CN114457865B

CN114457865B - Underwater dredging robot hopper without stacking

Info

Publication number: CN114457865B
Application number: CN202210230991.7A
Authority: CN
Inventors: 林刚; 湛德; 王涛; 闵红平; 郭二卫; 霍培书; 汤丁丁; 赵皇; 刘成辉; 刘长奇; 丁浩; 雷育霖
Original assignee: China Construction Third Bureau Green Industry Investment Co Ltd
Current assignee: China Construction Third Bureau Green Industry Investment Co Ltd
Priority date: 2022-03-09
Filing date: 2022-03-09
Publication date: 2023-04-28
Anticipated expiration: 2042-03-09
Also published as: WO2023168928A1; CN114457865A

Abstract

The invention discloses a non-stacking underwater dredging robot hopper which comprises a hopper with a containing cavity, a door plate, a scraping plate, a swing arm mechanism and a chassis, wherein the door plate is arranged on the inner peripheral wall of the containing cavity and is rotationally connected with the hopper; an installation cavity for accommodating a pushing mechanism is formed between the chassis and the hopper, the driving end of the pushing mechanism is movably connected with one end of the swing arm mechanism, a pushing plate which is slidably connected with the peripheral wall of the door plate is arranged on the peripheral wall of the door plate, and the other end of the swing arm mechanism is hinged with the pushing plate. Through the mode, when the sludge in the hopper is piled up, the front end of the hopper is lifted through the cooperation of the pushing mechanism and the swing arm mechanism, the sludge is pushed to slide towards the rear end of the hopper through the door plate and the scraping plate, the problem of sludge piling is solved, the volume of the hopper is fully utilized, the replacement times of the hopper are reduced, and the dredging efficiency is improved.

Description

Underwater dredging robot hopper without stacking

Technical Field

The invention relates to the technical field of dredging equipment, in particular to a non-stacking underwater dredging robot hopper.

Background

With the development of urban construction, more and more sludge is deposited in underground culverts. The culvert is sealed throughout the year, the internal structure is complicated, and when the culvert is cleaned, the operation is needed in a sealed space, the operation space is narrow, a large amount of toxic gas is gathered, and the potential safety hazard is too large when constructors operate. At present, a dredging robot integrated with digging is introduced in the market. The dredging robot comprises a bucket and a hopper, wherein the bucket is used for excavating garbage in a culvert, and the garbage in the bucket is poured into the front end of the hopper through a swing arm. In the actual operation process, the dumping position of the bucket cannot be changed due to the fixed length of the swing arm, garbage at the front end of the bucket can be stacked very high, and garbage at other positions is less. Before, the front end of the hopper is jacked up through the hydraulic cylinder, so that the hopper is inclined, a state with high front and low rear is formed, and garbage automatically slides to the rear end. But the space in the culvert is limited, the culvert garbage contains a large amount of sludge with larger viscosity, and the inclination angle of the hopper can not enable the front garbage to automatically slide to the rear end. The unable evenly distributed of rubbish leads to unable make full use of hopper volume in each position of hopper, can increase the hopper and empty the number of times, reduces dredging robot dredging efficiency, increases dredging cost.

The prior art provides a belt conveying transfer hopper silt warning device, including setting up in the inside pick-up plate of transfer hopper, connecting the transmission shaft of transfer hopper and pick-up plate, the response dog of being connected with the transmission shaft to and be located the proximity switch of the oblique below of response dog. The lower half part of the detection plate is a curved plate, the proximity switch is connected with an alarm loop, and the alarm loop is connected with a control loop of belt transmission. The technology can detect the accumulation of the hopper and alarm in time to remind operators. However, this technique can only monitor the deposited sludge condition, requires the operator to clean the deposited sludge after performing the corresponding operation, and cannot automatically and rapidly clean the deposited sludge.

Therefore, it is necessary to design a non-stacking underwater dredging robot hopper which has a simple structure, can automatically clean the accumulated sludge of the hopper and reasonably utilizes the inner space of the hopper.

