Spiral propelling type underwater ecological dredging robot

Abstract

The present application belongs to the technical field of river and lake ecological dredging equipment, and particularly discloses a spiral propelling underwater ecological dredging robot, which comprises a dredging cover for forming a closed operation interval underwater, and a perforated isolation plate is fixedly connected to the inner side of the dredging cover for separating the dredging cover into a filtering cavity and a dredging cavity distributed in an upper and lower manner; a double-spiral propelling stirring system is installed on the inner side of the dredging cover. The present application integrates an independently controllable internal circulation hydraulic flushing system, combines layered screening and double-mode reclamation, is suitable for different properties of bottom mud, and simultaneously avoids the blockage of bottom mud impurities. The "one body and two uses" mode directly sucks the silt through the lower cabin reclamation when the bottom mud impurities are less; the upper cabin mud discharge mode can be selected when the impurities are more to reduce the blockage; in the process of screening, the hydraulic flushing and the resulting upward flow rate also synchronously realize the screening of the bottom mud particle size, and the silt particle size selection type dredging is accurately realized.

Description

Technical Field

[0001] This invention belongs to the technical field of river and lake ecological dredging equipment, and in particular relates to a spiral-propelled underwater ecological dredging robot. Background Technology

[0002] Siltation in narrow urban rivers and lakes can easily lead to eutrophication and reduced reservoir capacity. These water bodies are characterized by limited space, water sensitivity, and complex sediment composition (including silt, debris, and compacted layers), which places core demands on dredging equipment to be "miniaturized, ecological, precise, and multifunctional".

[0003] Existing dredging technologies have significant limitations: large-scale cutter suction dredging equipment is suitable for open waters, but it suffers from drawbacks such as its large size, inability to enter narrow spaces, significant ecological disturbance, and inability to accurately screen bottom sediment; traditional small-scale dredging equipment lacks targeted ecological protection capabilities, easily causing the spread of suspended particles and resulting in water turbidity; it lacks flexibility in adapting to different types of bottom sediment, the spiral system has a single function, and it mostly adopts a dry-water operation mode, which is easily affected by the degree of bottom sediment compaction, resulting in incomplete dredging.

[0004] Existing small-scale dredging patents (such as the CN219100298U tracked dredging robot) mostly adopt a tracked walking structure with a single suction / bucket structure. The tracks are prone to getting stuck in silt, the working range is limited, and they rely on robotic arms for cleaning, resulting in a complex structure. Tracked dredging robots are mostly used for dredging in hardened regulating pools and culverts in water plants, and are not suitable for walking and dredging soft, silty terrain in rivers and lakes.

[0005] Traditional sluice suction dredging robots use open-blade cutters, requiring the water to be drained before operation. Operating with water present can easily cause localized water turbidity and pollution spread, which is environmentally unfriendly. Furthermore, the open-blade design of traditional sluice suction dredging robots makes them prone to debris entanglement, leading to blockages in the water inlet pipe.

[0006] Some small-scale anti-clogging and dredging patents (such as CN119824976A) solve the clogging problem by adding crushing rollers and high-pressure nozzles, but they still adopt a segmented structure of "screening-suction" or "crushing-suction", which has the problems of equipment redundancy and incomplete dredging.

[0007] Existing patents (such as ZL202510641392.8) "A Spiral Propulsion Underwater Washing Robot for River and Lake Bottom Sediment" have the core function of sediment grading and washing. By adjusting the upward flow velocity, fine particles of suspended sediment are screened out, but only the upper suspended part is discharged, which cannot achieve full dredging. The spiral propeller is linked to control and lacks independent speed adjustment and steering capabilities, resulting in poor maneuverability in narrow waters. There is no buoyancy adjustment design, which has certain shortcomings in dealing with the complex bottom strata and siltation risk of urban rivers and lakes.

