Underwater obstacle avoidance disturbance plough brush and underwater desilting equipment

Abstract

The utility model provides a water bottom obstacle avoidance disturbance plough brush and water bottom dredging equipment, and the water bottom obstacle avoidance disturbance plough brush comprises a support used for being connected with a water bottom robot; the disturbance brush is rotationally connected to the support, is arranged perpendicular to the walking direction of the underwater robot and is used for disturbing silt at the water bottom; the connecting shaft is arranged on the bracket and is perpendicular to the walking direction; in the walking direction, the connecting shaft is located in front of the disturbance brush; the row of guide teeth are arranged on the connecting shaft at intervals in the axial direction of the connecting shaft, and the guide teeth have a first state that the guide teeth incline downwards and are spaced from the disturbance brush; in the walking direction, the guide teeth are distributed in a V shape, and the guide teeth located in the middle of the connecting shaft are arranged away from the disturbance brush and used for guiding underwater obstacles to the two ends of the connecting shaft. The underwater obstacle avoidance disturbance plough brush and the underwater desilting equipment are simple in structure, convenient to manufacture, capable of effectively avoiding obstacle damage and improving equipment reliability, good in sediment disturbance effect and long in service life.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underwater dredging equipment, in particular to an underwater obstacle-avoiding disturbance plow brush and underwater dredging equipment. BACKGROUND

[0002] With the development of global shipping industry, port channel dredging operation has become an important link to ensure the safety and smoothness of the channel. The traditional dredging technology mainly relies on dredging ships for mechanical dredging, but this method has problems such as long mud throwing distance, high operating cost, low operation efficiency, and easy secondary pollution. In recent years, disturbance-based dredging equipment has gradually emerged, which enhances the turbulent energy of water body through disturbance devices, so that the silt remains in a suspended state and is naturally transported with the water flow, having the significant advantages of environmental protection and energy saving.

[0003] The prior art generally uses a rotating plow brush as an underwater disturbance device, and a typical structure is to arrange a plurality of plow brush strips circumferentially on a central shaft, and to drive the central shaft to rotate to realize silt stirring through a driving device. However, it is found in actual application that the traditional rotating plow brush has obvious defects when facing complex underwater environments: first, the obstacles such as stones and fishing nets in the operation area are prone to collide with the high-speed rotating brush body, causing damage to mechanical parts; second, slender debris is easy to entangle on the rotating shaft, causing equipment jamming; and third, the lack of active obstacle avoidance mechanism requires the device to be frequently stopped for cleaning, seriously affecting the continuity of operation.

[0004] Therefore, it is urgent to develop a new type of underwater disturbance device that can actively avoid obstacles in a complex underwater environment, ensuring dredging efficiency while improving equipment reliability. CONTENT OF THE INVENTION

[0005] Therefore, the purpose of the present application is to provide an underwater obstacle-avoiding disturbance plow brush and underwater dredging equipment to solve the problems mentioned in the background.

[0006] To achieve the above purpose, the first aspect of the present application provides an underwater obstacle-avoiding disturbance plow brush applied to an underwater robot, comprising: a support connected with the underwater robot; a disturbance brush rotationally connected to the support and arranged vertically to the walking direction of the underwater robot, used for disturbing the silt on the underwater bottom; a connecting shaft arranged on the support and arranged vertically to the walking direction; along the walking direction, the connecting shaft is located in front of the disturbance brush; a row of guide teeth are arranged on the connecting shaft along the axial direction of the connecting shaft, the guide teeth have a first state of being downwardly inclined and spaced apart from the disturbance brush; along the walking direction, the guide teeth are distributed in a V shape, the guide teeth located in the middle of the connecting shaft are arranged away from the disturbance brush, used for guiding the obstacles on the underwater bottom to the two ends of the connecting shaft.

[0007] Further, the support frame comprises a connecting rod arranged perpendicularly to the walking direction, two mounting racks connected to two ends of the connecting rod respectively, each mounting rack being provided with a rotating connection with the underwater robot at an end away from the connecting rod, and two fixing plates, each fixing plate being connected to one mounting rack at one end and connected to the disturbing brush at the other end, the connecting shaft being connected to the fixing plate and located between the disturbing brush and the connecting rod.

