Dredging robot and dredging system

Abstract

The utility model relates to the technical field of pipeline dredging, and discloses a dredging robot and a dredging system, the dredging robot comprises a dredging main body, a hydraulic control box and a connecting assembly, the dredging main body comprises a power device and a dredging assembly, the hydraulic control box comprises a box body, a control panel and at least two first control valves, the connecting assembly comprises a control cable, an oil inlet pipe and an oil return pipe, one end of the control cable is electrically connected to the control panel, the other end is used for being connected with a cable car, one end of the oil inlet pipe and the oil return pipe is connected with the at least two first control valves, and the other end is used for being connected with a hydraulic station. The dredging robot provided by the utility model only needs to connect one oil inlet pipe and one oil return pipe extending out of the pipeline with the external hydraulic station to ensure the normal work of the dredging robot, greatly reduces the number of pipelines needing to extend out of the pipeline, thereby reducing the pipeline structure complexity of the dredging robot and improving the dredging efficiency.

Description

Technical Field

[0001] This utility model relates to the field of pipeline dredging technology, and in particular to a dredging robot and dredging system. Background Technology

[0002] Most existing hydraulically driven dredging robots have their hydraulic control devices located on the external ground. Therefore, each actuator of the dredging robot (such as the power unit and lifting device) requires two hydraulic pipes to connect to the external hydraulic control device. This results in the dredging robot needing numerous hydraulic pipes to ensure its normal operation, making its piping structure very complex. When the pipe is narrow, the complex piping structure can prevent the dredging robot from penetrating deep into the pipe for dredging. Furthermore, the hydraulic pipes are prone to tangling, affecting the robot's movement and reducing dredging efficiency. Utility Model Content

[0003] The main purpose of this invention is to propose a dredging robot, which aims to solve the problem that the hydraulic pipelines of existing dredging robots are relatively complex, resulting in low dredging efficiency.

[0004] To solve the above problems, this utility model proposes a dredging robot, comprising: The dredging body includes a power unit and a dredging component. The power unit is used to drive the dredging robot to move. The dredging component includes a suction pipe and a suction head. One end of the suction pipe is connected to the suction head, and the other end is used to connect to a vacuum truck. A hydraulic control box, comprising a box body, a control board, and at least two first control valves, wherein the box body is mounted on the side of the power unit opposite to the plane of motion, the suction pipe is clamped between the power unit and the hydraulic control box, the control board and at least two first control valves are spaced apart inside the box body, the control board is electrically connected to at least two first control valves, and at least two first control valves are connected to the power unit; and The connection assembly includes a control cable, an oil inlet pipe, and an oil return pipe. One end of the control cable is electrically connected to the control board, and the other end is used to connect to the cable trolley. One end of the oil inlet pipe and the oil return pipe are both connected to at least two of the first control valves, and the other end is used to connect to the hydraulic station.

[0005] In one embodiment, two insertion ports are spaced apart on one side of the housing. The oil inlet pipe includes a first main pipe and at least two first branch pipes. One end of the first main pipe is connected to one end of at least two first branch pipes through one of the insertion ports. The other end of each first branch pipe is connected to a first control valve. The other end of the first main pipe is used to connect to a hydraulic station. The return oil pipe includes a second main pipe and at least two second branch pipes. One end of the second main pipe is connected to one end of at least two second branch pipes through another connector. The other end of each second branch pipe is connected to a first control valve. The other end of the second main pipe is used to connect to a hydraulic station.

[0006] In one embodiment, the power unit includes two moving parts spaced apart, and the hydraulic control box includes two first control valves, one end of which is connected to one of the moving parts, and the other ends of which are connected to the oil inlet pipe and the oil return pipe.

[0007] In one embodiment, each of the moving parts includes a moving body and a hydraulic motor. The hydraulic motor is located inside the moving body and is connected to the moving body. One end of the hydraulic motor is connected to one of the first control valves through two spaced hydraulic pipes, so that the two moving parts and the two first control valves form a parallel first circulation loop and a second circulation loop.