[0008] Therefore, it is necessary to invent a spiral-propelled underwater ecological dredging robot to solve the above problems. Summary of the Invention

[0009] To address the aforementioned problems, this invention provides a spiral-propelled underwater ecological dredging robot to solve one of the problems mentioned in the background section.

[0010] To achieve the above objectives, the present invention provides the following technical solution: A spiral-propelled underwater ecological dredging robot includes: The dredging cover is used to create a closed working area underwater. The inside of the dredging cover is horizontally fixed with a perforated partition plate, which is used to divide the dredging cover into a filter chamber and a dredging chamber distributed vertically. A double-helix propulsion and agitation system is installed inside the dredging cover to enable the robot to move underwater. A dual-mode suction system is installed between the filter chamber and the dredging chamber for extracting sediment from the riverbed. An independent internal circulation hydraulic flushing system is installed between the filter chamber and the dredging chamber to switch the robot's dredging mode according to the properties of the riverbed sediment in conjunction with the dual-mode sluice suction system.

[0011] Furthermore, the dual-helix propulsion and agitation system includes a rotating shaft, auger blades, and a drive motor. There are two rotating shafts, symmetrically and horizontally arranged at the bottom of the isolation plate. A fixed plate is rotatably connected to the front end of each rotating shaft, and the fixed plate is fixedly connected to the isolation plate and the inner walls of both sides of the sludge removal hood. A fixed rod is rotatably connected to the rear end of each rotating shaft, and the fixed rod is vertically fixedly connected to the bottom of the isolation plate. The auger blades are evenly and spirally fixedly connected to the surface of the rotating shaft, with the bottom of the auger blades lower than the bottom of the sludge removal hood, and the edges of the auger blades are serrated. The drive motor is driven and connected to the front end of the rotating shaft to drive the rotating shaft to rotate.

[0012] Furthermore, the dual-mode cutter suction system includes a cutter suction pump, a sludge discharge pipe, an extraction pipe array, and a connecting assembly. The cutter suction pump is vertically inserted into the rear side of the isolation plate, with its extraction port facing downwards. The sludge discharge pipe is connected to the discharge port of the cutter suction pump and is sequentially inserted into the isolation plate and the sludge removal cover from bottom to top. The extraction pipe array is horizontally installed on the top of the isolation plate. The portion of the extraction pipe array at the top of the isolation plate consists of multiple branch pipes connected in parallel, and the holes on the isolation plate are evenly distributed in the areas where the branch pipes are located. The top of each branch pipe has multiple progressively larger sludge inlet holes sequentially opened along the branch pipe axis. The connecting assembly connects the bottom end of the extraction pipe array to the extraction port at the bottom of the cutter suction pump to realize the connection operation between the extraction pipe array and the cutter suction pump. An electromagnetic control valve is installed on the extraction pipe array.

[0013] Furthermore, the connecting assembly includes a connecting cover, a sealing ring, and an electric push rod. The connecting cover is connected to the bottom end of the extraction tube bank. The connecting cover is aligned with the bottom of the scissor pump, and the outer diameter of the connecting cover matches the outer diameter of the bottom end of the scissor pump. The sealing ring is slidably sleeved on the outside of the connecting cover. There are two electric push rods, which are symmetrically and vertically installed on both sides of the scissor pump. The bottom end of the electric push rod is detachably connected to the side of the sealing ring.

[0014] Furthermore, the independent internal circulation hydraulic flushing system includes a submersible pump, a guide pipe array, and high-pressure flat nozzles. The submersible pump is horizontally installed on the top of the isolation plate, and the guide pipe array is installed on the bottom of the isolation plate. The portion of the guide pipe array at the bottom of the isolation plate consists of three parallel water distribution pipes. The three water distribution pipes are distributed along the front-back direction on one side of the two rotating shafts that are separated and in the middle of the two rotating shafts, respectively. The top of the guide pipe array is connected to the outlet of the submersible pump. There are multiple high-pressure flat nozzles, which are evenly and fixedly connected to the bottom of multiple water distribution pipes.

