box, and the power end of the sixth motor penetrates into the inside of the connecting box and is fixedly connected to a second threaded rod. The other end of the second threaded rod is rotatably connected to the inside of the connecting box, and the second threaded rod is threadedly connected to the other end of the sliding frame.

[0015] Preferably, a sewage inlet pipe is fixedly connected inside the storage box. One end of the sewage inlet pipe is fixedly connected to a conveying pipe. A spin-drying drum is rotatably connected to the outer side of the other end of the sewage inlet pipe. A sewage outlet pipe is rotatably connected to the inner side of the other end of the spin-drying drum. The sewage outlet pipe is fixedly connected inside the storage box. A drain pipe is fixedly connected to the lower part of one side of the storage box. A second motor frame is fixedly connected to the upper part of one side of the storage box. A fifth motor is fixedly connected to the inner side of the second motor frame. A drive gear is fixedly connected to the power end of the fifth motor through the second motor frame. An external gear ring is fixedly connected to the outer side of one end of the spin-drying drum. The external gear ring meshes with the drive gear.

[0016] Compared with the prior art, the beneficial effects of the present invention are:

[0017] 1. This invention achieves pre-separation of silt and debris at the source through an integrated design where the first rotating shaft drives the sweeping disc to sweep silt inward, the reversing gear drives the second rotating shaft to rotate in the opposite direction, and the rake-shaped hook claws discharge debris outward. This ensures effective sweeping and collection of silt and completely prevents debris such as water plants, stones, and domestic waste from entering the adsorption hopper and conveying pipeline. It fundamentally solves the industry pain points of traditional dredging equipment, such as easy entanglement, easy blockage, and the need for frequent shutdowns for cleaning. It greatly improves the continuity and efficiency of dredging operations and is fully adaptable to emergency dredging conditions in rivers with high impurity content after floods.

[0018] 5. This invention also utilizes an adaptive floating structure composed of a damping buffer rod and a buffer return spring, allowing the negative pressure adsorption bucket to flexibly swing up and down with the underwater terrain, always remaining in close contact with the ground. This completely solves the problems of traditional equipment being unable to adapt to uneven ground, negative pressure leakage, and incomplete dredging. Combined with an adjustable pre-tightening structure, it can adapt to sludge of different hardness, ensuring effective dredging by the shovel blade. The tracked walking mechanism can move stably in underwater silt and rocky terrain, fully adapting to the complex working environment of river channels after floods. The continuity and efficiency of dredging operations are significantly improved compared to traditional equipment, meeting the rapid operation requirements of emergency dredging during flood control.

[0019] 3. The present invention also uses staggered and counter-rotating cutting blades to form a continuous shearing force, which quickly shreds aquatic plants and debris that have accidentally entered the adsorption hopper, further enhancing the equipment's anti-clogging and anti-entanglement capabilities, ensuring continuous and stable operation of dredging operations, and significantly reducing equipment failure rate and labor maintenance costs; at the same time, the continuous stirring of the stirring rod can prevent sludge from hardening, ensure the smoothness of negative pressure conveying, and further improve the stability of equipment operation.

[0020] 4. This invention also achieves continuous and efficient solid-liquid separation of sludge and water through a centrifugal spin dryer. The separated clean water can be directly discharged back into the river, avoiding secondary pollution of the river water and meeting the requirements of river ecological management. The water content of the separated sludge is greatly reduced, and it can be directly dewatered and disposed of, which greatly reduces the transportation and treatment costs of sludge and has excellent economic benefits. At the same time, the negative pressure adsorption system adopts a fully sealed pipeline design, with stable negative pressure and strong adsorption force, which can realize continuous and efficient transportation of sludge, and the dredging efficiency is far higher than that of traditional equipment. Attached Figure Description

[0021] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0022] Figure 2 This is a three-dimensional cross-sectional view of the present invention;

[0023] Figure 3 This is a three-dimensional cross-sectional view of the present invention;

[0024] Figure 4 This is a three-dimensional cross-sectional view of the present invention;

[0025] Figure 5 This is a three-dimensional cross-sectional view of the present invention;

[0026] Figure 6 This is an enlarged view of the structure at point A of the present invention;

[0027] Figure 7 This is an enlarged view of the structure at point B of the present invention;

[0028] Figure 8 This is an enlarged view of the structure at point C in this invention;

[0029] Figure 9 This is an enlarged view of the structure at point D in this invention.