[0008] In one embodiment, the dredging robot further includes a lifting component, and the hydraulic control box further includes a second control valve. The lifting component is inclined relative to the horizontal plane, one end of the lifting component is rotatably connected between the two moving parts, and the other end is connected to the suction pipe. The outer periphery of the lifting assembly is connected to one end of the second control valve via two spaced hydraulic pipes, and the other end of the second control valve is connected to the oil inlet pipe and the oil return pipe to form a third circulation loop.

[0009] In one embodiment, the sludge-dredging robot further includes an auger, and the hydraulic control box further includes a third control valve. The auger is installed at the end of the suction head away from the suction pipe. The end of the auger away from the plane of motion is connected to one end of the third control valve through two spaced hydraulic pipes. The other end of the third control valve is connected to the oil inlet pipe and the oil return pipe to form a fourth circulation loop.

[0010] In one embodiment, the dredging robot further includes a first camera, which is mounted on one end of the housing facing the direction of travel of the dredging robot. The first camera is used to observe the internal environment inside the pipe when the dredging robot moves forward. The dredging robot also includes a second camera. The first camera is installed at one end of the housing away from the direction of the dredging robot's movement. The first camera is used to observe the internal environment inside the pipe when the dredging robot moves backward.

[0011] In one embodiment, the dredging robot further includes a first light source, which is installed at one end of the housing facing the direction of travel of the dredging robot and is spaced apart from the first camera; The dredging robot also includes a second light source, which is installed at one end of the housing away from the direction of travel of the dredging robot and is spaced apart from the second camera.

[0012] In one embodiment, the dredging robot further includes a lifting component, the two ends of which are mounted on opposite ends of the two moving parts.

[0013] This utility model also proposes a dredging system, including a hydraulic station, a cable trolley, a vacuum truck, and a dredging robot. The dredging robot is the dredging robot described above. The hydraulic station is connected to the main structure of the dredging robot through the oil inlet pipe and the oil return pipe. The cable trolley is connected to the main structure of the dredging robot through the control cable. The vacuum truck is connected to the other end of the vacuum pipe.

[0014] This invention proposes a dredging robot, comprising a power unit, a hydraulic control box, a connecting assembly, and a dredging assembly. The dredging robot integrates the hydraulic control device (control board and at least two first control valves) inside the box, which extends into the pipeline as part of the robot's structure. The control board is electrically connected to at least two first control valves, and the at least two first control valves are driven by the power unit. Simultaneously, one end of the inlet pipe and the return pipe are connected to each control valve. Therefore, the dredging robot proposed in this invention only needs to extend one inlet pipe and one return pipe out of the pipeline to connect to an external hydraulic station to ensure normal operation, significantly reducing the number of pipelines that need to extend out, thereby reducing the complexity of the dredging robot's pipeline structure and improving dredging efficiency. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0016] Figure 1 This is a structural schematic diagram of an embodiment of the dredging robot of this utility model; Figure 2 for Figure 1 A structural schematic diagram from another perspective of the embodiment; Figure 3 for Figure 1A schematic diagram of the hydraulic pipeline layout in the Chinese embodiment; Figure 4 for Figure 1 Exploded view of the hydraulic control box in the Chinese embodiment; Figure 5 for Figure 1 Exploded view of the moving parts in the Chinese embodiment; Figure 6 for Figure 1 A schematic diagram of the combined structure of the dredging component, the lifting component, and the auger in the Chinese embodiment.

