Through type automatic crawling desilting robot and desilting system

Abstract

The utility model relates to a penetrating type automatic crawling dredging robot and a dredging system. The technical problem that existing dredging equipment is unreasonable in design is solved. The penetrating type automatic crawling desilting robot comprises a walking type frame body, wherein the walking type frame body is rotationally connected with at least three tooth-shaped walking wheels; the mud collecting cover is arranged on the walking type frame body, an opening is formed in the lower side of the mud collecting cover, and a mud inlet is formed in the front side of the mud collecting cover; a material turning crawling paddle, a mud loosening plough and a mud scraping plate are sequentially arranged in the mud gathering cover according to the walking direction of the walking type frame body; and a cutting type sludge conveying assembly for conveying sludge in the sludge collecting cover outwards is arranged in the sludge collecting cover. According to the penetrating type automatic crawling desilting robot, the action area of the mud collecting cover is increased, the walking trafficability is improved, the desilting components conduct linkage desilting and do not interfere with one another, and the desilting effect and the desilting efficiency are improved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the field of dredging equipment, and relates to a through type automatic crawling dredging robot and dredging system. BACKGROUND

[0002] For example, a self-propelled underwater dredging device is disclosed in Chinese patent document [202221568755.8], which comprises a dredging robot and a camera. An electric rotating wheel is arranged on the top of one side surface of the dredging robot. A support rod is sleeved on the outer periphery of the electric rotating wheel. An arc-shaped baffle is fixedly welded on the top surface of the support rod. The device adopts a material turning paddle, a dredging brush, an electric scraping device, a camera and a driving track. During actual use, the device can move quickly through the driving track, facilitating all-round dredging operation of the river channel, reducing the labor intensity of the operator, and observing the surrounding environment through the camera during movement. It is very user-friendly. The material turning paddle, the dredging brush and the electric scraping device can be used for all-round dredging operation around the device during movement, which is very convenient and fast, and the operation is very simple, having the advantages of flexible use.

[0003] The defects of the above technical scheme are that the dredging structure lacks linkage, resulting in lack of dredging gradation and poor dredging riverbed flatness, and lack of silt integration and collection, which requires omission or silt backflow, resulting in poor cleaning effect. UTILITY MODEL CONTENT

[0004] The utility model aims at the above problems existing in the prior art, and provides a through type automatic crawling dredging robot and dredging system.

[0005] The utility model can be realized by the following technical scheme:

[0006] The through type automatic crawling dredging robot comprises:

[0007] The walking type frame body is rotationally connected with at least three tooth-shaped walking wheels.

[0008] The silt collecting cover is arranged on the walking type frame body, an open end is arranged on the lower side of the silt collecting cover, and a silt inlet is arranged on the front side of the silt collecting cover.

[0009] According to the walking direction of the walking type frame body, a material turning paddle, a silt loosening plow and a silt scraping plate are sequentially arranged in the silt collecting cover, and a cutting type silt conveying assembly for conveying the silt in the silt collecting cover outward is arranged in the silt collecting cover.

[0010] The poly-mud cover is provided with a material turning driver at the mud inlet, the material turning crawling paddle has a plurality of output ends sleeved at both ends of the material turning driver, the material turning crawling paddle comprises a plurality of material turning rods distributed in a circumferential direction and protruding radially outward and inward, and two L-shaped rods symmetrically arranged on the output shafts close to the material turning driver, and the material turning rods and the L-shaped rods of adjacent material turning crawling paddles are flush along the axial direction of the material turning driver.

[0011] Further, the outer diameter of the poly-mud cover gradually decreases along the length direction towards the rear end, and a sludge collecting cavity is formed in the poly-mud cover.

[0012] Further, the three tooth-shaped walking wheels are distributed in a triangular shape, two of the tooth-shaped walking wheels are oppositely distributed and driven by a driving force, and the remaining one tooth-shaped walking wheel is a steering wheel.

[0013] Further, the material turning rod is in a rectangular sheet shape, and a material turning gap is arranged between the material turning rods of adjacent material turning crawling paddles.

[0014] Further, the material turning rod is in an arc-shaped rod structure, and the end of the material turning rod is provided with a sharp corner end, and the maximum outer diameter of the sharp corner end is greater than the width of the material turning rod.

[0015] Further, the sludge loosening plow has a plurality of radially protruding arrangements inside the inner wall of the poly-mud cover away from the mud inlet.

[0016] Further, the sludge scraping plate is elastic and arranged along the circumferential edge of the bottom of the poly-mud cover.