Disclosure of Invention

In order to overcome the problems, the invention provides the underwater dredging robot hopper without stacking, which can lift the front end of the hopper through the cooperation of the pushing mechanism and the swing arm mechanism when sludge is stacked in the hopper, push the sludge to slide towards the rear end of the hopper through the scraping plate and the door plate, solve the problem of sludge stacking and improve the dredging efficiency.

In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:

the underwater dredging robot hopper without stacking comprises a hopper with a containing cavity, a door plate, a scraping plate, a swing arm mechanism and a chassis, wherein the door plate is arranged on the inner peripheral wall of the containing cavity and is rotationally connected with the hopper, the scraping plate is arranged at the bottom end of the containing cavity and is rotationally connected with the door plate, the swing arm mechanism is used for driving the door plate to rotate, and the chassis is arranged below the hopper and is separately arranged with the hopper;

the chassis with form the installation cavity that is used for holding pushing mechanism between the hopper, pushing mechanism's drive end with swing arm mechanism's one end swing joint, the peripheral wall of door plant is provided with the push pedal with its sliding connection, swing arm mechanism's the other end with the push pedal articulates.

Further, the door plate is arranged on the inner peripheral wall of the front end of the accommodating cavity along the vertical direction, the upper end of the door plate is rotationally connected with an upper hinge arranged on the hopper, and a lower hinge is arranged at the lower end of the door plate.

Further, the bottom end cover of the accommodating cavity is provided with a nylon bottom plate, the scraping plate is arranged at the top end of the nylon bottom plate along the horizontal direction, and the front end of the scraping plate is rotationally connected with the lower hinge.

Further, the front end of the hopper is provided with a mounting opening so as to expose a part of the area of the door plate, an upper guide rail is arranged at the position of the door plate corresponding to the mounting opening along the vertical direction, and a sliding groove for the push plate to slide is formed at the rear end of the upper guide rail and the front end of the door plate.

Further, a nylon thrust plate is arranged at the rear end of the push plate, and a nylon backboard is arranged at the contact position of the front end of the push plate and the upper guide rail.

Further, the front end symmetry of push pedal is provided with the otic placode, swing arm mechanism include one end respectively with two sets of first swing arms of otic placode articulated and second swing arm, the upper end of first swing arm is provided with first through-hole, be provided with on the otic placode with the second through-hole that first through-hole corresponds, first through-hole with the second through-hole supplies the pin axle to pass in proper order.

Further, the front end of hopper bottom is provided with two sets of mounting panels along vertical direction symmetry, and arbitrary one set of the mounting panel is including two sets of steel sheets that set up side by side, two sets of all be provided with the connecting hole that is used for holding the steel pipe on the steel sheet, two sets of the relative one end of steel pipe all is provided with the rotation hole along its axis direction, two sets of the lower extreme of first swing arm all be provided with the third through-hole that the rotation hole corresponds, the third through-hole with the rotation hole supplies the rotation axis to pass in proper order, the upper end of second swing arm with the periphery wall of rotation axis is connected.

Further, the pushing mechanism comprises a hydraulic cylinder arranged in the mounting cavity along the horizontal direction and a sliding block connected with the driving end of the hydraulic cylinder; the front end of the sliding block is symmetrically provided with a protruding structure along the horizontal direction, and the bottom end of the protruding structure and the top end of the chassis form a U-shaped cavity.

Further, the installation cavity is internally provided with a lower guide rail along the horizontal direction, the lower guide rail is in an L-shaped structure, and is provided with a vertical end arranged on the chassis along the vertical direction and a horizontal end arranged at the top end of the vertical end along the horizontal direction, the lower end of the second swing arm is provided with round rods, two ends of each round rod are respectively positioned at the left side and the right side of the second swing arm, and the round rods penetrate through the lower guide rail and then are movably connected with the U-shaped cavity.

Further, the hopper comprises a framework formed by a plurality of square tubes and a plurality of wall plates laid on the framework.

