CN112392084A - River channel dredging robot - Google Patents

Abstract

The invention relates to the technical field of dredging, and discloses a river dredging robot, which comprises a vehicle body, wherein a discharging mechanism is rotatably arranged at the center of the bottom of the vehicle body and used for storing broken stones and paving broken stones, a compacting mechanism is also arranged at the other end of the bottom of the vehicle body and used for compacting the paved broken stones, a cone crusher is fixedly arranged in the vehicle body and used for crushing stones, large stones fall into the cone crusher and are crushed, a storage plate rotates to pour out the stored broken stone materials onto a riverbed, a travelling mechanism is controlled to move at a constant speed at the same time, so that the broken stone materials are uniformly paved on the riverbed, the underwater stones can be classified and crushed at the same time, the stones are reused, the occurrence of blockage of the riverbed is avoided, meanwhile, the step of transporting the stones onto the water surface is reduced, and the bottom of the riverbed is paved, the water flow circulation is improved, and the condition that soil is washed away and lost again by the water flow is avoided.

Description

River channel dredging robot

Technical Field

The invention relates to the technical field of dredging, in particular to a river channel dredging robot.

Background

Dredging is to dredge, widen or dig deep water areas such as rivers and lakes, and carry out underwater earth and stone excavation engineering by manpower or machinery. Dredging in a broad sense includes reef blasting, beach blasting, and the like by an underwater explosion method. Manually cut off the small river of the construction of the broken flow. Various dredger are widely used for mechanical construction, and land construction machinery such as a cable shovel is sometimes used. Mechanical dredging started in 1600 years, and an rudiment of a chain bucket dredger appeared in the petty port construction in the netherlands.

The existing dredging robot is used for dredging, but a lot of stones with different sizes are deposited at the bottom of the water, the large stones not only influence the running of the robot, but also influence the dredging and mud discharging work of the robot, namely, a channel is required to be additionally arranged for dredging the stones, meanwhile, broken stones enter a mud pump to damage the mud pump, the underwater environment is complex, after the dredging is carried out for a period of time, the river channel is still washed by water flow, and mud is wrapped and carried to cause blockage.

Disclosure of Invention

Technical problem to be solved

Aiming at the defects of the prior art, the invention provides the river channel dredging robot which has the advantages of breaking stones, performing secondary treatment and utilization on stones and the like, and solves the problem of difficulty in underwater stone treatment.

(II) technical scheme

In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a river channel desilting robot, includes the automobile body, the bottom both sides of automobile body are the fixed running gear that is provided with respectively, the top of automobile body is movably provided with suction means for absorbing earth and rubble, one side of automobile body is movably provided with rolls up mud mechanism for roll up the silt of river course bottom, one side of automobile body still is provided with fixture for the centre gripping rubble, the bottom one end of automobile body is telescopically installed and is strickleed off the mechanism, is used for strickleing off the river course behind the desilting, the bottom central authorities of automobile body are rotatably provided with drop feed mechanism for storing the rubble and spread the rubble, the bottom other end of automobile body still is provided with compacting mechanism for the rubble that will spread, the inside fixed mounting of automobile body has the cone crusher, is used for breaking the stone, the side opening has been seted up to one, the side opening is the rectangle through-hole, the inside of automobile body is the fixed inside transmission device that is provided with still, the one end of inside transmission device passes the side opening, the other end of inside transmission device extends to cone crusher's top, cone crusher's position corresponds with drop feed mechanism position.

Preferably, the mud rolling mechanism comprises a first motor, a main extension rod is fixedly mounted at one end of a shaft lever of the first motor, the main extension rod is of an arc-shaped structure, a fixing block is fixedly mounted at one end, away from the first motor, of the main extension rod, the fixing block is of a rectangular structure, a fixing hole is formed in the top surface of the fixing block, the fixing hole is a circular through hole, a first hydraulic machine is fixedly mounted at the bottom surface of the fixing block, a clamping sleeve is fixedly mounted at one end of the shaft lever of the first hydraulic machine, the clamping sleeve is of an integrally formed U-shaped frame structure, a side wall surface, away from each other, of the inner end of the clamping sleeve is respectively and fixedly mounted with a second motor, a connecting seat is fixedly mounted at one end of the shaft lever of the second motor, the connecting seat is formed by two side.

Preferably, the seat groove has been seted up to the one end wall central authorities of connecting seat, and the seat groove is the circular recess, the inside of seat groove rotationally is provided with the locating lever, and the locating lever is cylindrical structure, locating lever one end and the inside wall fixed connection of cutting ferrule, fixed mounting has the third motor on the intermediate pillar structure one side recess of connecting seat, the axostylus axostyle one end fixed mounting of third motor has broken mud ware, broken mud ware is single cylinder and single hemispherical structure constitution of integrated into one piece, a plurality of broken mud side ways have been seted up to broken mud ware's cylinder part rule, and broken mud side way is the arc wall, a plurality of broken mud overhead grooves have been seted up to broken mud ware's hemispherical part rule, and broken mud overhead groove is the arc wall.

Preferably, an inner groove is formed in the center of the hemispherical portion of the mud breaker, the inner groove is a circular groove, the inner groove extends into the cylindrical portion of the mud breaker, a second hydraulic press is fixedly mounted on the wall surface of the bottom of the inner groove, a stone breaking knife is fixedly mounted at one end of a shaft rod of the second hydraulic press, the stone breaking knife is formed by a cylinder and a rectangular pyramid which are integrally formed, a tip portion of the stone breaking knife is exposed outside the mud breaker, a top hole is formed in the top surface of the vehicle body, the top hole is a circular through hole, the top hole is located right above the cone breaker, a support rod is fixedly mounted on the top surface of the vehicle body, the support rod is of a cylindrical structure, a bottom hole is formed in the inner bottom surface of the traveling mechanism, and the bottom hole is.

Preferably, the clamping mechanism comprises an edge rod which is of a cylindrical structure, one end of the edge rod is fixedly connected with a groove on the other side of the connecting seat middle column structure, an extension plate is fixedly arranged on the side wall of the other end of the side rod, the extension plate is of a rectangular structure, one side of the extension plate close to the side rod is arc-shaped, the edge of the wall surface at the other end of the side rod is fixedly provided with a fixed clamping plate which is of a rectangular structure, a plurality of fastening strips are fixedly arranged on one side wall surface of the fixed clamping plate, the fastening strips are of arc-shaped strip structures, a plurality of long grooves are arranged on the arc-shaped wall surface of the fastening strip, a third hydraulic press is fixedly arranged at one end of the extension plate far away from the side rod, and one end of a shaft rod of the third hydraulic machine is fixedly provided with a movable clamping plate which is of a rectangular structure, and the clamping structure and the mud rolling mechanism can rotate at the opening part of the clamping sleeve.