[0017] Further, the cutting type sludge conveying assembly comprises a sludge discharge pipeline arranged on the upper end of the poly-mud cover and communicating with the sludge collecting cavity, a conveying pump arranged on the sludge discharge pipeline, and a cutting tool arranged on the conveying pump close to the sludge collecting cavity.

[0018] The utility model also provides a dredging system with the through type automatic crawling dredging robot, the dredging system comprises a dredging carrier and a obstacle removing assembly arranged at the front end of the walkable frame body, the dredging carrier is arranged above the through type automatic crawling dredging robot and is connected through a suspension device, and the dredging carrier is also provided with a sludge storage cavity.

[0019] Compared with existing technologies, this through-type automatic crawling dredging robot adopts a method of forming a closed dredging collection chamber by having an open bottom of the mud-gathering cover that fits against the bottom of the dredging cover. This increases the effective area of ​​the mud-gathering cover and its mobility. At the same time, through the cooperation of the three dredging structures of the material-turning crawling paddle, the mud-loosening plow, and the mud scraper, dredging is carried out sequentially in the horizontal direction, with coordinated dredging and no interference between the components. In the vertical direction, the robot turns over and breaks up the upper loose dredging layer and the lower hard dredging block. Moreover, the mud scraper achieves full scraping and collection, which, combined with the dredging collection chamber with a sealed bottom circumferential edge, improves dredging efficiency. Attached Figure Description

[0020] Figure 1 This is a top-view cross-sectional diagram of a through-type automatic crawling dredging robot provided by this utility model.

[0021] Figure 2 for Figure 1 A side view structural diagram of the through-type automatic crawling dredging robot.

[0022] Figure 3 for Figure 1 A schematic diagram of the mud-collecting cover of the through-type automatic crawling dredging robot.

[0023] Figure 4 for Figure 1 A schematic diagram of the optimized scheme of the material-turning crawler paddle.

[0024] Figure 5 A schematic diagram of a dredging system provided by this utility model.

[0025] Figure 6 for Figure 5 The diagram shows a through-type automatic crawling dredging robot with obstacle removal components, which is part of the dredging system.

[0026] Figure 7 for Figure 5 A schematic diagram of the obstacle removal components of the dredging system.

[0027] Figure 8 for Figure 5 A schematic diagram of the screen-type cleaning bucket structure of the dredging system.

[0028] Figure 9 for Figure 5 A schematic diagram of the walking frame of the obstacle removal components in the dredging system.

[0029] Figure 10 for Figure 5 A bottom view of the screen-type cleaning bucket of the dredging system, which has obstacle removal components.

[0030] Figure 11 forFigure 5 Structure diagram of the obstacle removing bottom of the obstacle removing assembly of the dredging system.

[0031] In the figure, A10 is a walkable frame body; A11 is a tooth-shaped walking wheel; A20 is a mud collecting cover; A21 is an open mouth; A22 is a mud inlet; A23 is a mud collecting cavity; A30 is a material turning crawling paddle; A31 is a material turning driver; A32 is a material turning rod; A33 is a material turning gap; A34 is a sharp corner end; A35 is a conical surface; A36 is an L-shaped rod; A40 is a mud loosening plough; A50 is a mud scraping plate; A60 is a cutting type mud conveying assembly; A61 is a mud discharging pipeline; A62 is a conveying pump; A63 is a cutting tool; A70 is a dredging carrier; A71 is a hanging connecting device; A72 is a mud storage cavity; B is an obstacle removing assembly; 1 is a screen type cleaning bucket; 2 is an obstacle removing bottom; 21 is a sharp end; 22 is a rod body; 3 is a circular arc concave surface; 4 is a walking wheel body; 41 is a protruding nail; 5 is a left side; 6 is a right side; 7 is a rear side; 8 is a walking frame; 9 is an adsorbing magnet; 10 is a towing hook; 11 is a lifting hook. DETAILED DESCRIPTION

[0032] Embodiment 1, please refer to Figures 1 to 2 It is a schematic diagram of the present utility model, which is a through type automatic crawling dredging robot. The through type automatic crawling dredging robot comprises: a walkable frame body A10, a mud collecting cover A20 arranged on the walkable frame body A10, a material turning crawling paddle A30, a mud loosening plough A40 and a mud scraping plate A50 arranged in the mud collecting cover A20 in sequence according to the walking direction of the walkable frame body A10, and a cutting type mud conveying assembly A60 connected with the inside of the mud collecting cover A20. It is conceivable that the through type automatic crawling dredging robot also comprises other functional components and specific structures, such as electrical connection components, transmission components, control components, mounting structures and the like, which are all known technologies for those skilled in the art, and thus will not be described in detail here.