[0015] Furthermore, two vertical plates are symmetrically fixedly connected to the top of the isolation plate, and the two vertical plates isolate multiple branch pipes individually at the middle position of the top of the isolation plate.

[0016] Furthermore, a baffle is horizontally fixed to the front side of the fixed plate. The baffle can work with the inner wall of the sludge hood and the non-perforated part of the top of the isolation plate to separate the drive motor from the sludge.

[0017] Furthermore, the upper area of ​​the dredging cover is reserved with a foam filling cavity, which can be filled with high-density waterproof foam according to the water content of the riverbed sediment, thereby adjusting the overall buoyancy of the robot.

[0018] Furthermore, a ring-shaped soft curtain is detachably connected to the bottom edge of the sludge removal cover, and the ring-shaped soft curtain is made of high-strength flexible rubber material.

[0019] Furthermore, an annular filter screen is fixedly connected to the bottom edge of the squeegee pump, and in the initial state, the bottom end of the filter screen is separated from the top of the connecting cover. The height of the sealing ring is greater than the distance from the bottom of the squeegee pump to the top of the connecting cover. The top edge of the sealing ring protrudes outward, and bristles are evenly distributed in an annular pattern on the inner side of the protruding position. The bristles can fit against the outer side of the filter screen.

[0020] The technical effects and advantages of this invention are as follows: 1. An integrated, independently controllable internal circulation hydraulic flushing system, combined with layered screening and dual-mode cutter suction, is suitable for different types of bottom sediment while avoiding clogging by sediment debris. The "one-piece, two-use" mode allows for rapid sludge extraction directly from the lower chamber when there is less sediment debris; when there is more debris, the upper chamber can be selected for sludge discharge to reduce clogging. During the screening process, the hydraulic flushing and the resulting upward flow velocity simultaneously screen the sediment particles, achieving precise particle size-selective sludge removal. 2. Suitable for narrow urban rivers and lakes with water, adopting a closed cabin-type operation with water, simplifying drainage and other processes, making it economical and time-saving; the integrated closed cabin structure combined with an ecological curtain reduces the disturbance of the operation area to the surrounding water bodies; 3. Optimize the spiral propulsion system to combine independent speed regulation and steering with the function of agitating hardened bottom mud, thereby improving maneuverability in narrow spaces; 4. The overall center of gravity is lowered to improve the stability of underwater operations and avoid equipment tilting due to uneven loading of the cutter suction; combined with the buoyancy adjustment space reserved in the upper layer, it prevents the robot from getting stuck in silt and enhances the adaptability to underwater terrain.

[0021] It should be understood that both the foregoing general description and the following detailed description are for illustrative purposes and do not necessarily limit the scope of this disclosure. The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate the subject matter of this disclosure. Furthermore, the specification and drawings serve to explain the principles of this disclosure. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the specific embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute an improper limitation of this application.

[0023] Figure 1 This is a schematic diagram of the first overall structure of the present invention; Figure 2 This is a schematic diagram of the second overall structure of the present invention; Figure 3 This is a three-dimensional schematic diagram of the sludge removal cover and its internal structure in this invention; Figure 4 This is a three-dimensional schematic diagram of the isolation plate and its bottom structure in this invention; Figure 5 This is a three-dimensional schematic diagram of the squeegee pump and connecting assembly in this invention; Figure 6 This is a three-dimensional schematic diagram of some of the connecting components and bristles in this invention.