Compared with the prior art, the invention has the beneficial effects that:

1. according to the underwater dredging robot hopper without stacking, the door plate and the scraping plate are arranged in the hopper, so that when sludge in the hopper is stacked, the front end of the hopper is jacked up through the cooperation of the pushing mechanism and the swing arm mechanism, the sludge is convenient to slide backwards, and most of sludge at the front end is pushed to the rear end after the door plate is driven to rotate. Simultaneously, the door plant drives the scraper blade that rotates to be connected with it and moves backward, and then promotes the silt that holds chamber bottom adhesion to the hopper rear end slip, and then through the hopper of front end jack-up and door plant and scraper blade, promotes the rubbish of hopper front end to the rear end, has solved the accumulational problem of silt, make full use of hopper volume, reduces the hopper and changes the number of times, has improved dredging efficiency.

2. According to the non-stacking underwater dredging robot hopper, the nylon bottom plate is arranged at the bottom end cover of the accommodating cavity, so that sludge in the hopper can slide conveniently; in addition, nylon plates are arranged at the front end and the rear end of the push plate, so that friction force in the sliding process of the push plate is reduced, and the pushing effect is ensured.

3. According to the non-stacking underwater dredging robot hopper, the bottom end of the swing arm mechanism is movably connected with the pushing mechanism, so that the hopper and the chassis can be smoothly detached, after dredging work is completed, the swing arm mechanism and other parts can slide to the initial position under the action of self gravity, the setting of a reset driving mechanism is omitted, the whole mechanism is simplified, and the cost is lower.

Drawings

FIG. 1 is a schematic top view of a non-stacker underwater dredging robot hopper of the present invention;

FIG. 2 is a schematic cross-sectional view taken along the direction A-A in FIG. 1;

FIG. 3 is a partially enlarged schematic illustration of region B of FIG. 2;

FIG. 4 is an enlarged schematic view of a portion of region C of FIG. 2;

FIG. 5 is a schematic left-hand view of a non-stacker underwater dredging robot hopper of the present invention;

FIG. 6 is a schematic cross-sectional view of a part of the structure of a non-stocked underwater dredging robot hopper of the present invention;

the components in the drawings are marked as follows: 10. a hopper; 11. a nylon bottom plate; 12. a door panel; 13. an upper hinge; 14. a scraper; 15. a lower hinge; 20. a chassis; 21. a lower guide rail; 22. a hydraulic cylinder; 23. a slide block; 30. a push plate; 31. nylon thrust plate; 32. a nylon backboard; 33. an upper guide rail; 41. a first swing arm; 42. A second swing arm; 43. a rotation shaft; 44. a steel plate; 45. a round bar; 46. and (3) a steel pipe.

Detailed Description

The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making clear and defining the scope of the present invention. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.

Example 1

As shown in fig. 1 to 2, a non-piling underwater dredging robot hopper 100 comprises a hopper 10 with a containing cavity, a door plate 12 arranged on the inner peripheral wall of the containing cavity and rotationally connected with the hopper 10, a scraping plate 14 arranged at the bottom end of the containing cavity and rotationally connected with the door plate 12, a swing arm mechanism for driving the door plate 12 to rotate, and a chassis 20 arranged below the hopper 10 and separately arranged from the hopper 10. The hopper 10 includes a framework composed of square tubes, and a plurality of wall plates laid on the framework. The wall plate is preferably a steel plate and is welded to the square tube. The hopper 10 has good overall structural strength, small deformation and longer service life. The chassis 20 and the hopper 10 are in a separated structure, so that the hopper 10 can be conveniently replaced, and the hopper 10 can be cleaned. When the hopper 10 is filled with garbage, the hopper 10 is lifted away from the bottom plate 20 through the lifting equipment, and then the empty hopper 10 is lifted again, so that the waiting time of the dredging robot is shortened, and the dredging efficiency is improved.