Preferably, suction means includes the mud sucker that two symmetries set up, and the mud sucker is bowl-shaped structure, the mud sucker is located the both sides of cutting ferrule respectively outside, fixedly connected with driven lever on the arc outer wall of mud sucker, driven lever are the arc columnar structure, the fixed fourth motor that is provided with of one end that the mud sucker was kept away from to the driven lever, the axostylus axostyle one end of fourth motor with driven lever fixed connection is in the same place, the perforation has been seted up respectively to the both sides outer wall of cutting ferrule, and the perforation is circular through-hole, fourth motor and fenestrate inside wall fixed connection, the inside wall fixed mounting of mud sucker has the separation ware, the separation ware is the cruciform structure, circular opening has been seted up to the bottom of mud sucker.

Preferably, a connecting pipe is further arranged above the clamping sleeve, the connecting pipe is a herringbone through pipe, the bottoms of two ends of the connecting pipe respectively penetrate through an opening at the bottom of the sludge sucker and enter the sludge sucker, the top of the connecting pipe penetrates through the fixing hole and extends to the upper part of the vehicle body, a divider is arranged above the vehicle body, the divider is of a hollow spherical structure, two sides and the bottom of the outer side wall of the divider are respectively provided with an outlet hole which is a circular through hole, a sludge discharge pipe is fixedly arranged on the inner side wall of the outlet hole, the sludge discharge pipe close to one side of the sludge sucker is fixedly arranged with one end of the connecting pipe, the sludge discharge pipe at the bottom penetrates through a top hole and extends to the upper part of the cone crusher and is fixedly connected with the top hole, the bottom of the outer side wall of the divider is fixedly connected with the supporting rod, a filter screen is fixedly arranged in the, a main vibration motor is fixedly mounted on one side wall face of the filter screen, and the blocking device is located on the inner side wall between the bottom sludge discharge pipe and the other side sludge discharge pipe.

Preferably, the leveling mechanism comprises a main hydraulic press, an auxiliary extension rod is fixedly mounted at the bottom of a shaft lever of the main hydraulic press, the auxiliary extension rod is of an arc-shaped columnar structure, a mud scraper is fixedly mounted at one end of the auxiliary extension rod and is of an arc-shaped plate, mud scraper rods are fixedly mounted at two sides and the bottom edge of one side wall surface of the mud scraper respectively, the mud scraper rods at two sides of the mud scraper are cylindrical, the mud scraper rods at the bottom of the mud scraper are of an arc-shaped columnar structure and are used for gathering scraped mud, the discharging mechanism comprises a storage plate, the storage plate is of an arc-shaped plate, a cushion block is fixedly mounted at one side of the storage plate and is of a rectangular structure and is used for increasing the height, a main motor is fixedly mounted at the bottom surface of the cushion block, a plurality of belt rods are fixedly mounted at one side of the main motor, the belt rods are of a cylindrical structure, an arc-shaped groove is, the belt rod is fixedly mounted with one end of the bottom surface of the storage plate, a central hole is formed in the bottom surface and is a circular through hole, the central hole is located under the cone crusher, a base is fixedly mounted on the bottom surface of the inner portion of the belt rod and is of a horn-shaped structure, the base is located under the cone crusher, and the base is communicated with the central hole.

Preferably, the both ends of the top surface of storage plate are respectively fixed with the edge plate, and the edge plate is the arc, one end flexible groove has been seted up to one side wall of edge plate, and flexible groove is the circular recess, the tank bottom wall fixed mounting of flexible groove has the fourth hydraulic press, the axostylus axostyle one end lateral wall fixed mounting of fourth hydraulic press scrapes the flat pole, scrapes the flat pole and be oval stock bar, the silo has been seted up to one side edge central authorities of storage plate, and the silo is the rectangular channel, one side internal face of silo has been seted up and has been cut the cut groove, and it is the rectangular channel to cut the cut groove, the inside wall fixed mounting who cuts the cut groove has the fifth motor, the axostylus axostyle one end fixed mounting of fifth motor has the flitch, and the flitch is.

Preferably, the compacting mechanism comprises an auxiliary hydraulic press, a rotary groove is arranged on the wall surface of one end of a shaft lever of the auxiliary hydraulic press, the rotary groove is a T-shaped groove, the rotating groove is movably sleeved with a rotating column, the rotating column is of a special-shaped column structure, the cross section of the rotating column is T-shaped, one end of the rotating column is fixedly provided with a compacting plate which is of a rectangular structure, two ends of the top surface of the compacting plate are respectively and fixedly provided with an auxiliary vibration motor, both ends of the compacting plate are respectively and symmetrically fixedly provided with wanes which incline sixty degrees in the horizontal direction and are of rectangular structures, the both ends of compacting plate fixed mounting respectively have balanced frame, inside transmission mechanism's conveyer belt surface still fixed mounting has a plurality of nail posts, and the nail post is cylindrical structure, and the nail post sets up at transmission mechanism's conveyer belt surface both sides rule, and the nail post sets up with multiunit V-arrangement mode in the central part of inside transmission mechanism simultaneously.