[0008] Further, the length of the row of guide teeth along the axial length of the connecting shaft is 0.8 to 1.2 times the length of the disturbing brush.

[0009] Further, an extension rod is connected between the fixing plate and the mounting rack, and the end of the extension rod and the connecting rod is provided with a connecting piece.

[0010] Further, a reinforcing rib is arranged on the connecting piece, and a reinforcing rod is connected between the extension rod and the mounting rack.

[0011] Further, a driving rod is connected between the two mounting racks, and the driving rod is used to be connected with a hydraulic rod of the underwater robot to control the rotation of the support frame.

[0012] Further, the disturbing brush comprises a rotating rod rotatably connected to the fixing plate, a plurality of rows of disturbing teeth spaced apart along the circumference of the rotating rod, each row of disturbing teeth being arranged on the rotating rod along the axial direction of the rotating rod, and a connecting gear arranged at the middle of the rotating rod and used to be drivingly connected with a driving mechanism of the underwater robot to control the rotation of the disturbing brush.

[0013] Further, the connecting shaft is rotatably connected to the fixing plate, the fixing plate is provided with a driving motor, and the driving motor is used to control the rotation of the connecting shaft.

[0014] Further, the projection of the guide teeth on the water bottom does not overlap with the projection of the disturbing teeth on the water bottom, the driving motor has a second state of controlling the guide teeth to be rotated to be downwardly inclined and staggered with the disturbing teeth, and a third state of controlling the guide teeth to be rotated to be upwardly inclined and staggered with the disturbing teeth.

[0015] In a second aspect, the application provides an underwater dredging device, comprising an underwater robot, and a water bottom obstacle-avoiding disturbing plow brush as described in the first aspect.

[0016] It can be seen from the above that the water bottom obstacle-avoiding disturbance plough brush and the water bottom dredging equipment provided by the application, the water bottom obstacle-avoiding disturbance plough brush comprises a support for being connected with a water bottom robot, a disturbance brush rotatably connected to the support and arranged perpendicularly to the walking direction of the water bottom robot for disturbing the silt at the water bottom, a connecting shaft arranged on the support and arranged perpendicularly to the walking direction, the connecting shaft being located in front of the disturbance brush along the walking direction, and a row of guide teeth arranged on the connecting shaft along the axial direction of the connecting shaft, the guide teeth having a first state of being downwardly inclined and spaced apart from the disturbance brush, the guide teeth being V-shapedly distributed along the walking direction, and the guide teeth located in the middle of the connecting shaft being arranged away from the disturbance brush for guiding the obstacles at the water bottom to the two ends of the connecting shaft. By arranging the guide teeth in front of the disturbance brush and V-shapedly distributing the guide teeth, the obstacles in front can be guided to the two sides to avoid collision with the disturbance brush rotating at high speed, thereby prolonging the service life. In addition, the guide teeth can contact the silt at the water bottom in the walking direction before the disturbance brush, and the disturbance effect can be further improved to realize the dredging function. The water bottom obstacle-avoiding disturbance plough brush and the water bottom dredging equipment have simple structure, are convenient to manufacture, can effectively avoid damage of obstacles, improve the reliability of the equipment, have good disturbance effect on silt, and have long service life. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0018] Figure 1 FIG. 1 is a structural schematic view of a water bottom obstacle-avoiding disturbance plough brush in an embodiment of the present application;

[0019] Figure 2 FIG. 2 is a structural schematic view of a connecting shaft and a guide tooth in the water bottom obstacle-avoiding disturbance plough brush in FIG. 1; Figure 1

[0020] Figure 3 FIG. 3 is a structural schematic view of another water bottom obstacle-avoiding disturbance plough brush in an embodiment of the present application;

[0021] Figure 4 FIG. 4 is a structural schematic view of the guide tooth in the first state and the disturbance brush in the water bottom obstacle-avoiding disturbance plough brush in FIG. 3;

[0022] Figure 5 FIG. 5 is a structural schematic view of the guide tooth in the second state and the disturbance brush in the water bottom obstacle-avoiding disturbance plough brush in FIG. 3;

[0023] Figure 6 FIG. 6 is a structural schematic view of the guide tooth in the third state and the disturbance brush in the water bottom obstacle-avoiding disturbance plough brush in FIG. 3;

[0024] ​Figure 7 For Figure 6 Top view of the guide tooth and the disturbance brush.