[0017] Explanation of icon numbers: 10. Dredging main body; 11. Moving parts; 111. Moving main body; 112. Hydraulic motor; 12. Dredging assembly; 121. Suction pipe; 122. Suction head; 13. Mounting base; 131. Mounting plate; 132. Fixing clamp; 20. Hydraulic control box; 21. Box body; 211. Plug interface; 22. Control board; 23. First control valve; 24. Second control valve; 25. Third control valve; 30. Connecting assembly; 31. Control cable; 32. Oil inlet pipe; 33. Oil return pipe; 40. Lifting assembly; 50. Screw auger; 60a. First camera; 60b. Second camera; 70a. First light source; 70b. Second light source; 80. Lifting assembly.

[0018] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0020] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0021] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of indicated technical features. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0022] Most existing hydraulically driven dredging robots have their hydraulic control devices located on the external ground. Therefore, each actuator of the dredging robot (such as the power unit and lifting device) requires two hydraulic pipes to connect to the external hydraulic control device. This results in the dredging robot needing numerous hydraulic pipes to ensure its normal operation, making its piping structure very complex. When the pipe is narrow, the complex piping structure can prevent the dredging robot from penetrating deep into the pipe for dredging. Furthermore, the hydraulic pipes are prone to tangling, affecting the robot's movement and reducing dredging efficiency.

[0023] To address the aforementioned problems, this utility model proposes a dredging robot, aiming to solve the problem that the hydraulic pipelines of existing dredging robots are relatively complex, resulting in low dredging efficiency.

[0024] like Figures 1 to 3 In one embodiment, the dredging robot includes a dredging body 10, a hydraulic control box 20, and a connecting assembly 30. The dredging body 10 includes a power unit and a dredging assembly 12. The power unit is used to drive the dredging robot to move. The dredging assembly 12 includes a suction pipe 121 and a suction head 122. One end of the suction pipe 121 is connected to the suction head 122, and the other end is used to connect to a vacuum truck. The hydraulic control box 20 includes a box body 21, a control board 22, and at least two first control valves 23. The box body 21 is installed on the side of the power unit away from the plane of motion. 1 is sandwiched between the power unit and the hydraulic control box 20. The control board 22 and at least two first control valves 23 are spaced apart inside the box 21. The control board 22 is electrically connected to at least two first control valves 23. The at least two first control valves 23 are connected to the power unit. The connection component 30 includes a control cable 31, an oil inlet pipe 32 and an oil return pipe 33. One end of the control cable 31 is electrically connected to the control board 22, and the other end is used to connect to the cable trolley. One end of the oil inlet pipe 32 and the oil return pipe 33 are both connected to at least two first control valves 23, and the other end is used to connect to the hydraulic station.

[0025] In this embodiment, the dredging body 10 is the core working unit of the dredging robot. The power unit can be a tracked drive mechanism or a wheeled drive assembly driven by a hydraulic motor 112, enabling the dredging robot to move in complex environments such as sludge and sewage through hydraulic power. The dredging assembly 12 is a key component for realizing the dredging function. It includes a suction pipe 121 and a suction head 122. The connection between the two can be a threaded connection or an integrated design to ensure the overall structural stability and sealing of the dredging assembly 12. The suction head 122 is funnel-shaped and made of metal, facilitating a wider suction range and improved suction efficiency. One end of the suction pipe 121 is connected to the suction head 122, and the other end is connected to a vacuum truck via a quick connector to quickly transport the sludge in the pipe to the external vacuum truck. The suction pipe 121 is clamped between the power unit and the hydraulic control box 20. Specifically, a mounting base 13 is provided on the upper surface of the power unit. The mounting base 13 includes a mounting plate 131 and two fixing clips 132. The mounting plate 131 is installed above the power unit. The two fixing clips 132 are spaced apart along the length of the mounting plate 131. The outline of the two fixing clips 132 is semi-circular. Correspondingly, a semi-circular mounting groove is opened at the bottom end of the hydraulic control box 20 along its own length. The suction pipe 121 is clamped between the mounting groove and the two fixing clips 132. At the same time, the two fixing clips 132 are threaded to the groove edge at the corresponding position of the mounting groove to ensure that the suction pipe 121 can be stably fastened between the mounting groove and the two fixing clips 132 to prevent the suction pipe 121 from moving during the suction process.