[0030] In the diagram: 1. Seat; 2. Storage box; 3. Third rotating block; 4. Mounting arm; 5. Negative pressure adsorption bucket; 6. Filter plate; 7. Sliding arm; 8. Rotating arm; 9. First rotating shaft; 10. Lifting cylinder; 11. Rotating disc; 12. Brush; 13. Second rotating shaft; 14. Rake-shaped hook; 15. Mounting plate; 16. Control box; 17. Third rotating shaft; 18. Rotating rod; 19. Cutting blade; 20. First motor; 21. Pressure spring; 22. Follower gear; 23. Follower groove; 24. Reversing gear; 25. Fourth rotating shaft; 26. Clearance groove; 27. Second motor; 28. Fifth rotating shaft; 29. ​​First transmission belt; 30. Connector; 31. Mounting bracket; 32. First threaded rod; 33. Third motor 34. Control slot; 35. First bevel gear; 36. Second bevel gear; 37. Fixing plate; 38. First motor frame; 39. Fourth motor; 40. Sixth rotating shaft; 41. Stirring rod; 42. Second transmission belt; 43. Third transmission belt; 44. Conveying pipe; 45. Sewage inlet pipe; 46. Spin-drying drum; 47. Sewage outlet pipe; 48. Drainage pipe; 49. External gear ring; 50. Second motor frame; 51. Fifth motor; 52. Drive gear; 53. First rotating block; 54. First rotating frame; 55. Damping buffer rod; 56. Buffer return spring; 57. Second rotating frame; 58. Second rotating block; 59. Sliding frame; 60. Connecting box; 61. Second threaded rod; 62. Sixth motor; 63. Corrugated pipe. Detailed Implementation

[0031] 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.

[0032] Please see Figure 1-9This invention provides a technical solution: an underwater dredging robot for flood control, comprising a seat 1 and a negative pressure adsorption bucket 5. The front side of the negative pressure adsorption bucket 5 is fixedly connected to an installation plate 15 by welding. Several sets of fixing plates 37 are uniformly welded to the front side of the installation plate 15 in the horizontal direction. A sealing control box 16 is welded to the front end of each fixing plate 37. A third rotating shaft 17 is rotatably connected between two adjacent sets of sealing control boxes 16 by mechanical seal. Rotating rods 18 are uniformly welded to the outer side of the third rotating shaft 17 in the axial direction. Cutting blades 19 are fixedly connected to the outer side of the rotating rods 18 by bolts. The outer ends of the two outermost sets of third rotating shafts 17 are rotatably connected to the inner walls of both sides of the negative pressure adsorption bucket 5 by mechanical seal.

[0033] Sliding arms 7 are slidably connected to the upper parts of both sides of the seat 1. Rotating arms 8 are rotatably connected to the front interior of the sliding arms 7. The other end of the rotating arms 8 is rotatably connected to the first rotating shaft 9 and the second rotating shaft 13 through mechanical seals. The lower part of the first rotating shaft 9 passes through the outer side of the rotating arm 8 and is coaxially fitted with a lifting cylinder 10. A rotating disk 11 is welded and fixed to the lower part of the lifting cylinder 10. Several sets of brushes 12 are fixedly connected to the lower part of the rotating disk 11 by bolts. The upper part of the second rotating shaft 13 passes through the rotating arm 8 and is fixedly connected to a rake-shaped hook 14 through a flat key. The outer sides of the first rotating shaft 9 and the second rotating shaft 13 are fixedly connected to meshing reversing gears 24 through a flat key.

[0034] The upper part of the rotating arm 8 is fixedly connected to the first motor 20 by bolts. The power end of the first motor 20 is fixedly connected to the upper part of the first rotating shaft 9 by a coupling. The inside of the lifting cylinder 10 is provided with a rectangular spline follower groove 23. The lower part of the first rotating shaft 9 is welded and fixed with a rectangular spline follower tooth 22. The follower tooth 22 is slidably connected to the follower groove 23 through clearance fit. The upper part of the follower tooth 22 is fixedly connected to the lifting cylinder 10 by spot welding with a pressure spring 21. The pressure spring 21 is coaxially sleeved on the outside of the first rotating shaft 9. During the dredging process, when the bottom surface is uneven, the elastic force of the pressure spring 21 pushes the lifting cylinder 10 to float up and down adaptively along the axial direction of the first rotating shaft 9, ensuring that the cleaning brush 12 is always in close contact with the bottom surface. Even if the ground is uneven, it can ensure a stable cleaning effect, completely solving the problem that traditional cleaning mechanisms cannot adapt to uneven ground and the cleaning is not thorough.