[0033] The through type automatic crawling dredging robot is applied to a water channel environment with mud, such as a river channel, a breeding pond and an ornamental pond. When used, the through type automatic crawling dredging robot needs to be placed into the bottom of the water channel first.

[0034] The walkable frame body A10 serves as a mounting carrier, which is beneficial to the assembly and installation of various components, compact in installation and reliable in connection. At least three tooth-shaped walking wheels A11 are rotationally connected to the walkable frame body A10, so that the walkable frame body A10 has stable walking fulcrums on the bottom of the water channel through the tooth-shaped walking wheels A11, and is not easy to be forced to fall, thereby ensuring the stability of the through type automatic crawling dredging robot during the movement under water.

[0035] The silt cover A20 is arranged on the walking frame A10, and the silt cover A20 is in the form of a cover body, and an open end A21 is arranged on the lower side of the silt cover A20, and a silt inlet A22 is arranged on the front side of the silt cover A20. It can be conceived that when the automatic crawling silt removal robot is placed on the bottom of the water channel, the silt cover A20 contacts the bottom to form a closed silt collection cavity A23, and the silt collection cavity A23 is in communication with the silt inlet A22. In this embodiment, the outer diameter of the silt cover A20 gradually decreases along the length direction towards the rear end, and a tapered silt collection cavity A23 is formed inside the silt cover A20. The silt cover A20 with this structure can reduce the occupied volume outside to reduce the manufacturing cost of the material, and the outer contour of the silt cover A20 can more easily approach the edge and corner positions of the bottom of the water channel, and the tapered silt collection cavity A23 inside the silt cover A20 can make the silt accumulate in the narrow cavity position at the rear end of the silt collection cavity A23, which is convenient for the cutting type silt conveying assembly A60 to convey, and reduces the dead space in the silt collection cavity A23, avoids the silt from re-accumulating in the silt collection cavity A23, reduces the cleaning and maintenance time of the silt collection cavity A23 in the later stage. More preferably, the upper end of the silt collection cavity A23 can also be designed with an arc-shaped concave surface to further reduce the dead space.

[0036] It can be conceived that in this embodiment, the walking frame A10 also adopts the same structure as the silt cover A20, that is, the circumferential edge of the horizontal cross section of the walking frame A10 is flush with the edge of the horizontal cross section of the silt cover A20, or the walking frame A10 is the external frame structure of the silt cover A20, which can also reduce the manufacturing cost of the material, and the external contour of the walking frame A10 can more easily approach the edge and corner positions of the bottom of the water channel.

[0037] More optimized scheme, in order to adapt to the above walking frame A10 external contour structure, in this embodiment, the walking frame A10 is connected with three triangular distribution of the tooth shape walking wheel A11, wherein two tooth shape walking wheel A11 is opposite distribution and is driven by the same drive shaft, and is driven by the gear shaft structure, and the drive shaft is connected with the drive motor, and the two tooth shape walking wheel A11 provides the power of forward and backward, so that the robot can adjust the interval when encountering obstacles. The remaining one tooth shape walking wheel A11 is a steering wheel and is arranged at the rear end of the walking frame A10. The tooth shape walking wheel A11 is connected with a rotating motor, which controls the tooth shape walking wheel A11 to realize the steering angle of the inverted triangular structure walking frame A10, so that the robot has flexible steering and small turning radius. In addition, it should be noted that the tooth shape walking wheel A11 is made of hard metal or alloy material, which has corresponding structural strength. The tooth shape walking wheel A11 has circumferentially distributed tooth shape protrusions on the circumferential outer wall. The tooth shape protrusions include cylindrical, conical and other shapes, which enhance the adhesion walking ability of the tooth shape walking wheel A11 in the sludge environment, avoiding the problem of slipping and sinking in the sludge pile.

[0038] The material turning climbing paddle A30 is arranged at the mud inlet A22 of the mud gathering cover A20. Specifically, the material turning driver A31 is arranged at the mud inlet A22 of the mud gathering cover A20. In this embodiment, the material turning driver A31 is a through motor. The upper end of the material turning driver A31 is connected with the mud gathering cover A20. The material turning climbing paddle A30 has a plurality of output ends sleeved on both ends of the material turning driver A31. The material turning climbing paddle A30 is driven to rotate by the material turning driver A31, which acts on the sludge at the front end of the material turning climbing paddle A30 and sends the sludge into the mud gathering cover A20. The material turning climbing paddle A30 is mainly used for the upper loose sludge layer.