An installation cavity for accommodating a pushing mechanism is formed between the chassis 20 and the hopper 10, and the driving end of the pushing mechanism is movably connected with one end of the swing arm mechanism, so that the pushing mechanism can push the swing arm mechanism to swing. The outer peripheral wall of the door plate 12 is provided with a push plate 30 in sliding connection with the door plate, and the other end of the swing arm mechanism is hinged with the push plate 30. The push plate 30 is rotatable relative to the swing arm mechanism and is slidable up and down relative to the door panel 12, thereby pushing the door panel 12 to rotate. The door panel 12 pushes the garbage at the front end of the hopper 10 to move backward when rotating in the counterclockwise direction.

So set up, through setting up door plant 12 and scraper blade 14 in hopper 10, can be when the interior silt of hopper 10 piles up, through the cooperation effect of pushing mechanism and swing arm mechanism, make the front end jack-up of hopper 10, and drive door plant 12 rotate the back with the most silt promotion of front end to the rear end, and drive the scraper blade 14 that rotates with it and be connected through door plant 12 and remove backward, scraper blade 14 then promote the silt that holds the adhesion of chamber bottom to the hopper 10 rear end and slide, and then through the hopper 10 of front end jack-up, and the rotation of door plant 12 and scraper blade 14, promote the rubbish of hopper 10 front end to the rear end, the problem of silt pile-up has been solved, dredging efficiency has been improved.

As shown in fig. 2 to 4, in some embodiments, the door panel 12 is disposed on an inner peripheral wall of the front end of the receiving chamber in a vertical direction and is closely attached to a front side wall of the receiving chamber to ensure tightness of the front end of the receiving chamber. The upper end of the door plate 12 is rotatably connected with an upper hinge 13 arranged on the hopper 10, and a lower hinge 15 is arranged at the lower end of the door plate 12. Door plant 12 and hopper 10 are rotated through last hinge 13 and are connected for door plant 12 can rotate around last hinge 13 under the thrust effect, realizes the promotion effect of door plant 12 to hopper 10 front end rubbish, and door plant 12 can get back to initial position under the effect of dead weight and the traction effect to door plant 12 when push pedal 30 slides.

The bottom end cover that holds the chamber is equipped with nylon bottom plate 11, and nylon bottom plate 11's coefficient of friction is little, and the silt of being convenient for slides, and its wearability is good, and life is longer. The bottom end of the door plate 12 is higher than the top end of the nylon base plate 11, so that the door plate 12 can rotate conveniently. The scraper 14 is arranged at the top end of the nylon bottom plate 11 along the horizontal direction, and the front end of the scraper 14 is rotationally connected with the lower hinge 15. So configured, when the door panel 12 rotates in a counterclockwise direction, the scraper 14 rotates around the lower hinge 15 in a clockwise direction and slides toward the rear end of the hopper 10, thereby pushing the sludge on the nylon floor 11 to slide rearward.

As shown in fig. 5-6 and referring to fig. 2, in some embodiments, the front end of the hopper 10 is provided with a mounting opening to expose a partial area of the door panel 12 to facilitate the swing arm mechanism acting on the door panel 12. The door plate 12 is symmetrically provided with upper guide rails 33 along the vertical direction at positions corresponding to the mounting openings, and sliding grooves for sliding the push plate 30 are formed between the rear ends of the upper guide rails 33 and the front ends of the door plate 12. The upper guide rail 33 plays a guiding role in sliding the push plate 30, and when the door plate 12 falls under the action of gravity, the upper guide rail 33 can guide the door plate 12 to seal the mounting opening, so that the sludge in the hopper 10 is prevented from falling out from the mounting opening. In particular, the rear end of the push plate 30 is provided with a nylon thrust plate 31, and the contact position between the front end of the push plate 30 and the upper guide rail 33 is provided with a nylon backboard 32, so that the push plate 30 is not in direct contact with the door plate 12 and the upper guide rail 33, the friction force during sliding of the push plate 30 is greatly reduced, and the pushing effect of the push plate 30 on the door plate 12 is ensured.