[0024] In the diagram: 1. Dredging hood; 2. Isolation plate; 3. Filter chamber; 4. Dredging chamber; 5. Rotating shaft; 6. Screwdriver blades; 7. Drive motor; 8. Fixing plate; 9. Fixing rod; 10. Screw pump; 11. Sludge discharge pipe; 12. Extraction pipe bank; 13. Sludge inlet hole; 14. Electromagnetic control valve; 15. Connecting cover; 16. Sealing ring; 17. Electric push rod; 18. Submersible pump; 19. Guide pipe bank; 20. High-pressure flat nozzle; 21. Vertical plate; 22. Baffle; 23. Annular soft curtain; 24. Filter screen; 25. Brush bristles. Detailed Implementation

[0025] To make the technical solutions and advantages of the embodiments of this application clearer, the exemplary embodiments of this application will be described in further detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not an exhaustive list of all embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other. This invention provides, for example Figures 1 to 6 The diagram shows a spiral-propelled underwater ecological dredging robot, comprising: a dredging hood 1, a double-helix propulsion and agitation system, a dual-mode sluice suction system, and an independent internal circulation hydraulic flushing system. The dredging hood 1 is used to create a sealed working area underwater, and its overall dimensions are 850×520×411mm. The hood height is 336mm, and a perforated partition plate 2 is horizontally fixed to the inner side of the dredging hood 1, dividing it into a filter chamber 3 and a dredging chamber 4 distributed vertically. The double-helix propulsion and agitation system is installed inside the dredging hood 1 to enable underwater movement of the robot. The dual-mode sluice suction system is installed between the filter chamber 3 and the dredging chamber 4 for extracting riverbed sediment. The independent internal circulation hydraulic flushing system is installed between the filter chamber 3 and the dredging chamber 4 to switch the robot's dredging mode according to the characteristics of the riverbed sediment in conjunction with the dual-mode sluice suction system. After the robot submerges underwater, it is covered by a dredging cover 1 on the riverbed surface, forming a relatively enclosed working area to prevent the spread of silt and sand and pollution of the water during the dredging process. The perforated isolation plate 2 on the inside of the dredging cover 1 divides the internal space into an upper filtration chamber 3 and a lower dredging chamber 4, providing a zoned working environment for silt treatment and water circulation. During operation, the double helix propulsion agitation system operates inside the dredging hood 1. On the one hand, it drives the robot to move underwater and adjust its working position, and on the other hand, it agitates and breaks up the riverbed sediment, loosening the hardened or dense sediment into slurry, which is convenient for subsequent pumping. The dual-mode cutter suction system and the independent internal circulation hydraulic flushing system work together to switch between different dredging modes based on the actual properties of the bottom sediment, such as its hardness and viscosity. When the bottom sediment is relatively loose, the dual-mode cutter suction system directly sucks the slurry in the dredging chamber 4. When the bottom sediment is severely compacted and the cutter suction resistance is high, the independent internal circulation hydraulic flushing system is activated. It uses the circulating water flow to impact, dilute, and disturb the bottom sediment, further improving the slurry's fluidity. This is then combined with the dual-mode cutter suction system to complete the suction and transportation, thereby achieving efficient and environmentally friendly dredging of riverbed sediment with different properties. This invention adopts a compact layout of "central propulsion, side flushing, bottom suction, and precise screening," enabling integrated operation of "propulsion-stirring-flushing-screening-suction-discharge." Compared with existing dredging robots, it has the following advantages: 1. An integrated, independently controllable internal circulation hydraulic flushing system, combining layered screening and dual-mode sluice suction, is adaptable to different types of bottom sediment while preventing clogging by sediment debris. The "one-piece, two-use" mode allows for rapid sludge extraction directly from the lower chamber when there is less sediment debris; when there is more debris, the upper chamber can be selected for sludge discharge to reduce clogging. During screening, the hydraulic flushing and the resulting upward flow velocity simultaneously screen the sediment particles, achieving precise particle size-selective sludge removal. 2. Suitable for narrow urban rivers and lakes with water, adopting a closed cabin-type operation with water, simplifying drainage and other processes, making it economical and time-saving; the integrated closed cabin structure combined with an ecological curtain reduces the disturbance of the operation area to the surrounding water bodies; 3. Optimize the screw propulsion system to combine independent speed regulation and steering with the function of agitating sludge in the bottom mud, thereby improving maneuverability in narrow spaces; 4. The overall center of gravity is lowered to improve the stability of underwater operations and avoid equipment tilting due to uneven loading of the cutter suction; combined with the buoyancy adjustment space reserved in the upper layer, it prevents the robot from getting stuck in silt and enhances the adaptability to underwater terrain.