[0035] The third rotating shaft 17 penetrates into the control box 16 and is fixedly connected to the second bevel gear 36 via a flat key. The two adjacent sets of second bevel gears 36 are meshed with a first bevel gear 35. The tail of the first bevel gear 35 is rotatably connected to the inner wall of the control box 16 via a deep groove ball bearing. The two adjacent sets of third rotating shafts 17 achieve reverse synchronous rotation by reversing the first bevel gear 35.

[0036] The negative pressure adsorption bucket 5 has two sets of sixth rotating shafts 40 rotatably connected to the inner side by a mechanical seal. Several sets of stirring rods 41 are uniformly welded and fixed on the outer side of the sixth rotating shafts 40 along the axial direction. The stirring rods 41 on the two sets of sixth rotating shafts 40 are staggered.

[0037] The negative pressure adsorption bucket 5 has symmetrical sealing control grooves 34 on the outer walls of its left and right sides. A first motor frame 38 is fixedly connected to the inside of one control groove 34 by bolts. A fourth motor 39 is fixedly connected to the outside of the first motor frame 38 by bolts. A third rotating shaft 17 on one side penetrates into the control groove 34 and is fixedly connected to the fourth motor 39 by a coupling. One end of two sets of sixth rotating shafts 40 penetrates into the inside and outside of the control groove 34 and is fitted with a third transmission belt 43 by a synchronous pulley. The other end of one set of sixth rotating shafts 40 penetrates into the inside and outside of the control groove 34 on the other side and is fitted with a second transmission belt 42 by a synchronous pulley. The other side of the second transmission belt 42 is fitted with a synchronous pulley on the outside of the third rotating shaft 17.

[0038] Two sets of guide mounting brackets 31 are symmetrically fixedly connected to the upper part of the left and right sides of the seat 1. A third motor 33 is fixedly connected to the outside of the mounting bracket 31 by bolts. The power end of the third motor 33 penetrates the mounting bracket 31 and is fixedly connected to the first threaded rod 32 through a coupling. The other end of the first threaded rod 32 is rotatably connected to the outside of the mounting bracket 31 through a deep groove ball bearing. The outside of the first threaded rod 32 is threadedly connected to a lug 30. The lug 30 is slidably connected to the inside of the mounting bracket 31. The lug 30 is welded and fixedly connected to the sliding arm 7. When the waterproof third motor 33 is started, the first threaded rod 32 is driven to rotate synchronously. Through the threaded transmission, the sliding lug 30 is driven to slide back and forth along the guide mounting bracket 31, thereby driving the sliding arm 7 and the rotating arm 8 to move back and forth synchronously, adjusting the distance between the pretreatment cleaning mechanism and the negative pressure adsorption bucket 5 to adapt to different sludge dredging conditions.

[0039] A fourth rotating shaft 25 is welded and fixedly connected to the inner side of one end of the rotating arm 8. The upper and lower ends of the fourth rotating shaft 25 penetrate the rotating arm 8 and are rotatably connected to the sliding arm 7 through a deep groove ball bearing. A second motor 27 is fixedly connected to the upper part of one end of the sliding arm 7 by bolts. The power end of the second motor 27 penetrates into the interior of the sliding arm 7 and is fixedly connected to a fifth rotating shaft 28 through a coupling. The lower part of the fifth rotating shaft 28 is rotatably connected to the interior of the sliding arm 7 through a deep groove ball bearing. A first transmission belt 29 is sleeved on the outer side of the fifth rotating shaft 28 and the fourth rotating shaft 25 through a synchronous pulley. The sliding arm 7 and the rotating arm 8 have clearance grooves 26 on both sides facing each other at one end. When the waterproof second motor 27 is started, it drives the fifth rotating shaft 28 to rotate synchronously. The first transmission belt 29 drives the fourth rotating shaft 25 to rotate, which in turn drives the rotating arm 8 to rotate left and right around the axis of the fourth rotating shaft 25, adjusting the inner and outer positions of the cleaning rotating disk 11 and the rake-type hook claw 14 relative to the negative pressure suction bucket 5.