As shown in fig. 5 to 6, and referring to fig. 2, in some embodiments, the front end of the push plate 30 is symmetrically provided with an ear plate, and the swing arm mechanism includes two sets of first swing arms 41, one end of which is hinged to the ear plate, and a second swing arm 42. The second swing arms 42 are provided in one group, and the upper ends of the second swing arms 42 are located at intermediate positions of the lower ends of the two groups of first swing arms 41. The upper end of the first swing arm 41 is provided with a first through hole, the ear plate is provided with a second through hole corresponding to the first through hole, and the first through hole and the second through hole are sequentially penetrated by the pin shaft, so that the push plate 30 is hinged with the first swing arm 41, the push plate 30 can rotate around the axis of the pin shaft, and further, the push plate 30 can execute rotation and sliding actions simultaneously.

Two groups of mounting plates are symmetrically arranged at the front end of the bottom of the hopper 10 along the vertical direction, and the mounting plates are welded with the hopper 10. Any one set of mounting plates includes two sets of steel plates 44 arranged side by side. The two sets of steel plates 44 are provided with connecting holes for accommodating the steel pipes 46, and the steel pipes 46 are inserted into the connecting holes and welded and fixed with the steel plates 44. The opposite ends of the two sets of steel pipes 46 are each provided with a rotation hole along the axial direction thereof, and the lower ends of the two sets of first swing arms 41 are each provided with a third through hole corresponding to the rotation hole, the third through holes and the rotation holes being sequentially penetrated by the rotation shaft 43. The upper end of the second swing arm 42 is connected to the outer peripheral wall of the rotation shaft 43. In particular, the two sets of first swing arms 41 are welded to the rotation shaft 43, and the second swing arm 42 is welded to the rotation shaft 43, so that the two sets of first swing arms 41, the rotation shaft 43, and the second swing arm 42 form a unitary structure, and the unitary structure rotates in the steel tube 46 around the axis of the rotation shaft 43 through the rotation shaft 43. When the second swing arm 42 moves upward, the first swing arm 41 moves downward. The second swing arm 42 can push the front end of the hopper 10 to lift up when moving upwards, so that the swing arm mechanism can simultaneously execute the actions of jacking the front end of the hopper 10 and swinging the door plate 12. When the door plate 12 swings in the anticlockwise direction, the garbage at the front end of the hopper 10 is pushed to move backwards, so that the pushing effect of the door plate 12 on the garbage at the front end is realized.

In some embodiments, as particularly shown in fig. 2, the pushing mechanism includes a hydraulic cylinder 22 disposed in the mounting chamber in a horizontal direction, and a slider 23 connected to a driving end of the hydraulic cylinder 22. The sliding block 23 is located at the front end of the hydraulic cylinder 22, and a piston rod of the hydraulic cylinder 22 is connected with the sliding block 23 through a nut, so that the sliding block 23 is driven by the piston rod of the hydraulic cylinder 22 to do linear reciprocating motion along the horizontal direction. The front end of the sliding block 23 is symmetrically provided with a protruding structure along the horizontal direction, and the bottom end of the protruding structure and the top end of the chassis 20 form a U-shaped cavity.

The lower guide rail 21 is arranged in the mounting cavity along the horizontal direction, the lower guide rail 21 is in an L-shaped structure, is formed by welding two bending plates, and is provided with a vertical end arranged on the chassis 20 along the vertical direction and a horizontal end arranged at the top end of the vertical end along the horizontal direction. The front end of the protruding structure of the sliding block 23 is provided with a chamfer, so that the sliding block 23 can conveniently enter the lower guide rail 21. The lower guide rail 21 has a semi-closed structure, so that the swing arm mechanism can smoothly leave the lower guide rail 21 and be separated from the chassis 20. The lower extreme of second swing arm 42 is provided with the round bar 45 that both ends are located the both sides of second swing arm 42 respectively, and round bar 45 pass behind the lower guide rail 21 with U die cavity swing joint, U die cavity can prevent that round bar 45 from swinging from top to bottom when moving. In particular, the round bar 45 is welded to the second swing arm 42. Initially, the slider 23 is kept at a distance from the round bar 45, and the two are not connected. This separate arrangement is matched with the upper hollow arrangement of the upper rail 33, and can ensure smooth separation of the hopper 10 from the chassis 20.