(III) advantageous effects

Compared with the prior art, the invention provides a river channel dredging robot, which has the following beneficial effects:

1. the river dredging robot has the advantages that the operation of the cone crusher is controlled through the controller, broken stones and sundries in the lower sludge discharge pipe fall into the cone crusher and fall into the storage plate after being crushed, the mud crusher extends out of the clamping sleeve to roll up soil at the bottom of a river through the rotation of the second motor control connecting seat, the mud sucking mechanism sucks away small stone blocks which can be sucked, the connecting seat is rotated to enable the clamping mechanism to extend out of the clamping sleeve when large stone blocks are encountered, the rest large stone blocks are matched with the first motor, the first hydraulic machine, the second motor and the traveling mechanism to move through the controller, the large stone blocks are clamped by the clamping mechanism, the controller controls the shaft rod of the third hydraulic machine to move to drive the movable clamping plate to move towards the fixed clamping plate, the large stone blocks are clamped by the clamping columns, the clamping mechanism clamps the large stone blocks to the upper part of the internal transmission mechanism, the shaft rod of the third hydraulic machine returns to the original position, and the large stone, the controller controls the operation of the internal transmission mechanism, large stones are wrapped by the nail columns and are brought above the cone crusher, the large stones fall into the cone crusher to be crushed and then enter the storage plate, after the materials are stored for a period of time, the controller controls the shaft of the main motor to rotate, so that the belt rod rotates to drive the storage plate to rotate, the storage plate rotates to pour out the stored crushed stone materials onto the riverbed, and meanwhile, the walking mechanism is controlled to move at a constant speed to uniformly spread the crushed stone materials on the riverbed, so that the device can normally walk on the riverbed without being blocked by stones, can classify and crush underwater stones, can reuse the stones, avoids the occurrence of blocking of the riverbed again, meanwhile, the device reduces the steps of transporting the stones onto the water surface, and reduces the cost caused by adding a channel for transporting stones again, and the bottom of the river bed is paved, so that the water flow continuity is improved, and the condition that soil is washed away and lost again by water flow is avoided.

2. The river dredging robot is characterized in that the equipment is placed at the water side needing dredging, the controller controls the plc, the traveling mechanism is further controlled to move to drive the vehicle body to move to a target underwater, images around the vehicle body are transmitted to the image display equipment on the bank through the camera transmission equipment, a user can control the moving direction and work of the traveling mechanism according to the underwater condition, the controller controls the shaft rod of the third motor to rotate, so that the mud breaker rotates, the shaft rod of the first motor, the shaft rod of the second motor and the shaft rod of the first hydraulic machine stretch and retract through the controller, so that the first motor and the first hydraulic machine are matched with each other to align the mud breaker to a dredging riverbed part, the mud breaker breaks mud and sundries, the mud pump rotates far, the controller controls the rotating shaft of the fourth motor to rotate to a proper angle, so that the sundries and mud are sucked into a connecting pipe through the mud pump, thereby make debris on the riverbed by quick clearance, the separation ware blocks big stone outside, and little stone and debris mix the inside that mud got into the decollator, and the filter screen falls into debris and rubble separation in the mud pipe of row of below simultaneously, also can separate the rubble and handle simultaneously, has avoided the condition appearance that the rubble damaged the dredge pump.

3. This river course desilting robot, it is flexible through controller control second hydraulic press for the rubble sword is stretched out, punches the split to the big stone through the rubble sword, makes the big stone become the rubble piece, makes this equipment can normally walk and normal desilting operation, has avoided the too big condition that hinders equipment walking and operation difficulty of stone to take place.

4. This river course desilting robot makes the filter screen vibrations through the operation of controller control main shock dynamo for cumulant on the filter screen falls in the row's mud pipe of below, thereby makes this the discharge effect who obtains silt keep good, and the filter effect keeps good, and simultaneously through setting up the separation ware, makes the big stone be difficult to get into the pipeline, has avoided the circumstances of pipeline jam to take place.

5. This river course desilting robot, the axostylus axostyle through controller control main hydraulic press moves down and drives the mud scraper and move down the riverbed after the tight desilting, and the control automobile body moves forward for unnecessary silt is gathered together the tiling by the mud scraper, and control automobile body reciprocating motion makes a round trip, makes the mud scraper with scrape the mud pole with the riverbed flattening, lays for the stone and beaten the basis.

6. This river course desilting robot, the flexible reciprocal of axostylus axostyle through controller control fourth hydraulic press for scrape flat pole reciprocating motion back and forth, make scrape flat the pole with the garrulous stone heap tiling storage plate's that piles up on the concave surface, make the building stones can evenly distributed, produce when having avoided the building stones to lay and the uneven condition of distribution appears, increased the planarization of riverbed.

7. The river channel dredging robot identifies the height from a vehicle body to a gravel layer through the inductor, when the height sensed by the inductor is smaller than the average value, the inductor transmits a signal to the controller, the controller controls the mud scraping plate to descend to the average height for scraping, when the height sensed by the inductor is larger than the average value, the inductor transmits the signal to the controller, the controller controls the traveling mechanism to move to drive the vehicle body to move, the vehicle body moves to drive the material plate on the storage plate to move to the gravel gap part, the controller controls the shaft of the fifth motor to rotate, so that the shaft of the fifth motor drives the material plate to rotate, the material plate is overturned, after the shaft of the main motor is controlled to rotate to a certain angle, gravel materials enter the trough and fall into the gravel gap part for filling operation, and therefore the device can adjust the laid gravel layer to flatten the gravel layer, meanwhile, the function of more reduction and less compensation is achieved, so that the laying operation of the equipment is more perfect and efficient.

8. This river course desilting robot, it removes to drive the automobile body through running gear operation, the automobile body drives the compacting plate and removes, cover the compacting plate on the rubble material of partial paving, the axostylus axostyle downwardly movement of the vice hydraulic press of controller control, make the compacting plate extrusion rubble material, the vice vibrations motor operation of controller control, vice vibrations motor operation produces vibrations, vibrations transmit the rubble material through the compacting plate on, thereby make the rubble of tiling once more compacted, make rivers can not wash away the rubble, improve the life of rubble layer.

9. This river course desilting machine people, it is flexible to control the axostylus axostyle of vice hydraulic press through the controller for the compacting plate moves down with this equipment jack-up, and the equilibrium of this equipment is kept to the balanced frame of both sides.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic structural diagram of a suction mechanism and a mud rolling mechanism of the invention;

FIG. 3 is a schematic view of the internal structure of the vehicle body of the present invention;

FIG. 4 is a schematic structural diagram of a mud rolling mechanism of the present invention;

FIG. 5 is a schematic structural view of a clamping mechanism according to the present invention;

FIG. 6 is a schematic structural view of the strike-off mechanism of the present invention;

FIG. 7 is a schematic sectional front view of the segmentor of the present invention;

FIG. 8 is a schematic view of the construction of the compacting mechanism and the discharge mechanism of the present invention;

FIG. 9 is a schematic view of a part of the discharging mechanism of the present invention;

FIG. 10 is a front structural view of the material discharge mechanism of the present invention;

FIG. 11 is a schematic view of the construction of a secondary hydraulic machine according to the present invention.