[0026] The hydraulic control box 20 is the core component controlling the operation of the dredging robot's actuators. It includes a housing 21, a control board 22, and at least two first control valves 23. The housing 21 is made of waterproof material to prevent the control board 22 and the first control valves 23 from being corroded by sewage and sludge. The housing 21 has two mounting cavities to separate the control board 22 and the first control valves 23, preventing hydraulic oil from contacting the control board 22 when passing through the first control valves 23, thus further improving the service life of the control board 22. The control board 22 can receive commands from the control cable 31 and control the action of the first control valves 23 according to the commands. The first control valves 23 are specifically electromagnetic directional valves, and the specific number is not limited here. For example, if the power unit includes left and right tracks, the specific number of first control valves 23 is two, which control the movement of the left and right tracks of the power unit respectively. The control board 22 and the first control valves 23 are electrically connected by wires, and the first control valves 23 are connected to the power unit through hydraulic pipelines, thereby achieving precise control of the power unit. The connection component 30 is the structure for connecting the dredging robot to external equipment. It includes a control cable 31, an oil inlet pipe 32, and an oil return pipe 33. The control cable 31 is a multi-core shielded cable, one end of which is welded to the control board 22, and the other end is connected to the cable trolley through a plug, so that external control commands can be accurately transmitted to the control board 22. The oil inlet pipe 32 and the oil return pipe 33 are both high-pressure rubber hoses, which can withstand the impact of high-pressure hydraulic oil. One end of the oil inlet pipe 32 and the oil return pipe 33 is connected to the housing 21 and is connected to each of the first control valves 23 through the pipeline inside the housing 21. The other end is connected to the external hydraulic station. The oil inlet pipe 32 delivers the high-pressure hydraulic oil from the hydraulic station to the first control valves 23, and the oil return pipe 33 returns the used hydraulic oil to the hydraulic station, thus forming a hydraulic circulation system.

[0027] The dredging robot proposed in this utility model integrates the hydraulic control box 20 into the power unit of the dredging body 10, and integrates at least two first control valves 23 inside the hydraulic control box 20. This allows the oil inlet pipe 32 and the oil return pipe 33 to be connected to the actuator (such as the power unit) through the first control valves 23. This eliminates the need to set up two separate hydraulic pipes for each actuator to connect to the outside, greatly simplifying the pipeline structure, thereby reducing the complexity of the pipeline structure of the dredging robot and improving the dredging efficiency.

[0028] like Figures 1 to 3 In one embodiment, two insertion ports 211 are spaced apart on one side of the housing 21. The oil inlet pipe 32 includes a first main pipe and at least two first branch pipes. One end of the first main pipe is connected to one end of at least two first branch pipes through an insertion port 211. The other end of each first branch pipe is connected to a first control valve 23. The other end of the first main pipe is used to connect to a hydraulic station. The return oil pipe 33 includes a second main pipe and at least two second branch pipes. One end of the second main pipe is connected to one end of at least two second branch pipes through another plug 211. The other end of each second branch pipe is connected to a first control valve 23. The other end of the second main pipe is used to connect to a hydraulic station.

[0029] In this embodiment, two insertion ports 211 are provided at a distance from the end of the housing 21 opposite to the forward direction of the dredging robot, forming two independent pipeline connection points, so that the oil inlet pipe 32 and the oil return pipe 33 can be accurately connected. At the same time, the flow pipe inside the housing 21 is connected to the two insertion ports 211, so that the oil inlet pipe 32 and the oil return pipe 33 can be inserted into the two insertion ports 211 to accurately deliver hydraulic oil to each first control valve 23, ensuring the working stability of the dredging robot.