[0039] The material turning climbing paddle A30 includes circumferentially distributed and radially outwardly protruding material turning rods A32. It is conceivable that the material turning rods A32 located outside the mud gathering cover A20 move from top to bottom in the rotating direction of the material turning climbing paddle A30. In this embodiment, the material turning rods A32 are rectangular and have material turning gaps A33 between adjacent material turning rods A32. The rectangular material turning rods A32 can act on the sludge at the front end and stir the sludge to be transported backward into the mud gathering cover A20. At the same time, the sludge gives a counter thrust to the material turning climbing paddle A30 during the material turning process, which forces the robot to have greater forward power in the sludge pile. Combined with the ability of the tooth shape walking wheel A11, it has greater obstacle crossing ability and is even applicable to waterway slope environment. The material turning gaps A33 can make the excess sludge leak out, reduce the power consumption of the material turning climbing paddle A30, and avoid the problem of fracture caused by the larger sludge resistance borne by the material turning rods A32.

[0040] In the embodiment, the adjacent turning paddles A30 are in flush state along the turning driver A31, and the flush turning paddles A32 form an integrated turning structure at the mud inlet A22, so that the unit quantity of sludge turning is larger, and the sludge cleaning efficiency is improved.

[0041] In other embodiments, please refer to Figure 4 , the turning paddles A32 are in arc structure, and the end of the turning paddles A32 is provided with a sharp end A34. The arc structure can be perpendicular to the surface of the sludge pile, and the sharp end A34 at the end of the turning paddle A32 can be inserted into the sludge pile. The maximum outer diameter of the sharp end A34 is greater than the width of the turning paddle A32, the sharp ends A34 of the adjacent turning paddles A30 are connected, and the turning paddles A32 are provided with a turning gap A33. The sharp end A34 is beneficial to the insertion of the turning paddle A32 into the sludge pile, and the increase of the width of the sharp end A34 can increase the contact area of the turning paddle A32 and the sludge pile, improve the sludge turning quantity of the turning paddle A32, and increase the pushing force of the turning paddle A32. The remaining turning gap A33 can make the excess sludge leak out, reduce the power consumption of the turning paddle A30, and avoid the fracture problem caused by the large sludge resistance borne by the turning paddle A32. More preferably, the inner wall of the arc surface of the turning paddle A32 is provided with a conical surface A35 protruding along the length direction of the turning paddle A32. The conical surface A35 can scatter the sludge pile in the vertical direction during the turning process, stir the sludge into the sludge collecting cover A20, make it fine, and reduce the conveying pressure.

[0042] It should be noted that, in order to protect the turning driver A31 and the sludge below the turning driver A31, the turning paddle A30 further comprises two L-shaped rods A36 symmetrically arranged on the output shaft of the turning driver A31. Specifically, the L-shaped rod A36 is arranged near one end of the turning driver A31, and the end of the L-shaped rod A36 is located below the turning driver A31. The turning range of the two L-shaped rods A36 has a space for the installation end of the turning driver A31 to pass through.

[0043] In the embodiment, the sludge loosening plow A40 is arranged on the inner wall of the sludge collecting cover A20 away from the mud inlet A22, and protrudes radially along the inner wall of the sludge collecting cover A20. The sludge loosening plow A40 is in the shape of a plow or a columnar sharp plow, and the setting height of the sludge loosening plow A40 is lower than that of the turning paddle A30. The sludge loosening plow A40 is used for the lower hard sludge layer, and in the process of the penetration type automatic crawling sludge cleaning robot advancing, the sludge loosening plow A40 breaks the lower hard sludge layer, and the broken sludge is directly left in the sludge collecting cavity A23, so that the sludge collecting efficiency is high.

[0044] In the embodiment, as Figure 2As shown, the mud scraping plate A50 is made of rubber or silicone material, has elasticity and is arranged along the circumferential edge of the bottom of the mud cover A20. It is conceived that the height of the mud scraping plate A50 before deformation should not be higher than the height of the toothed walking wheel A11. In actual use under water, the toothed walking wheel A11 sinks into the silt pile, the mud scraping plate A50 has elasticity and is vertically attached to the bottom surface of the water channel, and the height of the mud scraping plate A50 is deformed according to the height of the silt pile. Due to the inconsistent height of the silt pile, the elastic mud scraping plate A50 still maintains good passability. In the advancing process of the through-type automatic crawling silt removal robot, the front end of the material turning crawling paddle A30 turns over the silt and the silt blocks broken by the loose silt plow A40 are completely stored in the silt collecting cavity A23, thereby improving the silt removal effect, leaving a flat and clean silt removal path, and reducing the problem of silt residue backflow.