In the figure: 100 vehicle bodies; 101 a running mechanism; 102 top hole; 103 bottom hole; 104 a cone crusher; 105 a base; 106 side holes; 107 internal transport mechanisms; 108 nail columns; 109 a central aperture; 200 a first motor; 201 a main extension rod; 202, fixing blocks; 203 fixing holes; 204 a first hydraulic machine; 205 cutting sleeve; 206 a second motor; 207 a connecting seat; 208 a seat groove; 209 a positioning rod; 300 a third motor; 301 breaking mud device; 302 breaking mud side groove; 303 breaking a mud top groove; 304 inner grooves; 305 a second hydraulic machine; 306 a lithotripter; 400 side rods; 401 an extension plate; 402 fixing a clamping plate; 403 fastening strips; 404 a third hydraulic machine; 405 a movable clamping plate; 500 a mud suction device; 501 a blocker; 502 driven lever; 503 a fourth motor; 504, punching; 505 connecting pipes; 506 a mud pipe; 507, a divider; 508 supporting the rods; 509 outlet holes; 510, a filter screen; 511 a main vibration motor; 600 main hydraulic press; 601 a secondary extension rod; 602 a mud scraper; 603 a mud scraping rod; 700 a memory board; 701 belt rods; 702 a main motor; 703 cushion blocks; 704 an edge plate; 705 a telescopic groove; 706 a fourth hydraulic machine; 707 scraping rod; 708 material grooves; 709 flitch; 710 cutting a groove; 711 fifth motor; 800 pairs of hydraulic machines; 801 a rotary trough; an 802 spin column; 803 compacting the plate; 804 pairs of vibration motors; 805 a rocker; 806 balance the frame.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As introduced by the background art, the prior art has shortcomings, and in order to solve the technical problems, the application provides a river channel dredging robot.

Example 1

In a typical embodiment of the present application, as shown in fig. 1 to 11, the present invention is a river dredging robot, including a vehicle body 100, where the vehicle body 100 is a hollow rectangular structure, two sides of the bottom of the vehicle body 100 are respectively and fixedly provided with a traveling mechanism 101, the traveling mechanism 101 is an existing structure, and details are not repeated herein, an absorbing mechanism is movably arranged above the vehicle body 100 for absorbing mud and gravel, one side of the vehicle body 100 is movably provided with a mud rolling mechanism for rolling up mud at the bottom of a river channel, one side of the vehicle body 100 is further provided with a clamping mechanism for clamping gravel, one end of the bottom of the vehicle body 100 is telescopically provided with a strickling mechanism for strickling the mud-cleared river channel, the bottom center of the vehicle body 100 is rotatably provided with a discharging mechanism for storing gravel and laying gravel, the other end of the bottom of the vehicle body 100 is further provided with a compacting mechanism, a top that is used for the rubble compaction that will pave, the inside fixed mounting of automobile body 100 has cone crusher 104, cone crusher 104 is current structure, do not describe here repeatedly, be used for crushing the stone, side opening 106 has been seted up to an automobile body 100's a lateral wall face, side opening 106 is the rectangle through-hole, the inside of automobile body 100 is still fixed and is provided with inside transmission device 107, inside transmission device 107 is current structure, do not describe here repeatedly, the one end of inside transmission device 107 is passed side opening 106 and is extended to fixture below, the other end of inside transmission device 107 extends to cone crusher 104, cone crusher 104's position corresponds with drop feed mechanism position.

Further, the mud rolling mechanism includes a first motor 200, the first motor 200 is of a conventional structure, details of which are not described herein, one end of a shaft rod of the first motor 200 is fixedly provided with a main extension rod 201, the main extension rod 201 is of an arc-shaped structure, one end of the main extension rod 201 away from the first motor 200 is fixedly provided with a fixed block 202, the fixed block 202 is of a rectangular structure, a top surface of the fixed block 202 is provided with a fixed hole 203, the fixed hole 203 is a circular through hole, a bottom surface of the fixed block 202 is fixedly provided with a first hydraulic machine 204, the first hydraulic machine 204 is of a conventional structure, details of which are not described herein, one end of the shaft rod of the first hydraulic machine 204 is fixedly provided with a cutting sleeve 205, the cutting sleeve 205 is of an integrally formed U-shaped frame structure, one side wall surfaces of one end of the cutting sleeve 205, which are away from each other, are respectively fixedly provided with a second motor 206, the second motor 206 is, the connecting base 207 is formed by integrally-formed discs at two sides and a middle cylinder, and two rectangular grooves are formed in the side wall of the middle cylinder of the connecting base 207.

Furthermore, a seat groove 208 is formed in the center of one end wall surface of the connecting seat 207, the seat groove 208 is a circular groove, a positioning rod 209 is rotatably arranged inside the seat groove 208, the positioning rod 209 is a cylindrical structure, the positioning rod 209 is used for bearing the force generated by the connecting seat 207 and preventing the shaft rod of the second motor 206 from being broken, one end of the positioning rod 209 is fixedly connected with the inner side wall surface of the sleeve clamp 205, a groove on one side of a middle column structure of the connecting seat 207 is fixedly provided with a third motor 300, the third motor 300 is of an existing structure, no repeated description is given here, and the axostylus axostyle one end fixed mounting of third motor 300 has broken mud ware 301, and broken mud ware 301 constitutes for integrated into one piece's single cylinder and single hemispherical structure, and a plurality of broken mud side ways 302 have been seted up to broken mud ware 301's cylinder part rule, and broken mud side ways 302 are the arc wall, and a plurality of broken mud top ways 303 have been seted up to broken mud ware 301's hemispherical part rule, and broken mud top ways 303 is the arc wall.

Furthermore, an inner groove 304 is formed in the center of the hemispherical portion of the mud breaker 301, the inner groove 304 is a circular groove, the inner groove 304 extends into the cylindrical portion of the mud breaker 301, a second hydraulic machine 305 is fixedly mounted on the wall surface of the bottom of the inner groove 304, the second hydraulic machine 305 is of an existing structure and is not described herein in detail, a rubble knife 306 is fixedly mounted at one end of a shaft rod of the second hydraulic machine 305, the rubble knife 306 is composed of a cylinder and a rectangular pyramid which are integrally formed, a tip portion of the rubble knife 306 is exposed outside the mud breaker 301, a top hole 102 is formed in the top surface of the vehicle body 100, the top hole 102 is a circular through hole, the top hole 102 is located right above the cone crusher 104, a support rod 508 is fixedly mounted on the top surface of the vehicle body 100, the support rod 508 is of a cylindrical structure, a bottom hole 103 is formed in the inner bottom.