The following describes the specific working mode of the invention:

when the front end of the hopper 10 is fully piled with garbage and needs to be cleaned, the hydraulic cylinder 22 drives the sliding block 23 to slide forwards and contact with the round rod 45, the round rod 45 slides into the lower guide rail 21 under the pushing of the sliding block 23 and continues to slide forwards, so that the second swing arm 42 moves forwards and rotates clockwise, the first swing arm 41 is further driven to move downwards and rotate clockwise, and meanwhile, the front end of the hopper 10 is driven to lift when the second swing arm 42 moves upwards, so that garbage can move backwards conveniently. At the same time, the first swing arm 41 drives the push plate 30 to slide down along the upper rail 33 and drives the push plate 30 to rotate in the counterclockwise direction about the axis of the hinge shaft. The push plate 30 further pushes the door plate 12 to rotate around the upper hinge 13 in the anticlockwise direction, and when the door plate 12 rotates, the garbage at the front end is pushed to slide backwards. Meanwhile, the door plate 12 drives the scraping plate 14 to rotate around the lower hinge 15 in the clockwise direction and drives the scraping plate 14 to slide backwards, and the scraping plate 14 further pushes the garbage at the front end to slide backwards, so that the rear movement of the garbage at the front end of the hopper 10 is realized through linkage work of the door plate 12 and the scraping plate 14.

When the refuse at the front end of the hopper 10 moves to the rear end, the hydraulic cylinder 22 drives the piston rod to retract rearward, which in turn drives the slider 23 to move rearward. During the piston rod recovery, the slider 23 is kept in contact with the round bar 45, and the hopper 10, the door panel 12, the round bar 45, and the slider 23 are kept in a follow-up state with each other. That is, after the sliding block 23 moves backwards for a certain distance, the parts such as the hopper 10 and the door plate 12 fall down under the action of gravity, and the round rod 45 is driven to move backwards through the swing arm mechanism, in the process, the round rod 45 and the sliding block 23 always keep contact, and the swing arm mechanism is supported and blocked by the sliding block 23, so that the hopper 10 and the door plate 12 can fall back for a certain distance correspondingly. Meanwhile, in the process of backward movement of the sliding block 23, the first swing arm 41 rotates in the anticlockwise direction, the first swing arm 41 drives the push plate 30 to slide upwards along the upper guide rail 33, the push plate 30 further pulls the door plate 12 to rotate around the upper hinge 13 in the clockwise direction, smooth falling of the door plate 12 is further ensured, and the door plate 12 seals the mounting opening when falling to the initial position. At the same time, the door panel 12 drives the blade 14 to rotate around the lower hinge 15 in a counterclockwise direction and drives the blade 14 to slide forward. After the door panel 12 is rotated into contact with the sidewall of the hopper 10, the slider 23 is out of contact with the round bar 45 and then leaves the lower rail 21. The slider 23 returns to the initial position and is kept at a distance from the round bar 45.

The foregoing is merely illustrative of the present invention and is not to be construed as limiting thereof; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced with equivalents; all equivalent structures or equivalent flow changes made by the specification and the attached drawings of the invention or directly or indirectly applied to other related technical fields are included in the protection scope of the invention.