[0026] like Figure 2 and Figure 4As shown, the double-helix propulsion and agitation system includes a rotating shaft 5, auger blades 6, and a drive motor 7. The drive motor 7 has a power of 0.8–1.2 kW and drives the two rotating shafts 5 to rotate. The auger blades 6 have a spacing of 5–10 cm and a height of 8–15 cm. The two drive motors 7 can be adjusted independently, and after adjustment by a reducer, the maximum output shaft center speed is 20 rpm. The two drive shafts achieve forward, backward, turning, and stationary rotation movements of the robot through the speed difference, making it suitable for maneuvering in narrow spaces. There are two rotating shafts 5, which are symmetrically horizontal. A fixed plate 8 is rotatably connected to the front end of the rotating shaft 5 at the bottom of the isolation plate 2. The fixed plate 8 is fixedly connected to the isolation plate 2 and the inner walls on both sides of the sludge hood 1. A fixed rod 9 is rotatably connected to the rear end of the rotating shaft 5. The fixed rod 9 is vertically fixedly connected to the bottom of the isolation plate 2. The auger blades 6 are evenly spirally fixedly connected to the surface of the rotating shaft 5. The bottom of the auger blades 6 is lower than the bottom of the sludge hood 1, and the edge of the auger blades 6 is serrated. The serrated edge of the auger blades 6 can provide power for the robot to move forward and can also break up and stir the compacted bottom mud when rotating.

[0027] like Figures 2 to 6 As shown, the dual-mode cutter suction system includes a cutter suction pump 10, a sludge discharge pipe 11, an extraction pipe 12, and connecting components. The cutter suction pump 10 has a power of 0.5–1.5 kW and a flow rate of 10–25 m³ / h. 3 / h, the cutter pump 10 is vertically inserted into the rear side of the isolation plate 2, with the extraction port of the cutter pump 10 facing downwards. The sludge discharge pipe 11 is connected to the discharge port of the cutter pump 10, and the sludge discharge pipe 11 is inserted into the isolation plate 2 and the sludge sludge cover 1 from bottom to top. The extraction pipe row 12 is horizontally installed on the top of the isolation plate 2. The part of the extraction pipe row 12 located at the top of the isolation plate 2 is composed of multiple branch pipes connected in parallel, and the holes on the isolation plate 2 are evenly distributed in the area where multiple branch pipes are located. Multiple gradually increasing mud inlet holes 13 are opened in the top of the branch pipes along the axis of the branch pipes. The diameter of the mud inlet holes 13 is 6-8mm. The connecting component is connected between the bottom end of the extraction pipe row 12 and the bottom extraction port of the cutter pump 10 to realize the connection operation between the extraction pipe row 12 and the cutter pump. An electromagnetic control valve 14 is installed on the extraction pipe row 12. The connecting assembly includes a connecting cover 15, a sealing ring 16, and an electric push rod 17. The connecting cover 15 is connected to the bottom end of the extraction tube bank 12. The connecting cover 15 is aligned with the bottom of the scissor pump 10, and the outer diameter of the connecting cover 15 matches the outer diameter of the bottom end of the scissor pump 10. The sealing ring 16 is slidably sleeved on the outside of the connecting cover 15. There are two electric push rods 17, which are symmetrically and vertically installed on both sides of the scissor pump 10. The bottom end of the electric push rod 17 is detachably connected to the side of the sealing ring 16. The dual-mode suction system operates in two modes: Mode 1: Direct suction mode (suitable for soft bottom mud) The electric push rod 17 drives the sealing ring 16 to move down, the bottom filter screen 24 of the suction pump 10 separates from the connecting cover 15, and the suction pump 10 directly sucks up the bottom mud after it has been spirally agitated. After the bottom mud is initially filtered of impurities by the filter screen 24, it is discharged through the mud discharge pipe 11. Mode 2: Filtration and Suction Mode (suitable for compacted / impure bottom mud) The electric push rod 17 pushes the sealing ring 16 upward, and the sealing ring 16 wraps around the bottom of the cutter pump 10 and the connecting cover 15 to form a sealed channel. At this time, the electromagnetic control valve 14 is opened, and then the bottom mud enters the filter chamber 3 after being filtered through the holes of the isolation plate 2. It is then evenly sucked in through the mud inlet hole 13 with a diameter of 6-8mm on the extraction pipe 12, and then discharged through the mud discharge pipe 11 on the cutter pump 10, avoiding large pieces of debris and garbage from clogging the pipe.