[0040] A storage box 2 is fixedly connected to the upper part of the seat 1. Two sets of third rotating blocks 3 are symmetrically fixedly connected to the front outer wall of the sealed storage box 2. Each set of third rotating blocks 3 has an mounting arm 4 hinged to its outer side by a pin. The other end of the mounting arm 4 is welded and fixed to the lower outer wall of the negative pressure adsorption bucket 5. A filter plate 6 is fixedly connected to the middle of the negative pressure adsorption bucket 5 by bolts. A conveying pipe 44 is fixedly connected to the negative pressure adsorption bucket 5 and the storage box 2 by a flange. Connecting boxes 60 are fixedly connected to the upper two sides of the storage box 2. A sliding frame 59 is slidably connected to the inside of the side wall of the connecting box 60 by clearance fit. A second rotating block 58 is welded and fixed to the outer side of the sliding frame 59. A second rotating frame 57 is hinged to the outer side of the second rotating block 58 by a pin. A damping buffer rod 55 is welded and fixed to the other side of the second rotating frame 57. A first rotating frame 54 is welded and fixed to the other end of the damping buffer rod 55. The first rotating frame 54 and the second rotating frame 57 are fixedly connected. The system includes a buffer return spring 56 and a bellows 63. The buffer return spring 56 is coaxially sleeved on the outside of the damping buffer rod 55, and the bellows 63 is coaxially sleeved on the outside of the buffer return spring 56. Inside the second rotating frame 57, a first rotating block 53 is hinged via a pin. The lower part of the first rotating block 53 is welded and fixed to the negative pressure adsorption bucket 5. When the robot walks on the uneven bottom of the river, the negative pressure adsorption bucket 5 will swing up and down around the hinge axis of the third rotating block 3 as the ground level changes. At this time, the damping buffer rod 55 and the buffer return spring 56 cooperate to form an adaptive buffer structure: when the ground is raised, the negative pressure adsorption bucket 5 swings upward, compressing the buffer return spring 56 and the damping buffer rod 55; when the ground is sunken, the elastic force of the buffer return spring 56 pushes the negative pressure adsorption bucket 5 to swing downward, so that the shovel blade is always in close contact with the bottom of the water, avoiding the problems of suspension and negative pressure leakage, and ensuring the stability of the negative pressure adsorption effect.

[0041] A sixth motor 62 is bolted to the outside of the connecting box 60. The power end of the sixth motor 62 penetrates into the connecting box 60 and is fixedly connected to a second threaded rod 61 via a coupling. The other end of the second threaded rod 61 is rotatably connected to the inside of the connecting box 60 via a deep groove ball bearing. The second threaded rod 61 is threadedly connected to the other end of the sliding frame 59. When the waterproof sixth motor 62 is started, it drives the second threaded rod 61 to rotate synchronously. Through threaded transmission, the sliding frame 59 slides back and forth along the adjusting connecting box 60. In turn, through the damping buffer rod 55, it drives the negative pressure adsorption bucket 5 to rotate around the third rotating block. The hinge shaft of 3 rotates to adjust the initial ground contact pressure of the shovel blade of the negative pressure adsorption bucket 5, ensuring that the shovel blade can effectively remove the hardened silt attached to the bottom of the water, adapting to silt conditions of different hardness. The damping buffer rod 55 can effectively buffer the vibration and impact during the movement, preventing the negative pressure adsorption bucket 5 from hitting the bottom rocks and causing structural damage. At the same time, it can suppress the high-frequency oscillation of the adsorption bucket and ensure the stability of the adsorption process. The waterproof corrugated pipe 63 can form a waterproof protection for the buffer return spring 56 and the damping buffer rod 55, preventing underwater mud and sand from entering the fitting gap and causing jamming, thus extending the service life of the structure.