Further, the clamping mechanism includes a side rod 400, the side rod 400 is of a cylindrical structure, one end of the side rod 400 is fixedly connected with a groove on the other side of the middle column structure of the connecting seat 207, an extension plate 401 is fixedly installed on the side wall of the other end of the side rod 400, the extension plate 401 is of a rectangular structure, one side of the extension plate 401, which is close to the side rod 400, is of an arc shape, a fixed clamping plate 402 is fixedly installed on the edge of the wall surface of the other end of the side rod 400, the fixed clamping plate 402 is of a rectangular structure, a plurality of fastening strips 403 are fixedly installed on the wall surface of one side of the fixed clamping plate 402, the fastening strips 403 are of an arc-shaped strip structure, a plurality of long grooves are formed on the arc-shaped wall surface of the fastening strips 403, a third hydraulic press 404 is fixedly installed on one end of the extension plate 401, which is far away from the side rod 400, the third hydraulic, both the clamping structure and the mud rolling mechanism are rotatable at the opening portion of the ferrule 205.

Further, suction means includes the mud sucker 500 that two symmetries set up, mud sucker 500 is the bowl-shaped structure, mud sucker 500 is located the both sides outside of cutting ferrule 205 respectively, fixedly connected with driven lever 502 on mud sucker 500's the arc outer wall, driven lever 502 is the arc columnar structure, the fixed fourth motor 503 that is provided with of one end that mud sucker 500 was kept away from to driven lever 502, fourth motor 503 is current structure, do not redundantly here, fourth motor 503's axostylus axostyle one end and driven lever 502 fixed connection are in the same place, perforation 504 has been seted up respectively to the both sides outer wall of cutting ferrule 205, perforation 504 is circular through-hole, fourth motor 503 and perforated 504's inside wall fixed connection, mud sucker 500's inside wall fixed mounting has separation ware 501, separation ware 501 is the cruciform structure, circular opening has been seted up to mud sucker 500's bottom.

Furthermore, a connecting pipe 505 is further arranged above the cutting sleeve 205, the connecting pipe 505 is a herringbone through pipe, the connecting pipe 505 is in an extension telescopic shape, the bottoms of two ends of the connecting pipe 505 respectively penetrate through the bottom opening of the mud sucker 500 to enter the inside of the mud sucker 500, the top of the connecting pipe 505 penetrates through the fixing hole 203 to extend to the upper side of the vehicle body 100, a divider 507 is arranged above the vehicle body 100, the divider 507 is in a hollow spherical structure, two sides and the bottom of the outer side wall of the divider 507 are respectively provided with an outlet 509, the outlet 509 is a circular through hole, the inner side wall of the outlet 509 is fixedly provided with a mud discharging pipe 506, the mud discharging pipe 506 close to one side of the mud sucker 500 is fixedly installed with one end of the connecting pipe 505, the mud discharging pipe 506 on the other side extends to the water surface and is connected with a mud pump, the mud discharging pipe 506 at the bottom penetrates through the top hole 102 to extend to the upper side of the cone crusher 104 and is fixedly connected with the top hole, a filter screen 510 is fixedly installed inside the divider 507 for separating mud and crushed stone, a main vibration motor 511 is fixedly installed on one side wall surface of the filter screen 510, the main vibration motor 511 is of an existing structure and is not described herein, and the separator 501 is located on an inner side wall between the bottom mud pipe 506 and the other side mud pipe 506.

Further, the leveling mechanism includes a main hydraulic press 600, the main hydraulic press 600 is of an existing structure and will not be described herein, an auxiliary extension rod 601 is fixedly mounted at the bottom of a shaft rod of the main hydraulic press 600, the auxiliary extension rod 601 is of an arc-shaped cylindrical structure, a mud scraping plate 602 is fixedly mounted at one end of the auxiliary extension rod 601, the mud scraping plate 602 is of an arc-shaped plate, mud scraping rods 603 are respectively and fixedly mounted at two sides and a bottom edge of a side wall surface of the mud scraping plate 602, the mud scraping rods 603 at two sides of the mud scraping plate 602 are of a cylindrical shape, the mud scraping rods 603 at the bottom of the mud scraping plate 602 are of an arc-shaped cylindrical structure, the mud scraping rods 603 are used for gathering the scraped mud, the discharging mechanism includes a storage plate 700, the storage plate 700 is of an arc-shaped plate, a cushion block 703 is fixedly mounted at one side of the storage plate 700, the cushion block 703 is of a rectangular structure, the cushion block 703 is used for increasing height, a main motor 702, the axostylus axostyle one side fixed mounting of main motor 702 has a plurality of poles of taking 701, the pole of taking 701 is cylindrical structure, the arc wall has been seted up to the one end of the pole of taking 701, the bottom surface one end fixed mounting of the pole of taking 701 and memory board 700 is in the same place, central hole 109 has been seted up to 1's bottom surface, central hole 109 is circular through-hole, central hole 109 is located cone crusher 104 under, 1's inside bottom surface fixed mounting has base 105, base 105 is the horn shape structure, prevent that the rubble from dropping 1's inside, base 105 is located cone crusher 104 under, base 105 communicates with central hole 109.

Further, both ends of the top surface of the storage plate 700 are respectively fixedly provided with an edge plate 704, the edge plate 704 is an arc-shaped plate, one side wall surface of the edge plate 704 at one end is provided with a telescopic groove 705, the telescopic groove 705 is a circular groove, the bottom wall surface of the telescopic groove 705 is fixedly provided with a fourth hydraulic machine 706, the fourth hydraulic machine 706 is of a conventional structure and is not described herein, one end side wall of a shaft lever of the fourth hydraulic machine 706 is fixedly provided with a leveling rod 707, the leveling rod 707 is an elliptical long rod, the center of one side edge of the storage plate 700 is provided with a material groove 708, the material groove 708 is a rectangular groove, one side inner wall surface of the material groove 708 is provided with a cutting groove 710, the cutting groove 710 is a rectangular groove, the inner side wall of the cutting groove 710 is fixedly provided with a fifth motor 711, the fifth motor 711 is of a conventional structure and is not described herein, one end of the shaft lever of the fifth motor 711 is fixedly provided with, the flitch 709 is rotatable in the trough 708.