[0030] like Figures 1 to 3In one embodiment, the power unit includes two moving parts 11 spaced apart, and the hydraulic control box 20 includes two first control valves 23. One end of the first control valve 23 is connected to a moving part 11, and the other ends of the two first control valves 23 are connected to an oil inlet pipe 32 and an oil return pipe 33.

[0031] In this embodiment, the two moving parts 11 can be two tracked or wheeled motion mechanisms, respectively controlling the left and right sides of the dredging robot. Differential steering is achieved through differential speed. The two moving parts 11 are spaced apart on both sides of the housing 21, providing independent space for their respective connected pipelines. A first control valve 23 is connected to a moving part 11 via two hydraulic pipes. The diameter of the hydraulic pipes is set according to the power requirements of the moving part 11. The inlet pipe 32 serves as the main inlet pipe, connecting to the inlets of both first control valves 23. The return pipe 33 serves as the main return pipe, connecting to the return ports of both first control valves 23, forming a "main pipeline branching" layout. This layout makes the pipeline arrangement of the dredging robot more concentrated, reducing the dispersion of pipelines around the power unit, thereby reducing the pipeline complexity of the dredging robot.

[0032] like Figures 1 to 4 In one embodiment, each moving component 11 includes a moving body 111 and a hydraulic motor 112. The hydraulic motor 112 is located inside the moving body 111 and is connected to the moving body 111. One hydraulic motor 112 is connected to one end of a first control valve 23 through two spaced hydraulic pipes, so that the two moving components 11 and the two first control valves 23 form a parallel first circulation loop and a second circulation loop.

[0033] In this embodiment, the moving body 111 is a tracked wheel assembly, which includes a wheel body, a track, and a transmission gear set. A hydraulic motor 112 is built into the axle of the moving body 111 and meshes with the transmission gear set through its output shaft to drive the wheel body, thereby moving the external track and enabling the dredging robot to move. The hydraulic motor 112 has two pipe interfaces, each connected to a hydraulic pipe and a first control valve 23. The two hydraulic pipes serve as an inlet pipe and a return pipe, respectively. The function of the two hydraulic pipes can be changed by switching the first control valve 23, i.e., the inlet pipe becomes the return pipe, and the return pipe becomes the inlet pipe, thus enabling the moving body 111 to move from forward to backward. Furthermore, the hydraulic pipes are arranged and connected close to the outer periphery of the moving body 111 and the housing 21, ensuring that the volume of the dredging robot is not increased and further ensuring the robot's mobility.

[0034] In this embodiment, the first circulation loop consists of the hydraulic motor 112 of the left moving part 11, the corresponding first control valve 23, and the inlet and return pipes connecting the two. The second circulation loop consists of the hydraulic motor 112 of the right moving part 11, the corresponding first control valve 23, and the inlet and return pipes connecting the two. The two loops share a common set of inlet pipe 32 and return pipe 33 as the main pipeline. Hydraulic oil from the inlet pipe 32 is diverted to the inlet pipes of both loops via the first control valve 23, and the return pipes of both loops converge to the return pipe 33 via the first control valve 23, forming a "parallel dual-loop main pipeline" structure. The hydraulic oil flow rates of the two loops do not interfere with each other. The left first control valve 23 regulates the oil flow and on / off state of the first loop, while the right first control valve 23 regulates the second loop, achieving independent and precise control of the left and right moving parts 11. The parallel first and second circulation loops allow the oil supply to the left and right hydraulic motors 112 to be completely independent. The left first control valve 23 only regulates the first loop, and the right first control valve 23 only regulates the second loop. For example, in steering operations, the oil supply to the left loop can be halved while the right loop is kept at full capacity, thus achieving single-sided deceleration steering.

[0035] like Figures 1 to 6 In one embodiment, the dredging robot also includes a lifting component 40, and the hydraulic control box 20 also includes a second control valve 24. The lifting component 40 is inclined relative to the horizontal plane. One end of the lifting component 40 is rotatably connected between the two moving parts 11, and the other end is connected to the suction pipe 121. The outer periphery of the lifting assembly 40 is connected to one end of the second control valve 24 via two spaced hydraulic pipes. The other end of the second control valve 24 is connected to the oil inlet pipe 32 and the oil return pipe 33 to form a third circulation loop.