[0028] like Figure 3 and Figure 4 As shown, the independent internal circulation hydraulic flushing system includes a submersible pump 18, a guide pipe bank 19, and high-pressure flat nozzles 20. The submersible pump 18 is horizontally installed on the top of the isolation plate 2, and the guide pipe bank 19 is installed on the bottom of the isolation plate 2. The part of the guide pipe bank 19 at the bottom of the isolation plate 2 is composed of three water distribution pipes connected in parallel. The three water distribution pipes are distributed along the front and back direction on one side of the two rotating shafts 5 that are separated and in the middle of the two rotating shafts 5. The top of the guide pipe bank 19 is connected to the outlet of the submersible pump 18. There are multiple high-pressure flat nozzles 20, and multiple high-pressure flat nozzles 20 are evenly fixedly connected to the bottom of multiple water distribution pipes. When the robot is working, the submersible pump 18 can extract water from the filter chamber 3, thus avoiding disturbance to the external water. The extracted water can then be transported through the guide pipe 19 to the high-pressure flat nozzle 20 in the area where the rotating shaft 5 is located. The system in this robot adopts an independent control module, which can switch the working state according to the properties of the bottom sediment: when the bottom sediment is mainly loose silt, the independent internal circulation hydraulic flushing system is turned off. At this time, the silt in the sludge cleaning chamber 4 can form a high-concentration slurry in the chamber by the agitation of the auger blades 6. Then the slurry pump 10 can directly draw water from the sludge cleaning chamber. 4. Quickly remove silt to improve dredging efficiency; when the bottom silt is compacted or contains impurities, activate the independent internal circulation hydraulic flushing system to break up the stirred bottom silt a second time, forming a uniform slurry. The stirred slurry can then pass through the isolation plate 2 and be sucked away by the extraction pipe 12 in the filter chamber 3, avoiding large sludge blocks from clogging the pipe. At the same time, during the process of screening the slurry by the isolation plate 2, the difference in hydraulic flushing and the resulting upward flow velocity can also simultaneously screen the bottom silt particle size, accurately achieving selective dredging of silt particles by particle size.

[0029] like Figure 3As shown, two vertical plates 21 are vertically and symmetrically fixedly connected to the top of the isolation plate 2. The two vertical plates 21 isolate multiple branch pipes separately in the middle position of the top of the isolation plate 2, so that the sludge passing through the isolation plate 2 can be concentrated in the area where multiple branch pipes are located.

[0030] like Figure 3 and Figure 4 As shown, a baffle 22 is horizontally fixed to the front side of the fixed plate 8. The baffle 22 can work with the inner wall of the sludge hood 1 and the non-perforated part of the top of the isolation plate 2 to separate the drive motor 7 from the sludge, thereby ensuring that the drive motor 7 is not affected by the sludge when it is running.