Claims

1. The underwater dredging robot hopper without stacking is characterized by comprising a hopper (10) with a containing cavity, a door plate (12) arranged on the inner peripheral wall of the containing cavity and rotationally connected with the hopper (10), a scraping plate (14) arranged at the bottom end of the containing cavity and rotationally connected with the door plate (12), a swing arm mechanism for driving the door plate (12) to rotate, and a chassis (20) arranged below the hopper (10) and separately arranged with the hopper (10);

a mounting cavity for accommodating a pushing mechanism is formed between the chassis (20) and the hopper (10), the driving end of the pushing mechanism is movably connected with one end of the swing arm mechanism, a pushing plate (30) which is slidably connected with the peripheral wall of the door plate (12) is arranged on the peripheral wall of the door plate, and the other end of the swing arm mechanism is hinged with the pushing plate (30); the door plate (12) is arranged on the inner peripheral wall of the front end of the accommodating cavity along the vertical direction, the upper end of the door plate (12) is rotationally connected with an upper hinge (13) arranged on the hopper (10), and a lower hinge (15) is arranged at the lower end of the door plate (12); the bottom end cover of holding the chamber is equipped with nylon bottom plate (11), scraper blade (14) along the horizontal direction set up in the top of nylon bottom plate (11), the front end of scraper blade (14) with lower hinge (15) rotate and be connected.

2. The non-stacking underwater dredging robot hopper as claimed in claim 1, wherein a mounting opening is formed at the front end of the hopper (10) to expose a partial region of the door plate (12), an upper guide rail (33) is arranged at a position of the door plate (12) corresponding to the mounting opening along a vertical direction, and a sliding groove for sliding the push plate (30) is formed between the rear end of the upper guide rail (33) and the front end of the door plate (12).

3. The non-piling underwater dredging robot hopper according to claim 2, wherein a nylon thrust plate (31) is arranged at the rear end of the push plate (30), and a nylon backboard (32) is arranged at the contact position of the front end of the push plate and the upper guide rail (33).

4. The non-stacking underwater dredging robot hopper as claimed in claim 2, wherein ear plates are symmetrically arranged at the front end of the push plate (30), the swing arm mechanism comprises two groups of first swing arms (41) and second swing arms (42) with one ends respectively hinged with the ear plates, first through holes are formed in the upper ends of the first swing arms (41), second through holes corresponding to the first through holes are formed in the ear plates, and the first through holes and the second through holes sequentially allow pin shafts to pass through.

5. The non-stacking underwater dredging robot hopper as claimed in claim 4, wherein two groups of mounting plates are symmetrically arranged at the front end of the bottom of the hopper (10) along the vertical direction, any one group of mounting plates comprises two groups of steel plates (44) arranged side by side, connecting holes for accommodating steel pipes (46) are formed in the two groups of steel plates (44), rotating holes are formed in opposite ends of the two groups of steel pipes (46) along the axial direction of the steel plates, third through holes corresponding to the rotating holes are formed in the lower ends of the two groups of first swing arms (41), a rotating shaft (43) is sequentially provided to penetrate through the third through holes and the rotating holes, and the upper ends of the second swing arms (42) are connected with the peripheral wall of the rotating shaft (43).

6. The non-stacker underwater dredging robot hopper as recited in claim 5 wherein the pushing mechanism comprises a hydraulic cylinder (22) disposed in the mounting cavity in a horizontal direction, and a slider (23) connected to a driving end of the hydraulic cylinder (22); the front end of the sliding block (23) is symmetrically provided with a protruding structure along the horizontal direction, and the bottom end of the protruding structure and the top end of the chassis (20) form a U-shaped cavity.

7. The underwater dredging robot hopper without stacking according to claim 6, wherein a lower guide rail (21) is arranged in the installation cavity along the horizontal direction, the lower guide rail (21) is in an L-shaped structure and is provided with a vertical end arranged on the chassis (20) along the vertical direction and a horizontal end arranged at the top end of the vertical end along the horizontal direction, the lower end of the second swing arm (42) is provided with round rods (45) with two ends respectively positioned at the left side and the right side of the second swing arm (42), and the round rods (45) pass through the lower guide rail (21) and are movably connected with the U-shaped cavity.

8. The non-stacking underwater dredging robot hopper as claimed in claim 1, wherein the hopper (10) comprises a framework composed of a plurality of square tubes and a plurality of wall plates laid on the framework.