[0036] In this embodiment, the lifting assembly 40 includes a base plate and a hydraulic telescopic cylinder. The base plate is installed between the two moving parts 11, and the hydraulic telescopic cylinder is inclined relative to the horizontal plane. One end of the cylinder is rotatably connected to the base plate, and the other end is connected to the mounting plate 131 in the above embodiment. When the hydraulic telescopic cylinder extends or retracts, it can drive the suction pipe 121 and the box 21 above the suction pipe 121 to be lifted or lowered, thereby enabling the dredging robot to overcome obstacles and further improving the movement flexibility of the dredging robot.

[0037] The hydraulic telescopic cylinder is also connected to the second control valve 24 inside the housing 21 via two spaced hydraulic pipes. This second control valve 24 is also a solenoid directional valve; one end is connected to the hydraulic telescopic cylinder via the two hydraulic pipes, while the other end's inlet and outlet are connected to the main oil inlet pipe 32 and the main oil return pipe 33, respectively, thus forming a "third circulation loop." From the perspective of the overall piping system, the third circulation loop is connected in parallel with the first and second circulation loops, ensuring that the piping of the third circulation loop does not interfere with the piping of the first and second circulation loops. Furthermore, by connecting the third circulation loop to the main piping via the second control valve 24, no additional external hydraulic pipes are needed; simply adding a second control valve 24 within the hydraulic control housing 20 achieves functional expansion. This maintains the number of main pipes at two, increasing lifting functionality without increasing piping complexity, allowing the dredging robot to adapt to narrower working spaces, thereby improving the robot's practicality.

[0038] like Figures 1 to 3 In one embodiment, the sludge removal robot also includes an auger 50, and the hydraulic control box 20 also includes a third control valve 25. The auger 50 is installed at the end of the suction head 122 away from the suction pipe 121. The end of the auger 50 away from the plane of motion is connected to one end of the third control valve 25 through two spaced hydraulic pipes. The other end of the third control valve 25 is connected to the oil inlet pipe 32 and the oil return pipe 33 to form a fourth circulation loop. The first circulation loop, the second circulation loop, the third circulation loop, and the fourth circulation loop are arranged in parallel.

[0039] In this embodiment, the auger 50 is a spiral-shaped component used to break up large clumps of silt. It is installed at the end of the suction head 122 away from the suction pipe 121, i.e., at the inlet of the suction head 122, to break up the clumps of silt into smaller pieces for easy suction by the suction head 122. The auger 50 is also equipped with a hydraulic motor 112, and the hydraulic control box 20 is equipped with a corresponding third control valve 25. The two are connected by two spaced hydraulic pipes (the auger 50 inlet pipe and the auger 50 return pipe, respectively). At the same time, the inlet of the third control valve 25 is connected to the main oil inlet pipe 32, and the return port is connected to the main oil return pipe 33, thus forming an independent fourth circulation loop. The fourth circulation loop is connected in parallel with the first, second, and third circulation loops. The four loops share the main inlet pipe 32 and the main return pipe 33. The hydraulic oil supply and return of each loop are independent. The high-pressure hydraulic oil in the main inlet pipe 32 is distributed to the four loops through various control valves. The return oil of each loop also flows to the main return pipe 33 through its own control valve. While ensuring that each actuator works independently, the number of main pipelines is still kept to two. The number of external hydraulic pipes is not increased due to the addition of the auger 50 function. This further ensures that the pipeline complexity of the dredging robot is low, enabling the dredging robot to move flexibly in narrow pipes.