Further, the compacting mechanism includes a sub hydraulic press 800, the sub hydraulic press 800 is of a conventional structure and will not be described herein, a rotation groove 801 is formed in a wall surface of one end of a shaft rod of the sub hydraulic press 800, the rotation groove 801 is a T-shaped groove, a rotation column 802 is movably sleeved in the rotation groove 801, the rotation column 802 is of a special-shaped column structure, a cross section of the rotation column 802 is T-shaped, a compacting plate 803 is fixedly installed at one end of the rotation column 802, the compacting plate 803 is of a rectangular structure, sub vibration motors 804 are respectively and fixedly installed at two ends of a top surface of the compacting plate 803, the sub vibration motors 804 are of a conventional structure and will not be described herein, a wane 805 is respectively and fixedly installed at two ends of the compacting plate 803 at a sixty degree angle from a horizontal direction and symmetrically, the wane 805 is of a rectangular structure, the wane 805 prevents broken stone materials from being taken out, a balance frame 806 is respectively and fixedly installed at two ends of the compacting plate 803, and, the surface of the conveying belt of the internal conveying mechanism 107 is also fixedly provided with a plurality of nail columns 108, the nail columns 108 are cylindrical structures, the nail columns 108 are regularly arranged on two sides of the surface of the conveying belt of the internal conveying mechanism 107, and meanwhile, the nail columns 108 are arranged in a multi-group V-shaped mode in the central part of the internal conveying mechanism 107.

Example 2

The vehicle body 100 is further fixedly provided with a controller, an inductor, an image display device and a camera transmission device, the output end of the inductor is electrically connected with the input end of the controller, the inductor is used for inducing the distance between the vehicle body 100 and the water bottom, the camera transmission device can transmit the images around the vehicle body 100 to the image display device on the shore, the cone crusher 104, the internal transmission mechanism 107 and the walking mechanism 101 are all controlled by plc (programmable logic controller), the output end of the controller is electrically connected with the input end of the first motor 200, the output end of the controller is electrically connected with the input end of the first hydraulic machine 204, the output end of the controller is electrically connected with the input end of the second motor 206, the output end of the controller is electrically connected with the input end of the third motor 300, the output end of the controller is electrically connected with the input end of the second hydraulic machine 305, the output end of the controller is electrically connected with the input end of the third hydraulic machine 404, The output end of the controller is electrically connected with the input end of the fourth motor 503, the output end of the controller is electrically connected with the input end of the main vibration motor 511, the output end of the controller is electrically connected with the input end of the main hydraulic press 600, the output end of the controller is electrically connected with the input end of the main motor 702, the output end of the controller is electrically connected with the input end of the fourth hydraulic press 706, the output end of the controller is electrically connected with the input end of the fifth motor 711, the output end of the controller is electrically connected with the input end of the auxiliary hydraulic press 800, and the output end of the controller is electrically connected with the input end of the auxiliary vibration motor 804.

When the device is used, the device is placed at the water side needing dredging, the controller controls the plc, the walking mechanism 101 is further controlled to move to drive the vehicle body 100 to move to the target water, the images around the vehicle body 100 are transmitted to the image display device on the shore through the camera transmission device, a user can control the moving direction and work of the walking mechanism 101 according to the water bottom condition, the controller controls the shaft rod of the third motor 300 to rotate, so that the mud breaker 301 rotates, the shaft rod of the first motor 200, the shaft rod of the second motor 206 and the shaft rod of the first hydraulic machine 204 stretch and retract through the controller, so that the first motor 200 and the first hydraulic machine 204 are mutually matched to align the mud breaker 301 to the dredging riverbed part, the mud breaker 301 breaks mud and sundries, meanwhile, the mud pump rotates far, the controller controls the rotating shaft of the fourth motor 503 to rotate to a proper angle, so that the sundries and mud are sucked into the connecting pipe 505 through the mud pump 500 by the mud pump, the blocker 501 blocks large stones outside, slurry mixed by small stones and sundries enters the divider 507, meanwhile, the filter screen 510 separates the sundries and broken stones and falls into the mud pipe 506 below, after a period of time, the controller controls the main vibration motor 511 to operate so that the filter screen 510 vibrates, accumulated matters on the filter screen 510 fall into the mud pipe 506 below, the controller controls the cone crusher 104 to operate, the broken stones and the sundries in the mud pipe 506 below fall into the cone crusher 104 to be crushed and then fall into the storage plate 700 to be stored, and the controller controls the traveling mechanism 101 to move so that sludge around the vehicle body 100 is cleaned;

when the equipment meets a large stone in the sludge dredging process and meets the large stone in the walking process, the controller controls the second hydraulic machine 305 to stretch out and draw back, so that the stone breaking knife 306 is extended out, the large stone is punched and split by the stone breaking knife 306, the large stone is changed into a stone breaking block, and the equipment can normally walk and normally conduct sludge dredging operation;

the small stone blocks which can be sucked are sucked away through the mud sucking mechanism, the rest large stone blocks are controlled by the controller to move in a matched mode through the first motor 200, the first hydraulic machine 204, the second motor 206 and the traveling mechanism 101, so that the large stone blocks are located between the fixed clamping plate 402 and the third hydraulic machine 404, the controller controls the shaft rod of the third hydraulic machine 404 to move to drive the movable clamping plate 405 to move towards the fixed clamping plate 402, so that the large stone blocks are clamped above the internal conveying mechanism 107 through the clamping columns, the clamping mechanism clamps the large stone blocks above the internal conveying mechanism 107, the shaft rod of the third hydraulic machine 404 returns to the original position, so that the large stone blocks fall onto the internal conveying mechanism 107, the controller controls the internal conveying mechanism 107 to operate, the large stone blocks are clamped above the cone crusher 104 through the nail columns 108, the large stone blocks fall into the cone crusher 104 to be crushed and then enter the storage plate 700, after a period of material storage, the controller controls the shaft rod of the fourth hydraulic machine 706 to, the scraping rod 707 reciprocates back and forth, so that the scraping rod 707 can lay the piled gravel pile on the concave surface of the storage plate 700;