[0031] like Figure 3 As shown, the upper area of ​​the dredging cover 1 has a reserved foam filling cavity, which can be filled with high-density waterproof foam according to the water content of the riverbed sediment, so as to adjust the overall buoyancy of the robot. The filling amount of high-density waterproof foam is between 0% and 30%, and the filling of high-density waterproof foam can prevent the equipment from sinking into the silt.

[0032] like Figures 1 to 3 As shown, a ring-shaped soft curtain 23 is detachably connected to the bottom edge of the dredging cover 1. The ring-shaped soft curtain 23 is made of high-strength flexible rubber material. During operation, the ring-shaped soft curtain 23 can fit into the riverbed to form a closed working space, blocking suspended particles from floating and pollutants from being released, thus achieving ecological dredging.

[0033] like Figure 5 and Figure 6 As shown, an annular filter screen 24 is fixedly connected to the bottom edge of the squeegee pump 10. In the initial state, the bottom end of the filter screen 24 is separated from the top of the connecting cover 15. The height of the sealing ring 16 is greater than the distance from the bottom of the squeegee pump 10 to the top of the connecting cover 15. The top edge of the sealing ring 16 protrudes outward, and bristles 25 are evenly distributed in an annular shape on the inner side of the protruding position. The bristles 25 can fit against the outer side of the filter screen 24. As the electric push rod 17 drives the sealing ring 16 to move vertically, the bristles 25 at the edge of the filter screen 24 can brush along the outside of the filter screen 24, thereby cleaning the filter screen 24 and preventing it from being clogged by silt.

[0034] Based on the embodiments in this disclosure, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this disclosure.

[0035] In the description of this disclosure, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this disclosure. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0036] In the description of this disclosure, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linkage" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure based on the specific circumstances.

[0037] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0038] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A spiral-propelled underwater ecological dredging robot, characterized in that, include: The dredging cover (1) is used to form a closed working area underwater, and the dredging cover (1) is horizontally fixedly connected to a perforated isolation plate (2) to divide the dredging cover (1) into a filter chamber (3) and a dredging chamber (4) distributed vertically. A double-helix propulsion and agitation system is installed inside the dredging cover (1) to enable the robot to move underwater. A dual-mode suction system is installed between the filter chamber (3) and the dredging chamber (4) for extracting sediment from the riverbed. An independent internal circulation hydraulic flushing system is installed between the filter chamber (3) and the dredging chamber (4) to switch the robot's dredging mode according to the properties of the riverbed sediment in conjunction with the dual-mode sluice suction system.

2. The spiral-propelled underwater ecological dredging robot according to claim 1, characterized in that: The double-helix propulsion and agitation system includes a rotating shaft (5), auger blades (6), and a drive motor (7). There are two rotating shafts (5), which are symmetrically and horizontally arranged at the bottom of the isolation plate (2). The front end of the rotating shaft (5) is rotatably connected to a fixing plate (8), which is fixedly connected to the inner walls of the isolation plate (2) and the two sides of the sludge hood (1). The rear end of the rotating shaft (5) is rotatably connected to a fixing rod (9), which is vertically fixedly connected to the bottom of the isolation plate (2). The auger blades (6) are evenly spirally fixedly connected to the surface of the rotating shaft (5). The bottom of the auger blades (6) is lower than the bottom of the sludge hood (1), and the edges of the auger blades (6) are serrated. The drive motor (7) is driven and connected to the front end of the rotating shaft (5) to drive the rotating shaft (5) to rotate.