[0040] like Figures 1 to 4 In one embodiment, the dredging robot also includes a first camera 60a, which is mounted on one end of the housing 21 facing the direction of the dredging robot's movement. The first camera 60a is used to observe the internal environment inside the pipe when the dredging robot moves forward. The dredging robot also includes a second camera 60b, and a first camera 60a is installed at the end of the housing 21 opposite to the direction of the dredging robot's movement. The first camera 60a is used to observe the internal environment inside the pipe when the dredging robot is moving backward.

[0041] In this embodiment, the first camera 60a is a waterproof high-definition industrial camera, which can be installed at the center of the front end of the housing 21. The lens axis is aligned with the robot's forward direction to avoid being blocked by the suction head 122 or the power unit, ensuring that the field of view covers the internal environment of the pipe 5-10 meters in front of the robot.

[0042] A second camera 60b is also installed at the rear of the housing 21. This second camera 60b is of the same type as the first camera 60a. When the robot moves forward, the first camera 60a can capture real-time images of the internal environment of the pipe ahead, including the distribution of silt, the presence of obstacles (such as stones, branches, etc.), and whether the pipe wall is damaged. The second camera 60b plays a role when the robot moves backward, observing the pipe environment behind it, such as whether there are any missed areas of silt or obstacles in the retreat path. This improves the movement safety of the dredging robot.

[0043] like Figures 1 to 4 In one embodiment, the dredging robot further includes a first light source 70a, which is installed at one end of the housing 21 facing the direction of the dredging robot's movement and is spaced apart from the first camera 60a. The dredging robot also includes a second light source 70b, which is installed at the end of the housing 21 opposite to the direction of travel of the dredging robot and is spaced apart from the second camera 60b.

[0044] In this embodiment, the first light source 70a is a device that provides illumination for the first camera 60a. It can be a waterproof LED light assembly and is installed at the front end of the housing 21, at the same horizontal plane as the first camera 60a, ensuring that the light accurately covers the field of view of the first camera 60a. The second light source 70b has the same specifications as the first light source 70a and is installed at the rear end of the housing 21. The illumination center of the second light source 70b is aligned with the center of the lens of the second camera 60b, and the light covers the shooting range of the second camera 60b. The arrangement of the first light source 70a and the second light source 70b improves the image clarity of the first camera 60a and the second camera 60b, thereby enabling operators to more accurately judge the internal environment of the pipeline and further improving the practicality of the dredging robot.

[0045] like Figure 1 In one embodiment, the dredging robot also includes a lifting component 80, the two ends of which are mounted on two opposing ends.

[0046] In this embodiment, the lifting component 80 can be a metal rope, which is fixed to the two opposite ends of the two moving parts 11 by bolts. When it is necessary to move the dredging robot to or from the work site, the lifting equipment can be used to hook the lifting component 80 to achieve stable lifting of the robot and stable transportation of the dredging robot.

[0047] This utility model also proposes a dredging system (not shown), including a hydraulic station, a cable trolley, a suction truck, and a dredging robot. The hydraulic station is connected to the main structure of the dredging robot via an oil inlet pipe 32 and an oil return pipe 33. The cable trolley is connected to the main structure of the dredging robot via a control cable 31. The suction truck is connected to the other end of the suction pipe 121. The specific structure of the dredging robot is as described in the above embodiments. Since the dredging robot adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0048] The above description is merely an exemplary embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A dredging robot, characterized in that, The dredging robot includes: The dredging body includes a power unit and a dredging component. The power unit is used to drive the dredging robot to move. The dredging component includes a suction pipe and a suction head. One end of the suction pipe is connected to the suction head, and the other end is used to connect to a vacuum truck. A hydraulic control box, comprising a box body, a control board, and at least two first control valves, wherein the box body is mounted on the side of the power unit opposite to the plane of motion, the suction pipe is clamped between the power unit and the hydraulic control box, the control board and at least two first control valves are spaced apart inside the box body, the control board is electrically connected to at least two first control valves, and at least two first control valves are connected to the power unit; and The connection assembly includes a control cable, an oil inlet pipe, and an oil return pipe. One end of the control cable is electrically connected to the control board, and the other end is used to connect to the cable trolley. One end of the oil inlet pipe and the oil return pipe are both connected to at least two of the first control valves, and the other end is used to connect to the hydraulic station.