[0025] Reference signs: 1, support; 1-1, connecting rod; 1-2, mounting bracket; 1-3, fixed plate; 1-4, extension rod; 1-5, connecting piece; 1-6, reinforcing rib; 1-7, reinforcing rod; 1-8, driving rod; 2, disturbance brush; 2-1, rotating rod; 2-2, disturbance tooth; 2-3, connecting gear; 3, connecting shaft; 4, guide tooth; 5, driving motor. DETAILED DESCRIPTION

[0026] To make the objects, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to specific embodiments and drawings.

[0027] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present application should be understood as the common meanings understood by those skilled in the art to which the present disclosure belongs. The "comprising" or "including" and similar words used in the present disclosure mean that the elements or objects before the words encompass the elements or objects listed after the words and their equivalents, without excluding other elements or objects. The "connected" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to represent relative positional relationships, and when the absolute positions of the described objects change, the relative positional relationships can also change accordingly.

[0028] With the development of global shipping industry, the dredging operation of port channel has become an important link to ensure the safety and smoothness of the channel. The traditional dredging technology mainly relies on dredging ships for mechanical dredging, but this method has problems such as long mud throwing distance, high operating cost, low operation efficiency, and easy secondary pollution. In recent years, dredging equipment based on disturbance has gradually emerged, which enhances the turbulent energy of water body through disturbance device, so that the silt remains in a suspended state and is naturally transported with water flow, which has the significant advantages of environmental protection and energy saving.

[0029] The rotating plough brush is generally used as an underwater disturbance device in the prior art. A typical structure is that a plurality of plough brush strips are arranged circumferentially on a central shaft, and the central shaft is driven to rotate by a driving device to realize sediment stirring. For example, a rotating dredging device for an underwater robot in related technologies adopts a cylindrical drum structure to cooperate with spiral distributed bristles to realize sediment disturbance. However, it is found in actual application that the traditional rotating plough brush has obvious defects when facing complex underwater environments: first, stones, fishing nets and other obstacles in the working area are prone to collide with the high-speed rotating brush body, causing mechanical component damage; second, slender debris is easy to entangle on the rotating shaft, causing equipment jamming; and third, the lack of active obstacle avoidance mechanism makes the device need to be frequently stopped for cleaning, seriously affecting the continuity of operation.

[0030] In view of the above problems, many improvements have been tried in the industry. For example, some technologies propose to install a fixed grid at the front end of the rotating brush body, but this structure cannot cope with different sizes of obstacles, and the gap between the grids is easy to be blocked by sediment. Some technologies use pressure sensors to detect collision signals and stop urgently, but this scheme is a passive protection measure and cannot fundamentally avoid collisions.

[0031] Therefore, it is urgent to develop a new type of underwater disturbance device that can actively avoid obstacles in a complex underwater environment, ensuring dredging efficiency while improving equipment reliability.

[0032] In the following, specific embodiments are combined with the description of the technical scheme of the present application. Figures 1 to 7 The technical scheme of the present application is further described in detail.

[0033] In some embodiments of the present application, a bottom obstacle avoidance disturbance plough brush is provided for a bottom robot, as shown in Figure 1 and Figure 2 , comprising: a support 1 for connecting with the bottom robot; a disturbance brush 2 rotatably connected to the support 1, arranged perpendicular to the walking direction of the bottom robot, for disturbing the sediment on the bottom; a connecting shaft 3 arranged on the support 1, arranged perpendicular to the walking direction; along the walking direction, the connecting shaft 3 is located in front of the disturbance brush 2; a row of guide teeth 4 are arranged on the connecting shaft 3 in the axial direction of the connecting shaft 3, the guide teeth 4 have a first state of being downwardly inclined and spaced apart from the disturbance brush 2; along the walking direction, the guide teeth 4 are distributed in a V shape, the guide teeth 4 located in the middle of the connecting shaft 3 are arranged away from the disturbance brush 2, for guiding the obstacles on the bottom to both ends of the connecting shaft 3.