[0042] The storage box 2 is fixedly connected to an inlet pipe 45. One end of the inlet pipe 45 is fixedly connected to the conveying pipe 44 via a flange. The other end of the inlet pipe 45 is rotatably connected to a centrifugal drying cylinder 46 via a dynamic sealing structure. The cylinder wall of the centrifugal drying cylinder 46 is evenly provided with filter holes. The other end of the centrifugal drying cylinder 46 is rotatably connected to a drain pipe 47 via a mechanical seal. The drain pipe 47 is fixedly connected to the inside of the storage box 2 via a bracket. A drain pipe 48 is fixedly connected to the lower part of one side of the storage box 2. A second motor frame 50 is fixedly connected to the upper part of one side of the storage box 2 via bolts. A fifth motor 51 is fixedly connected to the inside of the second motor frame 50 via bolts. The power end of the fifth motor 51 penetrates the second motor frame 50 and is fixedly connected to a drive gear 52 via a flat key. An external gear ring 49 is fixedly connected to the outer side of one end of the centrifugal drying cylinder 46 via a flat key. The external gear ring 49 meshes with the drive gear 52.

[0043] Working principle: When using this invention for flood control and dredging operations, the robot is placed in the river channel to be dredged. Commands are sent through the ground control terminal, and the tracked vehicle 1 moves along the bottom of the river channel, adapting to the complex terrain of unevenness and siltation after floods. The working posture of the dredging mechanism can be flexibly adjusted according to the needs of the dredging operation.

[0044] During the robot's dredging process, the waterproof first motor 20 is activated, driving the first rotating shaft 9 to rotate synchronously. Through the spline engagement of the rectangular spline follower gear 22 and the rectangular spline follower groove 23, the lifting cylinder 10 and the sweeping rotating disk 11 rotate synchronously inward, thereby driving the wear-resistant sweeping brush 12 to rotate at high speed. This loosens and sweeps the hardened silt at the bottom of the water, and sweeps the loosened silt towards the inside of the negative pressure adsorption bucket 5, achieving pre-collection of silt and ensuring that the silt can be effectively adsorbed. At the same time as the first rotating shaft 9 rotates, the meshing reversing gear 24 drives the second rotating shaft 13 to rotate synchronously in the opposite direction, thereby driving the rake-shaped hook claw 14 to rotate at high speed outward, sweeping away water plants, stones, household garbage and other debris from the bottom of the water towards the outside of the negative pressure adsorption bucket 5, preventing debris from entering the negative pressure adsorption bucket 5 and causing blockage of the adsorption port. This achieves pre-separation of debris and silt from the source, ensuring the continuity of the dredging operation.

[0045] During the dredging process, if small aquatic plants or debris enter the front of the negative pressure adsorption bucket 5 along with the silt, the waterproof fourth motor 39 is started, which drives the outermost third rotating shaft 17 to rotate synchronously. Through the meshing transmission of the second bevel gear 36 and the reversing first bevel gear 35, the two adjacent sets of third rotating shafts 17 rotate in opposite directions synchronously, thereby driving the rotating rod 18 and the cutting blade 19 to form an interlaced shearing motion, which quickly cuts the aquatic plants and debris that enter the adsorption bucket, prevents the aquatic plants from tangling and the adsorption port from being blocked, and ensures the smoothness of the negative pressure adsorption.

[0046] While the third rotating shaft 17 rotates, it drives the sixth rotating shaft 40 to rotate synchronously via the second transmission belt 42. Then, it drives the two sets of sixth rotating shafts 40 to rotate synchronously via the third transmission belt 43. This, in turn, drives the stirring rod 41 to rotate synchronously within the cavity of the negative pressure adsorption bucket 5, continuously stirring the sludge in the adsorption bucket to prevent sludge from hardening and settling. This ensures that the sludge can pass smoothly through the stainless steel filter plate 6 and the wear-resistant conveying pipe 44 under negative pressure, avoiding blockage of the conveying pipeline. The stainless steel filter plate 6 can filter out large particles of debris that have not been shredded, preventing debris from entering the conveying pipeline and the spin dryer 46, which could damage the equipment.

[0047] During dredging operations, the ground negative pressure pump station is started, and negative pressure is formed in the sealed collection box 2 and negative pressure adsorption bucket 5 through the sewage pipe 47 and the drain pipe 48. Under the action of negative pressure, the sludge in the negative pressure adsorption bucket 5 enters the inner cavity of the centrifugal drying drum 46 through the stainless steel filter plate 6, the wear-resistant conveying pipe 44, and the negative pressure sewage inlet pipe 45.