3. The spiral-propelled underwater ecological dredging robot according to claim 2, characterized in that: The dual-mode sluice suction system includes a sluice pump (10), a sludge discharge pipe (11), an extraction pipe array (12), and connecting components. The sluice pump (10) is vertically inserted into the rear side of the isolation plate (2), with the extraction port of the sluice pump (10) facing downwards. The sludge discharge pipe (11) is connected to the discharge port of the sluice pump (10), and the sludge discharge pipe (11) is inserted into the isolation plate (2) and the sludge hood (1) sequentially from bottom to top. The extraction pipe array (12) is horizontally installed on the top of the isolation plate (2). The portion of the extraction pipe bank (12) located at the top of the isolation plate (2) is composed of multiple branch pipes connected in parallel, and the holes on the isolation plate (2) are evenly distributed in the area where multiple branch pipes are located. Multiple gradually increasing mud inlet holes (13) are sequentially opened at the top of the branch pipe along the branch pipe axis. The connecting assembly is connected between the bottom end of the extraction pipe bank (12) and the bottom extraction port of the cutter pump (10) to realize the connection operation between the extraction pipe bank (12) and the cutter pump. An electromagnetic control valve (14) is installed on the extraction pipe bank (12).

4. The spiral-propelled underwater ecological dredging robot according to claim 3, characterized in that: The connecting assembly includes a connecting cover (15), a sealing ring (16), and an electric push rod (17). The connecting cover (15) is connected to the bottom end of the extraction tube bank (12). The connecting cover (15) is aligned with the bottom of the scissor pump (10), and the outer diameter of the connecting cover (15) matches the outer diameter of the bottom end of the scissor pump (10). The sealing ring (16) is slidably sleeved on the outside of the connecting cover (15). There are two electric push rods (17). The two electric push rods (17) are symmetrically and vertically installed on both sides of the scissor pump (10), and the bottom end of the electric push rod (17) is detachably connected to the side of the sealing ring (16).

5. The spiral-propelled underwater ecological dredging robot according to claim 4, characterized in that: The independent internal circulation hydraulic flushing system includes a submersible pump (18), a guide pipe bank (19), and high-pressure flat nozzles (20). The submersible pump (18) is horizontally installed on the top of the isolation plate (2), and the guide pipe bank (19) is installed on the bottom of the isolation plate (2). The part of the guide pipe bank (19) at the bottom of the isolation plate (2) is composed of three water distribution pipes connected in parallel. The three water distribution pipes are distributed along the front-back direction on one side of the two rotating shafts (5) and in the middle of the two rotating shafts (5). The top of the guide pipe bank (19) is connected to the outlet of the submersible pump (18). There are multiple high-pressure flat nozzles (20), and multiple high-pressure flat nozzles (20) are evenly fixedly connected to the bottom of multiple water distribution pipes.

6. The spiral-propelled underwater ecological dredging robot according to claim 5, characterized in that: The top of the isolation plate (2) is vertically and symmetrically fixed with two vertical plates (21), which isolate multiple branch pipes individually at the middle position of the top of the isolation plate (2).

7. The spiral-propelled underwater ecological dredging robot according to claim 6, characterized in that: A baffle (22) is horizontally fixed to the front side of the fixed plate (8). The baffle (22) can work with the inner wall of the sludge hood (1) and the unperforated part of the top of the isolation plate (2) to separate the drive motor (7) from the sludge.

8. The spiral-propelled underwater ecological dredging robot according to claim 7, characterized in that: The upper area of ​​the dredging cover (1) has a foam filling cavity, which can be filled with high-density waterproof foam according to the water content of the riverbed sediment, so as to adjust the overall buoyancy of the robot.

9. The spiral-propelled underwater ecological dredging robot according to claim 8, characterized in that: The bottom edge of the dredging cover (1) is detachably connected to a ring-shaped soft curtain (23), which is made of high-strength flexible rubber.

10. The spiral-propelled underwater ecological dredging robot according to claim 9, characterized in that: The bottom edge of the suction pump (10) is fixedly connected to an annular filter screen (24). In the initial state, the bottom end of the filter screen (24) is separated from the top of the connecting cover (15). The height of the sealing ring (16) is greater than the distance from the bottom of the suction pump (10) to the top of the connecting cover (15). The top edge of the sealing ring (16) protrudes outward, and bristles (25) are evenly distributed in an annular shape on the inner side of the protruding position. The bristles (25) can fit against the outer side of the filter screen (24).

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