[0034] As shown in Figure 1As shown, the water bottom obstacle-avoiding disturbance plow brush comprises a support 1, which for example comprises a connecting rod 1-1 and a mounting bracket 1-2, and can be articulated with the water bottom robot to adjust the height. The water bottom robot is an intelligent device specially designed for underwater environment, which can autonomously or remotely complete tasks such as detection, operation, scientific research, etc., including cable-controlled robots, autonomous underwater vehicles, etc., and the direction Q in the figure is the walking direction of the water bottom robot. The support 1 is used to install the disturbance brush 2 and the connecting shaft 3, and is linked with the water bottom robot.

[0035] The disturbance brush 2 for example comprises a rotating rod 2-1 and disturbance teeth 2-2, which are arranged perpendicular to the walking direction of the water bottom robot, and can stir the water bottom sediment by rotating to make the sediment diffuse with the water flow, thereby realizing the dredging function.

[0036] The connecting shaft 3 is arranged in front of the disturbance brush 2 and is perpendicular to the walking direction, and functions to support the guide teeth 4 and ensure that the guide teeth 4 form a protective barrier in front of the disturbance brush 2.

[0037] A plurality of guide teeth 4 are arranged axially along the connecting shaft 3, as shown in the figure. Figure 2 As shown, a row of guide teeth 4 is distributed in a V shape, and the guide teeth 4 located in the middle of the connecting shaft 3 are away from the disturbance brush 2, and the guide teeth 4 at both ends gradually approach the disturbance brush 2, and the opening angle of the V shape is for example 60° to 160°, and is not specifically limited. When the guide teeth 4 are in a first state of downward inclination, as shown in the figure, Figure 4 The V-shaped distribution of the guide teeth 4 can guide the water bottom obstacles (such as stones and sundries) to both sides, so as to avoid collision with the high-speed rotating disturbance brush 2, and prevent the obstacles from accumulating in front of the device.

[0038] By arranging the guide teeth 4 in front of the disturbance brush 2 and arranging the guide teeth 4 in a V shape, the obstacles in front can be guided to both sides to avoid collision with the high-speed rotating disturbance brush 2, thereby prolonging the service life. In addition, the guide teeth 4 can contact the water bottom sediment in front of the disturbance brush 2 first to disturb the sediment, which can further improve the disturbance effect and realize the dredging function.

[0039] The water bottom obstacle-avoiding disturbance plow brush has simple structure, is easy to manufacture, can effectively avoid obstacles, improve the reliability of the device, has good disturbance effect on sediment, and has long service life.

[0040] In some embodiments, as Figure 3As shown, the bracket 1 comprises a connecting rod 1-1 arranged perpendicularly to the walking direction, two mounting racks 1-2 connected at two ends of the connecting rod 1-1 respectively, one end of each mounting rack 1-2 away from the connecting rod 1-1 for rotationally connecting with the underwater robot, two fixing plates 1-3, one end of each fixing plate 1-3 connected with one mounting rack 1-2, and the other end connected with the disturbing brush 2, and the connecting shaft 3 connected on the fixing plate 1-3 and located between the disturbing brush 2 and the connecting rod 1-1.

[0041] As shown in the drawings, Figure 3 The bracket 1 comprises a connecting rod 1-1, two mounting racks 1-2 and two fixing plates 1-3. The connecting rod 1-1 is arranged horizontally to provide support effect and balance stress. The mounting racks 1-2 are symmetrically fixed at two ends of the connecting rod 1-1. The mounting racks 1-2 at the ends can be hingedly connected with the underwater robot through the connecting frame to realize pitch adjustment of the bracket 1. The fixing plates 1-3 are connected with the mounting racks 1-2, and the disturbing brush 2 and the connecting shaft 3 are installed at the ends of the fixing plates 1-3. The split bracket 1 design enhances the structural stability and is convenient for installation and maintenance.

[0042] In some embodiments, the row of guide teeth 4 along the axial length of the connecting shaft 3 is 0.8 to 1.2 times the length of the disturbing brush 2.