2. The dredging robot as described in claim 1, characterized in that, Two insertion ports are spaced apart on one side of the box body. The oil inlet pipe includes a first main pipe and at least two first branch pipes. One end of the first main pipe is connected to one end of at least two first branch pipes through one of the insertion ports. The other end of each first branch pipe is connected to a first control valve. The other end of the first main pipe is used to connect to a hydraulic station. The return oil pipe includes a second main pipe and at least two second branch pipes. One end of the second main pipe is connected to one end of at least two of the second branch pipes through another connector. The other end of each second branch pipe is connected to a first control valve. The other end of the second main pipe is used to connect to a hydraulic station.

3. The dredging robot as described in claim 1, characterized in that, The power unit includes two moving parts spaced apart, and the hydraulic control box includes two first control valves. One end of one of the first control valves is connected to one of the moving parts, and the other ends of the two first control valves are connected to the oil inlet pipe and the oil return pipe.

4. The dredging robot as described in claim 3, characterized in that, Each of the moving parts includes a moving body and a hydraulic motor. The hydraulic motor is located inside the moving body and is connected to the moving body. One of the hydraulic motors is connected to one end of a first control valve through two spaced hydraulic pipes, so that the two moving parts and the two first control valves form a parallel first circulation loop and a second circulation loop.

5. The dredging robot as described in claim 4, characterized in that, The dredging robot also includes a lifting component, and the hydraulic control box also includes a second control valve. The lifting component is inclined relative to the horizontal plane. One end of the lifting component is rotatably connected between the two moving parts, and the other end is connected to the suction pipe. The outer periphery of the lifting assembly is connected to one end of the second control valve via two spaced hydraulic pipes, and the other end of the second control valve is connected to the oil inlet pipe and the oil return pipe to form a third circulation loop.

6. The dredging robot as described in any one of claims 1 to 4, characterized in that, The dredging robot also includes an auger, and the hydraulic control box also includes a third control valve. The auger is installed at the end of the suction head away from the suction pipe. The end of the auger away from the plane of motion is connected to one end of the third control valve through two spaced hydraulic pipes. The other end of the third control valve is connected to the oil inlet pipe and the oil return pipe to form a fourth circulation loop.

7. The dredging robot as described in any one of claims 1 to 4, characterized in that, The dredging robot also includes a first camera, which is installed at one end of the housing facing the direction of the dredging robot's movement. The first camera is used to observe the internal environment of the pipe when the dredging robot moves forward. The dredging robot also includes a second camera. The first camera is installed at the end of the box that is away from the direction of the dredging robot's movement. The first camera is used to observe the internal environment inside the pipe when the dredging robot moves backward.

8. The dredging robot as described in claim 7, characterized in that, The dredging robot also includes a first light source, which is installed at one end of the housing facing the direction of the dredging robot's movement and is spaced apart from the first camera. The dredging robot also includes a second light source, which is installed at one end of the housing away from the direction of travel of the dredging robot and is spaced apart from the second camera.

9. The dredging robot as described in claim 4, characterized in that, The dredging robot also includes a lifting component, the two ends of which are mounted on opposite ends of the two moving parts.

10. A dredging system, characterized in that, The dredging system includes a hydraulic station, a cable trolley, a vacuum truck, and a dredging robot. The dredging robot is the dredging robot as described in any one of claims 1 to 9. The hydraulic station is connected to the main structure of the dredging robot through the oil inlet pipe and the oil return pipe. The cable trolley is connected to the main structure of the dredging robot through the control cable. The vacuum truck is connected to the other end of the vacuum pipe.

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