[0045] Through the cooperation of the silt removal structures of the material turning crawling paddle A30, the loose silt plow A40 and the mud scraping plate A50, the silt removal is sequentially implemented in the horizontal direction, the silt removal is linked and does not interfere with each other, and the upper layer of loose silt layer and the lower layer of hard silt block are respectively subjected to material turning and crushing treatment in the vertical direction. Moreover, the mud scraping plate A50 realizes full scraping and collecting of the silt, and the silt collecting cavity A23 is sealed at the bottom circumferential edge, thereby improving the silt removal efficiency.

[0046] The cutting type silt conveying assembly A60 includes a mud discharge pipeline A61 arranged on the upper end of the mud cover A20 and connected to the silt collecting cavity A23. The mud discharge pipeline A61 is used to connect the outside and timely discharge the collected fine silt, so as to ensure that the silt collecting cavity A23 has sufficient collection space. A conveying pump A62 is arranged on the mud discharge pipeline A61. In this embodiment, the conveying pump A62 is arranged on the mud cover A20, and provides power for silt conveying. A cutting knife A63 is arranged at the end of the conveying pump A62 close to the silt collecting cavity A23.

[0047] Embodiment 2, please refer to Figures 5 to 11The utility model also provides a kind of dredging system, with the above-mentioned through type automatic crawling dredging robot, dredging system includes dredging carrier A70, dredging carrier A70 includes the silt processor and energy supply station of being arranged in ship structure or shore structure, when in wide river environment, using ship structure, using shore structure in small area pond environment, in the present embodiment, silt processor is silt press, silt press is prior art, built-in silt storage cavity A72 is connected with sludge discharge pipeline A61, silt is transported from silt cover A20 to silt storage cavity A72 and is pressed to handle, water is squeezed out and flows back to water area, and the dry silt part obtained is stored, and the weight of stored silt is reduced.The through type automatic crawling dredging robot is powered by energy supply station, and the energy supply station is a generator or external power grid power supply, when the through type automatic crawling dredging robot is applied to swimming pool, small pond, battery can also be equipped to use.

[0048] In the present embodiment, dredging carrier A70 is arranged above the through type automatic crawling dredging robot, and is connected by hanger connection device A71, and the hanger connection device A71 includes a winch arranged on the dredging carrier A70 and a chain connected to the upper end of the through type automatic crawling dredging robot, and the through type automatic crawling dredging robot is placed into the bottom of the water channel or recovered to the dredging carrier A70 by the hanger connection device A71.

[0049] It is conceivable that the obstacle removing assembly B is further arranged at the front end of the walkable frame A10, and in the present embodiment, the obstacle removing assembly B is directly arranged at the position of the walkable frame A10 located at the silt inlet A22, and the upper end is used for removing large-sized stones, trees, magnets or scrap metals, and the bottom still retains the silt feeding channel, thereby protecting the turning material crawling paddle A30, specifically, the obstacle removing assembly B includes a screen type cleaning bucket 1, the screen type cleaning bucket 1 is rotatably connected with at least three walking wheel bodies 4, and the front side of the obstacle removing bottom 2 of the screen type cleaning bucket 1 is provided with a circular arc concave surface 3, when the device removes stones, trees, magnets or scrap metals in silt, the obstacle removing bottom 2 structure can effectively reduce the resistance of water and silt to the screen type cleaning bucket 1, thereby making the cleaning more labor-saving, and secondly, the walking wheel body 4 can conveniently and stably advance the screen type cleaning bucket 1 during cleaning, thereby realizing a better cleaning effect.

[0050] In other embodiments, as Figure 8 , Figure 11As shown, the obstacle removing bottom 2 is formed by a plurality of rod bodies 22 with pointed front ends 21, and the axial length of the rod bodies 22 gradually increases from the central position of the obstacle removing bottom 2 to both sides, which can effectively reduce the resistance of water and silt when cleaning stones, trees, magnets or scrap metals in the silt, thereby making the cleaning more labor-saving. In addition, the silt falls through the gaps between the rod bodies 22, and the stones, trees, magnets or scrap metals in the silt are cleaned onto the obstacle removing bottom 2.