[0043] The row of guide teeth 4 along the axial length of the connecting shaft 3 is, for example, 0.8, 0.9, 1.0, 1.1 or 1.2 times the length of the disturbing brush 2, ensuring that the coverage of the guide teeth 4 substantially matches the disturbing brush 2, effectively improving the obstacle guiding effect. Avoiding the axial length being too short, there is still an obstacle contacting the disturbing brush 2 to cause damage, and also avoiding the axial length being too long, wasting materials and increasing costs.

[0044] In some embodiments, as shown in the drawings, Figure 3 The fixing plate 1-3 and the mounting rack 1-2 are connected with an extension rod 1-4, and the extension rod 1-4 and the end of the connecting rod 1-1 are provided with a connecting piece 1-5.

[0045] The extension rod 1-4 is additionally arranged between the fixing plate 1-3 and the mounting rack 1-2. The combination of the fixing plate 1-3 and the extension rod 1-4 expands the working range of the disturbing brush 2 and the connecting shaft 3, and adapts to complex underwater environments. The extension rod 1-4 and the end of the connecting rod 1-1 are provided with the connecting piece 1-5, which enhances the connection strength of the fixing plate 1-3 and the mounting rack 1-2. The connecting piece 1-5 can provide an additional mounting interface for facilitating integration with other components (such as sensors).

[0046] In some embodiments, as shown in the drawings, Figure 3As shown, the connecting piece 1-5 is provided with a reinforcing rib 1-6, and a reinforcing rod 1-7 is connected between the extending rod 1-4 and the mounting frame 1-2.

[0047] The reinforcing rib 1-6 and the reinforcing rod 1-7 significantly improve the torsional resistance of the support 1, preventing structural deformation caused by water flow impact during underwater operation.

[0048] In some embodiments, as shown in Figure 3 As shown, a driving rod 1-8 is connected between the two mounting frames 1-2, which is used to connect with the hydraulic rod of the underwater robot to control the rotation of the support 1.

[0049] The driving rod 1-8 is provided between the two mounting frames 1-2 and connected with the hydraulic rod of the underwater robot. The pitch angle of the support 1 is controlled by the extension and retraction of the hydraulic rod. The height of the disturbance brush 2 and the guide tooth 4 is adjusted in real time to adapt to different silt thicknesses or obstacle distributions, improving adaptability.

[0050] In some embodiments, as shown in Figure 3 As shown, the disturbance brush 2 comprises a rotating rod 2-1 rotatably connected with the fixed plate 1-3, a plurality of rows of disturbance teeth 2-2 spaced apart along the circumference of the rotating rod 2-1, and a connecting gear 2-3 provided in the middle of the rotating rod 2-1 and used to be drivingly connected with the driving mechanism of the underwater robot to control the rotation of the disturbance brush 2.

[0051] As shown in Figure 3 The disturbance brush 2 comprises the rotating rod 2-1, the plurality of rows of disturbance teeth 2-2 and the connecting gear 2-3. The rotating rod 2-1 is connected with the fixed plate 1-3, for example, through a bearing, and can rotate freely. The plurality of rows of disturbance teeth 2-2 are evenly distributed along the circumference of the rotating rod 2-1, for example, six rows of disturbance teeth 2-2 are provided, and the included angle between two adjacent rows of disturbance teeth 2-2 is 60°. The interval between two adjacent disturbance teeth 2-2 in each row of disturbance teeth 2-2 is, for example, 10 cm, to ensure full-range disturbance. The connecting gear 2-3 is provided in the middle of the rotating rod 2-1 and engages with the driving motor 5 of the underwater robot to provide stable power. The circumferentially distributed disturbance teeth 2-2 form multi-stage agitation to improve dredging efficiency, and the centrally designed connecting gear 2-3 avoids rotational unbalanced load.

[0052] In some embodiments, as shown in Figure 3 As shown, the connecting shaft 3 is rotatably connected with the fixed plate 1-3, and the fixed plate 1-3 is provided with a driving motor 5 used to control the rotation of the connecting shaft 3.