in the dredging process of the device, the controller controls a shaft rod of a main hydraulic press 600 to move downwards and drive a mud scraper 602 to move downwards to be tightly attached to a dredged river bed, controls a vehicle body 100 to move forwards, enables redundant mud to be gathered and paved by the mud scraper 602, controls the vehicle body 100 to reciprocate back and forth, enables the mud scraper 602 and the mud scraper 603 to level the river bed, controls a shaft of a main motor 702 to rotate, enables a belt rod 701 to rotate, rotates the belt rod 701 to drive a storage plate 700 to rotate, enables the storage plate 700 to rotate, pours stored gravel materials onto the river bed, and controls a traveling mechanism 101 to move at a constant speed to uniformly pave the gravel materials onto the river bed;

the sensor identifies the height from the vehicle body 100 to the gravel layer, when the height sensed by the sensor is smaller than the average value, the sensor transmits a signal to the controller, the controller controls the mud scraping plate 602 to descend to the average height for scraping, when the height sensed by the sensor is larger than the average value, the sensor transmits a signal to the controller, the controller controls the traveling mechanism 101 to move to drive the vehicle body 100 to move, the vehicle body 100 moves to drive the material plate 709 on the storage plate 700 to move to the stone gap part, the controller controls the shaft of the fifth motor 711 to rotate, so that the shaft of the fifth motor 711 rotates to drive the material plate 709 to rotate, the material plate 709 overturns, and after the shaft of the main motor 702 rotates to a certain angle, the gravel material enters the material groove 708 and falls into the stone gap part for filling operation;

after the crushed stone materials are completely paved, the running mechanism 101 operates to drive the vehicle body 100 to move, the vehicle body 100 drives the compacting plate 803 to move, the compacting plate 803 is covered on the partially paved crushed stone materials, the controller controls the shaft rod of the auxiliary hydraulic press 800 to move downwards, so that the compacting plate 803 extrudes the crushed stone materials, the controller controls the auxiliary vibration motor 804 to operate, the auxiliary vibration motor 804 operates to generate vibration, and the vibration is transmitted to the crushed stone materials through the compacting plate 803, so that the paved crushed stones are compacted again;

meanwhile, when the equipment is sunk into sludge, the controller controls the shaft rod of the secondary hydraulic machine 800 to stretch, so that the compaction plate 803 moves downwards to jack the equipment, and the balance frames 806 on the two sides keep the balance of the equipment.

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

Claims (10)

1. The utility model provides a river channel desilting robot, include automobile body (100) and set up in transmission equipment makes a video recording on automobile body (100), the bottom both sides of automobile body (100) are fixed running gear (101) that are provided with respectively, its characterized in that: the top of automobile body (100) is movably provided with suction means for absorb earth and rubble, one side movably of automobile body (100) is provided with roll mud mechanism for curl up the silt of river channel bottom, one side of automobile body (100) still is provided with fixture for the centre gripping rubble, the bottom one end telescopically of automobile body (100) is installed and is strickled off the mechanism for strickle off the river channel after clearing mud off, the bottom central authorities of automobile body (100) rotationally are provided with drop feed mechanism for store the rubble and spread the rubble, the bottom other end of automobile body (100) still is provided with compacting mechanism for the rubble compaction under laying, the inside fixed mounting of automobile body (100) has cone crusher (104) for with the stone breakage, side opening (106) have been seted up to one side wall of automobile body (100), the inside of automobile body (100) still fixedly is provided with inside transmission mechanism (107), one end of the internal transmission mechanism (107) penetrates through the side hole (106) and extends out of the vehicle body (100), the clamping mechanism can clamp and move the crushed stone to the upper side of the transmission mechanism (107) under the driving of the first motor (200) and the first hydraulic machine (204), the other end of the internal transmission mechanism (107) extends to the upper side of the cone crusher (104), and the position of the cone crusher (104) corresponds to the position of the emptying mechanism.

2. The river channel dredging robot of claim 1, wherein: roll up mud mechanism includes first motor (200), the axostylus axostyle one end fixed mounting of first motor (200) has main extension rod (201), the one end fixed mounting that first motor (200) were kept away from in main extension rod (201) has fixed block (202), fixed orifices (203) have been seted up to the top surface of fixed block (202), the bottom surface fixed mounting of fixed block (202) has first hydraulic press (204), axostylus axostyle one end fixed mounting of first hydraulic press (204) has cutting ferrule (205), cutting ferrule (205) are integrated into one piece's U-shaped frame construction, a lateral wall face that the inside one end of cutting ferrule (205) was kept away from each other is fixed mounting respectively has second motor (206), the one end axostylus axostyle fixed mounting of second motor (206) has connecting seat (207.

3. The river channel dredging robot of claim 2, wherein: a seat groove (208) is formed in the center of one end wall face of the connecting seat (207), a positioning rod (209) is rotatably arranged in the seat groove (208), one end of the positioning rod (209) is fixedly connected with the inner side wall face of the clamping sleeve (205), a third motor (300) is fixedly mounted on a groove in one side of a middle column structure of the connecting seat (207), a mud breaker (301) is fixedly mounted at one end of a shaft rod of the third motor (300), the mud breaker (301) is formed by a single cylinder and a single hemispherical structure which are integrally formed, a plurality of mud breaking side grooves (302) are regularly formed in the cylindrical part of the mud breaker (301), and a plurality of mud breaking top grooves (303) are regularly formed in the hemispherical part of the mud breaker (301); the clamping mechanism is fixed on a groove on the other side of the middle column structure of the connecting seat (207) through the side rod (400), and the second motor (206) drives the connecting seat (206) to rotate so as to selectively enable the mud breaker (301) or the clamping mechanism to extend out of the clamping sleeve (205).

4. The river channel dredging robot of claim 3, wherein: the inner groove (304) is formed in the center of the hemispherical part of the sludge breaker (301), the inner groove (304) extends into the cylindrical part of the sludge breaker (301), a second hydraulic machine (305) is fixedly mounted on the wall surface of the bottom of the groove (304), a gravel knife (306) is fixedly mounted at one end of a shaft rod of the second hydraulic machine (305), the tip part of the gravel knife (306) is exposed outside the sludge breaker (301), a top hole (102) is formed in the top surface of the vehicle body (100), the top hole (102) is located right above the cone crusher (104), a support rod (508) is fixedly mounted on the top surface of the vehicle body (100), and a bottom hole (103) is formed in the inner bottom surface of the travelling mechanism (101).