[0048] The waterproof fifth motor 51 is started, driving the drive gear 52 to rotate synchronously. Through the meshing transmission of the drive gear 52 and the transmission external gear ring 49, the centrifugal drying drum 46 is driven to rotate at high speed. The sludge mixture entering the drying drum 46 is subjected to centrifugal force, and the water is thrown out through the water filter holes in the wall of the drying drum 46 and enters the cavity outside the drying drum 46. Finally, it is discharged through the drain pipe 48 and finally discharged to the sludge collection equipment on the ground through the sewage pipe 47. This achieves continuous and efficient solid-liquid separation of sludge and water, greatly reducing the subsequent sludge treatment cost and avoiding secondary pollution of river water.

[0049] 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.

[0050] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A flood control underwater dredging robot, comprising a seat (1) and a negative pressure adsorption bucket (5), characterized in that: An installation plate (15) is fixedly connected to the front interior of the negative pressure adsorption bucket (5). Several sets of fixing plates (37) are fixedly connected to the outside of the installation plate (15). A control box (16) is fixedly connected to the other end of the fixing plate (37). A third rotating shaft (17) is rotatably connected between two adjacent sets of control boxes (16). A rotating rod (18) is fixedly connected to the outside of the third rotating shaft (17). A cutting blade (19) is fixedly connected to the outside of the rotating rod (18). The outermost two sides of the third rotating shaft (17) are rotatably connected to the inner wall of the negative pressure adsorption bucket (5). The upper sides of the seat (1) are slidably connected to sliding arms (7). The front side of the sliding arms (7) is rotatably connected to a rotating arm (8). The other end of the rotating arm (8) is rotatably connected to a first rotating shaft (9) and a second rotating shaft (13). The lower part of the first rotating shaft (9) passes through the outer side of the rotating arm (8) and is fitted with a lifting cylinder (10). The lower part of the lifting cylinder (10) is fixedly connected to a rotating disk (11). The lower part of the rotating disk (11) is fixedly connected to several sets of brushes (12). The upper part of the second rotating shaft (13) passes through the rotating arm (8) and is fixedly connected to a rake-shaped hook (14). The outer sides of the first rotating shaft (9) and the second rotating shaft (13) are fixedly connected to mutually meshing reversing gears (24).

2. The underwater dredging robot for flood control as described in claim 1, characterized in that: The upper part of the rotating arm (8) is fixedly connected to a first motor (20), the power end of the first motor (20) is fixedly connected to the upper part of the first rotating shaft (9), the lifting cylinder (10) is provided with a follower groove (23), the lower part of the first rotating shaft (9) is fixedly connected to a follower tooth (22), the follower tooth (22) is slidably connected to the follower groove (23), the upper part of the follower tooth (22) is fixedly connected to the lifting cylinder (10) with a pressure spring (21), the pressure spring (21) is sleeved on the outside of the first rotating shaft (9).

3. The underwater dredging robot for flood control as described in claim 1, characterized in that: The third rotating shaft (17) penetrates into the control box (16) on one side and is fixedly connected to a second bevel gear (36). A first bevel gear (35) meshes between two adjacent sets of second bevel gears (36). The tail of the first bevel gear (35) is rotatably connected to the inner wall of the control box (16).

4. The underwater dredging robot for flood control according to claim 3, characterized in that: The negative pressure adsorption bucket (5) is rotatably connected to two sets of sixth rotating shafts (40) on its inner side, and several sets of stirring rods (41) are fixedly connected to the outer side of the sixth rotating shafts (40).

5. The underwater dredging robot for flood control according to claim 4, characterized in that: The negative pressure adsorption bucket (5) has control slots (34) on both sides. A first motor frame (38) is fixedly connected inside the control slot (34) on one side. A fourth motor (39) is fixedly connected outside the first motor frame (38). A third rotating shaft (17) on one side penetrates into the control slot (34) and is fixedly connected to the fourth motor (39). One end of the sixth rotating shaft (40) penetrates into the control slot (34) and is fitted with a third transmission belt (43). The other end of the sixth rotating shaft (40) penetrates into the control slot (34) on the other side and is fitted with a second transmission belt (42). The other side of the second transmission belt (42) is fitted outside the third rotating shaft (17).