[0053] Connecting shaft 3 is rotatably connected to fixed plate 1-3 via bearings. A drive motor 5 is mounted on fixed plate 1-3, and the rotation of connecting shaft 3 can be controlled via chain drive. Figures 4 to 6 As shown, the drive motor 5 can adjust the angle of the guide teeth 4 to meet different dredging needs.

[0054] In some embodiments, such as Figure 7 As shown, the orthographic projection of the guide tooth 4 on the bottom of the water does not overlap with the orthographic projection of the disturbance tooth 2-2 on the bottom of the water. The drive motor 5 has a second state in which the guide tooth 4 is rotated to a downward tilt and intersects with the disturbance tooth 2-2, and a third state in which the guide tooth 4 is rotated to an upward tilt and intersects with the disturbance tooth 2-2.

[0055] like Figure 7 As shown, the orthographic projection of the guide tooth 4 on the bottom of the water does not overlap with the orthographic projection of the disturbance tooth 2-2 on the bottom of the water, so that the guide tooth 4 can achieve 360° rotation.

[0056] like Figure 4 As shown, the guide tooth 4 rotates to the first state of tilting downwards and being spaced apart from the disturbance brush 2. At this time, the guide tooth 4 is on the right side below the rotating shaft. In the figure, the R direction is the rotation direction of the disturbance brush 2. If there are hard obstacles on the bottom of the water, they will be intercepted by the guide tooth 4, thereby preventing these obstacles from colliding with the high-speed rotating disturbance brush 2 and causing damage to the disturbance brush 2. In addition, since the guide tooth 4 is V-shaped, the obstacles will also move to both sides of the device along the guide tooth 4 and will not accumulate in front of the guide tooth 4.

[0057] like Figure 5 As shown, the guide tooth 4 rotates to the second state, tilting downwards and intersecting with the disturbance tooth 2-2. At this time, the guide tooth 4 is on the lower left side of the rotating shaft. Assuming that some strip-shaped or other low-hardness debris is wrapped around or attached to the disturbance brush 2 during operation, rotate the guide tooth 4 to the position shown in the figure and keep it stationary. At this time, the disturbance brush 2 rotates counterclockwise in the direction indicated by the arrow. Due to the misalignment between the guide tooth 4 and the disturbance tooth 2-2, the guide tooth 4 will clean the debris off the disturbance tooth 2-2, thereby keeping the disturbance brush 2 clean and preventing these debris from affecting the operation of the disturbance brush 2.

[0058] like Figure 6As shown, the guide tooth 4 is rotated to the third state of being upwardly inclined and staggered with the disturbing tooth 2-2, at this time, the guide tooth 4 is above the left side of the rotation axis, assuming that some strip or other low-hardness impurities are wound or attached to the guide tooth 4 during the operation, the guide tooth 4 is rotated to the position as shown and kept static, at this time, the disturbing brush 2 is counterclockwise rotated in the direction as shown by the arrow, due to the staggered arrangement between the guide tooth 4 and the disturbing tooth 2-2, the disturbing tooth 2-2 can clean the impurities on the guide tooth 4, so as to keep the guide tooth 4 clean and avoid the impact of the impurities on the operation of the guide tooth 4.

[0059] The guide tooth 4 and the disturbing tooth 2-2 can cooperate to clean the wound or attached impurities, realize the self-cleaning function, and avoid the impact on the operation of the device.

[0060] In some embodiments of the present application, a water bottom dredging device is provided, which comprises a water bottom robot, and the water bottom robot is connected with the water bottom obstacle-avoiding disturbing plow brush as described in any of the above embodiments.

[0061] The water bottom dredging device has high integration, walking power and hydraulic control are provided by the water bottom robot, and full-automatic dredging and obstacle avoidance are realized.

[0062] Each embodiment in the present application is described in a progressive manner, and each embodiment mainly explains the difference from other embodiments, and the same or similar parts between each embodiment can be referred to each other.

[0063] The description of the present application is given for example and description, and is not exhaustive or limits the present application to the disclosed form. Many modifications and changes are obvious to those skilled in the art. The embodiments are selected and described in order to better illustrate the principles and practical application of the present application, and to enable those skilled in the art to understand the present application so as to design various embodiments with various modifications suitable for specific purposes.