5. The river channel dredging robot of claim 4, wherein: the clamping mechanism comprises an edge rod (400), one end of the edge rod (400) is fixedly connected with a groove on the other side of the middle column structure of the connecting seat (207), an extension plate (401) is fixedly arranged on the side wall of the other end of the side rod (400), a fixed clamping plate (402) is fixedly arranged on the edge of the wall surface of the other end of the side rod (400), a plurality of fastening strips (403) are fixedly arranged on one side wall surface of the fixed clamping plate (402), the fastening strip (403) is of an arc-shaped strip structure, the arc-shaped wall surface of the fastening strip (403) is provided with a plurality of long grooves, one end of the extension plate (401) far away from the side rod (400) is fixedly provided with a third hydraulic machine (404), one end of a shaft rod of the third hydraulic machine (404) is fixedly provided with a movable clamping plate (405), the clamping structure and the mud rolling mechanism can rotate at the opening part of the cutting sleeve (205).

6. The river channel dredging robot of claim 5, wherein: suction means includes mud suction device (500) that two symmetries set up, mud suction device (500) are located the both sides of cutting ferrule (205) respectively outside, fixedly connected with driven lever (502) on the arc outer wall of mud suction device (500), the fixed fourth motor (503) that is provided with of one end that mud suction device (500) were kept away from in driven lever (502), the axostylus axostyle one end of fourth motor (503) with driven lever (502) fixed connection is in the same place, perforation (504) have been seted up respectively to the both sides outer wall of cutting ferrule (205), the inside wall fixed connection of fourth motor (503) and perforation (504), the inside wall fixed mounting of mud suction device (500) has separation ware (501), separation ware (501) are the cross structure, circular opening has been seted up to the bottom of mud suction device (500).

7. The river channel dredging robot of claim 2, wherein: a connecting pipe (505) is further arranged above the clamping sleeve (205), the connecting pipe (505) is a herringbone through pipe, the bottoms of the two ends of the connecting pipe (505) respectively penetrate through the bottom opening of the sludge suction device (500) to enter the inside of the sludge suction device (500), the top of the connecting pipe (505) penetrates through the fixing hole (203) to extend to the upper part of the vehicle body (100), a divider (507) is arranged above the vehicle body (100), two sides and the bottom of the outer side wall of the divider (507) are respectively provided with an outlet hole (509), the inner side wall of the outlet hole (509) is fixedly provided with a sludge discharge pipe (506), the sludge discharge pipe (506) close to one side of the sludge suction device (500) is fixedly installed with one end of the connecting pipe (505), the sludge discharge pipe (506) at the bottom penetrates through the top hole (102) to extend to the upper part of the cone crusher (104) and is fixedly connected with the top hole (102), the bottom of the outer side wall of the divider (507) is fixedly connected with the supporting rod, the separator is characterized in that a filter screen (510) is fixedly installed inside the separator (507) and used for separating mud and broken stones, a main vibration motor (511) is fixedly installed on one side wall face of the filter screen (510), and the separator (501) is located on the inner side wall between the bottom mud pipe (506) and the other side mud pipe (506).

8. The river channel dredging robot of claim 3, wherein: the leveling mechanism comprises a main hydraulic press (600), an auxiliary extension rod (601) is fixedly mounted at the bottom of a shaft lever of the main hydraulic press (600), a mud scraper (602) is fixedly mounted at one end of the auxiliary extension rod (601), mud scraping rods (603) are respectively fixedly mounted at two sides and the bottom edge of one side wall surface of the mud scraper (602), the mud scraping rods (603) at two sides of the mud scraper (602) are cylindrical, the mud scraping rods (603) at the bottom of the mud scraper (602) are of an arc-shaped column structure, the mud scraping rods (603) are used for gathering scraped mud, the discharging mechanism comprises a storage plate (700), a cushion block (703) is fixedly mounted at one side of the storage plate (700), a main motor (702) is fixedly mounted at the bottom surface of the cushion block (703), a plurality of belt rods (701) are fixedly mounted at one side of the shaft lever of the main motor (702), and the belt rods (701) are fixedly mounted with one end of the storage plate (700), the bottom surface of (1) is seted up central hole (109), central hole (109) are located cone crusher (104) under, the inside bottom surface fixed mounting of (1) has base (105), prevents that the rubble from dropping the inside of (1), base (105) are located cone crusher (104) under, base (105) with central hole (109) intercommunication.

9. The river channel dredging robot of claim 8, wherein: the storage plate is characterized in that edge plates (704) are fixedly mounted at two ends of the top surface of the storage plate (700) respectively, one end of each edge plate (704) is provided with a telescopic groove (705), a groove bottom wall surface of the telescopic groove (705) is fixedly provided with a fourth hydraulic machine (706), a shaft rod one end side wall of the fourth hydraulic machine (706) is fixedly provided with a leveling rod (707), a trough (708) is arranged at the center of one side edge of the storage plate (700), a cutting groove (710) is arranged on the inner wall surface of one side of the trough (708), a fifth motor (711) is fixedly mounted on the inner side wall of the cutting groove (710), a material plate (709) is fixedly mounted at one end of the shaft rod of the fifth motor (711), two side walls of the material plate (709) are attached to the inner side wall of the trough (708), and the material plate (.

10. The river channel dredging robot of claim 3, wherein: the compaction mechanism comprises an auxiliary hydraulic machine (800), a rotating groove (801) is arranged on the wall surface of one end of a shaft rod of the auxiliary hydraulic machine (800), a rotating column (802) is movably sleeved in the rotating groove (801), a compacting plate (803) is fixedly installed at one end of the rotating column (802), two ends of the top surface of the compacting plate (803) are respectively and fixedly provided with an auxiliary vibrating motor (804), both ends of the compacting plate (803) are respectively and fixedly provided with warping plates (805) which incline sixty degrees in the horizontal direction and are symmetrical, two ends of the compacting plate (803) are respectively and fixedly provided with a balancing frame (806), the surface of the conveying belt of the internal conveying mechanism (107) is also fixedly provided with a plurality of nail posts (108), the nail posts (108) are regularly arranged on two sides of the surface of the conveying belt of the internal conveying mechanism (107), while the spikes (108) are arranged in groups of V-shapes in the central part of the internal transport mechanism (107).

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