6. The underwater dredging robot for flood control as described in claim 1, characterized in that: Mounting brackets (31) are fixedly connected to the upper parts of both sides of the seat (1). A third motor (33) is fixedly connected to the outside of the mounting bracket (31). The power end of the third motor (33) penetrates the mounting bracket (31) and is fixedly connected to a first threaded rod (32). The other end of the first threaded rod (32) is rotatably connected to the outside of the mounting bracket (31). A lug (30) is threadedly connected to the outside of the first threaded rod (32). The lug (30) is slidably connected to the inside of the mounting bracket (31). The lug (30) is fixedly connected to the sliding arm (7).

7. The underwater dredging robot for flood control according to claim 1, characterized in that: A fourth rotating shaft (25) is fixedly connected to the inner side of one end of the rotating arm (8). The upper and lower ends of the fourth rotating shaft (25) penetrate the rotating arm (8) and are rotatably connected to the sliding arm (7). A second motor (27) is fixedly connected to the upper part of one end of the sliding arm (7). The power end of the second motor (27) penetrates into the sliding arm (7) and is fixedly connected to a fifth rotating shaft (28). The lower part of the fifth rotating shaft (28) is rotatably connected to the inside of the sliding arm (7). A first transmission belt (29) is sleeved on the outer side of the fifth rotating shaft (28) and the fourth rotating shaft (25). The sliding arm (7) and the rotating arm (8) face each other and have clearance grooves (26) on both sides of one end.

8. The underwater dredging robot for flood control according to claim 1, characterized in that: A storage box (2) is fixedly connected to the upper part of the seat (1). Two sets of third rotating blocks (3) are fixedly connected to the front side of the storage box (2). An mounting arm (4) is rotatably connected to the outer side of the third rotating block (3). The other side of the mounting arm (4) is fixedly connected to the negative pressure adsorption bucket (5). A filter plate (6) is fixedly connected to the middle of the negative pressure adsorption bucket (5). A conveying pipe (44) is fixedly connected between the negative pressure adsorption bucket (5) and the storage box (2). A connecting box (60) is fixedly connected to both sides of the upper part of the storage box (2). A sliding frame (59) is slidably connected inside the side wall of the connecting box (60). A second rotating block (58) is fixedly connected to the outer side of the sliding frame (59). A second rotating frame (57) is rotatably connected to the outside of the block (58). A damping buffer rod (55) is fixedly connected to the other side of the second rotating frame (57). A first rotating frame (54) is fixedly connected to the other end of the damping buffer rod (55). A buffer return spring (56) and a bellows (63) are fixedly connected between the first rotating frame (54) and the second rotating frame (57). The buffer return spring (56) is sleeved on the outside of the damping buffer rod (55). The bellows (63) is sleeved on the outside of the buffer return spring (56). A first rotating block (53) is rotatably connected inside the second rotating frame (57). The lower part of the first rotating block (53) is fixedly connected to the negative pressure adsorption bucket (5).

9. The underwater dredging robot for flood control according to claim 8, characterized in that: A sixth motor (62) is fixedly connected to the outside of the connecting box (60). The power end of the sixth motor (62) penetrates into the inside of the connecting box (60) and is fixedly connected to a second threaded rod (61). The other end of the second threaded rod (61) is rotatably connected to the inside of the connecting box (60). The second threaded rod (61) is threadedly connected to the other end of the sliding frame (59).

10. The underwater dredging robot for flood control according to claim 8, characterized in that: The storage box (2) is fixedly connected to a sewage inlet pipe (45). One end of the sewage inlet pipe (45) is fixedly connected to a conveying pipe (44). The other end of the sewage inlet pipe (45) is rotatably connected to a spin-drying drum (46). The other end of the spin-drying drum (46) is rotatably connected to a sewage outlet pipe (47). The sewage outlet pipe (47) is fixedly connected to the inside of the storage box (2). A drain pipe (48) is fixedly connected to the lower part of one side of the storage box (2). A second motor frame (50) is fixedly connected to the upper part of one side of the storage box (2). A fifth motor (51) is fixedly connected to the inner side of the second motor frame (50). The power end of the fifth motor (51) penetrates the second motor frame (50) and is fixedly connected to a drive gear (52). An external gear ring (49) is fixedly connected to the outer side of one end of the spin-drying drum (46). The external gear ring (49) meshes with the drive gear (52).

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