[0064] Those skilled in the art should understand that the discussion of any of the above embodiments is only exemplary, and is not intended to limit the scope (including claims) of the present application to these examples; the above embodiments or technical features between different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes of different aspects of the embodiments of the present application as described above, which are not provided in detail for the sake of brevity.

[0065] Although the present application has been described in conjunction with specific embodiments thereof, many alternatives, modifications and variations will be apparent to those skilled in the art in light of the foregoing description.

[0066] Embodiments of the present application are intended to embrace all such alterations, modifications, and variations that fall within the broad scope of the appended claims. Accordingly, any one or more features of a given embodiment are intended to be illustrative only and not limiting of the scope of the application.

Claims

1. A bottom obstacle-avoiding disturbance plow brush applied to a water bottom robot, characterized in that, The utility model relates to a water bottom obstacle-avoiding disturbance plough brush, which comprises a support connected with a water bottom robot, a disturbance brush rotatably connected to the support and arranged perpendicularly to the walking direction of the water bottom robot, a connecting shaft arranged on the support perpendicularly to the walking direction and located in front of the disturbance brush along the walking direction, and a row of guide teeth arranged on the connecting shaft along the axial direction of the connecting shaft and spaced apart from the disturbance brush, the guide teeth being V-shapedly distributed along the walking direction, the guide teeth located in the middle of the connecting shaft being arranged away from the disturbance brush to guide the obstacles on the water bottom to the two ends of the connecting shaft. The support comprises a connecting rod arranged perpendicularly to the walking direction, two mounting racks connected to the two ends of the connecting rod respectively, each mounting rack being rotatably connected to the water bottom robot at the end away from the connecting rod, and two fixing plates, one end of each fixing plate being connected to one mounting rack and the other end of each fixing plate being connected to the disturbance brush, the connecting shaft being connected to the fixing plates and located between the disturbance brush and the connecting rod. The axial length of the row of guide teeth along the connecting shaft is 0.8-1.2 times the length of the disturbance brush. The fixing plates and the mounting racks are connected by an extension rod, the extension rod and the end of the connecting rod being provided with connecting pieces. The connecting pieces are provided with reinforcing ribs, and the extension rod and the mounting racks are connected by a reinforcing rod.

2. The under-water obstacle-avoiding disturbing plow brush according to claim 1, characterized in that, The two mounting racks are connected by a driving rod, the driving rod being used to be connected to the hydraulic rod of the water bottom robot to control the rotation of the support. The disturbance brush comprises a rotating rod rotatably connected to the fixing plates, a plurality of rows of disturbance teeth spaced apart along the circumferential direction of the rotating rod and arranged on the rotating rod along the axial direction of the rotating rod, and a connecting gear arranged in the middle of the rotating rod and used to be drivingly connected to the driving mechanism of the water bottom robot to control the rotation of the disturbance brush. The connecting shaft is rotatably connected to the fixing plates, the fixing plates are provided with a driving motor, and the driving motor is used to control the rotation of the connecting shaft. The guide teeth are not overlapped with the disturbance teeth on the water bottom, the driving motor is used to control the rotation of the guide teeth to the second state of being downwardly inclined and staggered with the disturbance teeth and the third state of being upwardly inclined and staggered with the disturbance teeth.

3. The under-water obstacle-avoiding disturbing plow brush according to claim 2, characterized in that, The utility model relates to a water bottom robot connected with the water bottom obstacle-avoiding disturbance plough brush according to any one of claims 1-9.

4. The underwater obstacle avoidance and disturbance brush according to claim 2, characterized in that, ​ 5. The under-water obstacle-avoiding disturbing plow brush according to claim 4, characterized in that, ​ 6. The under water obstacle avoidance disturbing plow brush of claim 2, wherein, ​ 7. The under water obstacle avoidance disturbing plow brush of claim 2, wherein, ​ ​ ​ ​ 8. The under-water obstacle-avoiding disturbing plow brush according to claim 7, characterized in that, ​ 9. The under water obstacle avoidance disturbing plow brush of claim 8, wherein, ​ 10. An underwater dredging apparatus, characterized by, ​

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