[0051] As shown in the drawings, Figure 8 The screen type cleaning bucket 1 further includes a left side 5 connected to the left side of the obstacle removing bottom 2, a right side 6 connected to the right side of the obstacle removing bottom 2, and a rear side 7 connected to the rear side of the obstacle removing bottom 2. The rear side 7 is any one of a grid structure and a mesh structure. In this embodiment, the left side 5, the right side 6 and the rear side 7 are all grid structures, but they can also be mesh structures. The left side 5 is any one of a grid structure and a mesh structure. In this embodiment, the left side 5 is a grid structure. The right side 6 is any one of a grid structure and a mesh structure. In this embodiment, the right side 6 is a grid structure.

[0052] As shown in the drawings, Figure 7 , Figure 9 The screen type cleaning bucket 1 is fixed on the walking frame 8, and a plurality of hooks 11 are arranged on the walking frame 8. In this embodiment, three hooks 11 are arranged in a triangular distribution. After the stones, trees, magnets or scrap metals are cleaned, the screen type cleaning bucket 1 can be easily pulled out of the silt, and the triangular distribution of the hooks 11 makes the screen type cleaning bucket 1 more stable during the pulling process.

[0053] As shown in the drawings, Figure 7 , Figure 9 The walking frame 8 is rotatably connected with three walking wheel bodies 4, each of which is circumferentially provided with a plurality of protruding nails 41. The diameter of the walking wheel body 4 is set according to actual needs, so that the screen type cleaning bucket 1 will not slip during cleaning in the silt. The three walking wheel bodies 4 are arranged in a triangular distribution, two of which are oppositely arranged and driven by a driving force, and the remaining one is a steering wheel. The triangular distribution ensures that the screen type cleaning bucket 1 can move smoothly in the silt.

[0054] As shown in the drawings, Figure 10 The screen type cleaning bucket 1 is provided with an adsorbing magnet 9 for adsorbing and cleaning scrap metals in the silt.

[0055] In other embodiments, the screen type cleaning bucket 1 is further provided with a vibrator for vibrating the screen to remove residual materials in the screen type cleaning bucket 1, thereby reducing the load bearing of the screen type cleaning bucket 1.

[0056] As shown in the drawings, Figure 7As shown, at least one towing hook 10 is arranged at the front side of the bottom 2 of the debris removing device, which can tow the screen-type cleaning bucket 1 to advance in the sludge to remove stones, trees, magnets or scrap metals and the like in the sludge.

[0057] The specific embodiments described herein are merely illustrative of the spirit of the present application. Those skilled in the art of the present application can make various modifications or supplements to the described specific embodiments or replace them with similar ways, but will not deviate from the spirit of the present application or exceed the scope defined by the appended claims.

Claims

1. A through-type automatic crawling dewatering robot, characterized by, The utility model relates to a mud collecting and conveying device, including: Walkable frame (A10) is connected with at least three tooth shape walking wheel (A11) rotationally, The mud collecting and conveying device includes: The mud collecting and conveying device includes: The mud collecting and conveying device includes:

2. The through-the-cofferdam automatic crawling dredging robot according to claim 1, characterized in that, The mud collecting and conveying device includes:

3. The through-the-cofferdam automatic crawling dredging robot according to claim 2, characterized in that, The mud collecting and conveying device includes:

4. The through-the-cofferdam automatic crawling dredging robot according to claim 1, characterized in that, The mud collecting and conveying device includes:

5. The through-the-cofferdam automatic crawling dredging robot according to claim 1, characterized in that, The mud collecting and conveying device includes:

6. The through-the-cofferdam automatic crawling dredging robot according to claim 2, characterized in that, The mud collecting and conveying device includes:

7. The through-the-cofferdam automatic crawling dredging robot according to claim 2, characterized in that, The mud collecting and conveying device includes:

8. 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includes: The mud collecting and conveying device includes: The mud collecting and conveying device includes: The mud collecting and conveying device includes: The mud collecting and conveying device includes: The mud 9. A dredging system characterized in that, The automatic penetrating and crawling dredging robot has at least two dredging systems as claimed in any one of claims 1-8, the dredging system comprises a dredging carrier (A70) and a barrier removing assembly (B) arranged at the front end of the walkable frame (A10), the dredging carrier (A70) is arranged above the automatic penetrating and crawling dredging robot and connected through a suspension device (A71), and the dredging carrier (A70) is further provided with a sludge storage cavity (A72).

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