CN114475988A - Swimming bladder aquatic plant shearing device and use method thereof - Google Patents

Abstract

The invention relates to the technical field of underwater robots, in particular to a swimming bladder aquatic weed shearing device and a using method thereof, which can realize high-efficiency underwater work and conveniently and quickly shear aquatic weeds; the device comprises a bottom frame, a driving wheel, a driven wheel, a driving wheel driving assembly, a box body mounting plate, an air cylinder and a shearing assembly, wherein the driving wheel is connected with the bottom frame through the driving wheel driving assembly, and the driven wheel is mounted on the bottom frame through a shaft and a bearing; the driving wheel driving assembly is used for driving the driving wheel to roll, a box body mounting plate is mounted on the bottom frame, an air cylinder mounting plate is arranged above the box body mounting plate, and an air cylinder is mounted on the air cylinder mounting plate; the one end of bottom frame is equipped with shearing assembly for water grass is cuted under water, removes the in-process when the device under water, and the shearing assembly can be opened to the discovery water grass, accomplishes water grass cutting work, and the clearance work of accomplishing water grass is salvaged to the salvage ship of deuterogamying, and work efficiency is high, alleviates workman's manual labor, avoids dangerous production.

Description

Swimming bladder aquatic plant shearing device and use method thereof

Technical Field

The invention relates to the technical field of underwater robots, in particular to a swimming bladder aquatic plant shearing device and a using method thereof.

Background

Underwater operations are not only a relatively manual labor but are associated with significant risks and uncertainties. The weather becomes warm, and the pasture and water reproduction is flourishing in the river course, blocks up the low reaches river course easily, influences the drainage, if the pasture and water is too many, still can influence the dissolved oxygen volume in the water, causes the water oxygen deficiency, and fish and other biological lives and can be influenced. At the present stage, the river float grass cleaning is mainly carried out by manual salvage and is matched with ship cleaning, the labor intensity is high, the cleaning efficiency is low, and the bionic swim bladder robot is produced by transportation in order to improve the underwater operation efficiency.

Disclosure of Invention

The invention provides a swimming bladder aquatic weed shearing device and a using method thereof, which are used for realizing efficient underwater work and conveniently and quickly shearing aquatic weeds, and aims to improve the working efficiency of an underwater robot and provide a novel aquatic weed treatment method.

In order to realize the purpose, the invention is realized by adopting the following technical scheme:

the invention provides a swimming bladder aquatic weed shearing device which comprises a bottom frame, a driving wheel, a driven wheel, a driving wheel driving assembly, a box body mounting plate, an air cylinder and a shearing assembly, wherein the driving wheel is connected with the bottom frame through the driving wheel driving assembly, and the driven wheel is mounted on the bottom frame through a shaft and a bearing; the driving wheel driving assembly is used for driving the driving wheel to roll, a box body mounting plate is mounted on the bottom frame, an air cylinder mounting plate is arranged above the box body mounting plate, and an air cylinder is mounted on the air cylinder mounting plate; one end of the bottom frame is provided with a shearing assembly for shearing underwater aquatic plants.

In one possible technical scheme, the driving wheel driving assembly comprises a speed reducer lower box body arranged on a box body mounting plate, a first driving mechanism is arranged inside the speed reducer lower box body, a first driving mechanism output gear is arranged on the first driving mechanism, the first driving mechanism output gear is meshed with a speed reducer input shaft input gear, and the speed reducer input shaft input gear and the speed reducer input shaft output gear are arranged on a speed reducer input shaft; a sleeve is processed on the input shaft of the speed reducer close to the output shaft of the speed reducer, the output shaft of the speed reducer is inserted into the sleeve through clearance fit, an input gear of a middle shaft and an output gear of the middle shaft are arranged on the middle shaft, the output gear of the input shaft of the speed reducer is meshed with the input gear of the middle shaft, the output gear of the middle shaft is meshed with the output gear of the speed reducer, and the output shaft of the speed reducer extends out of a lower box body of the speed reducer and is provided with a propeller for propulsion through interference fit; the front end of an output shaft of the speed reducer is connected with a reversing driving bevel gear, the driving bevel gear is meshed with a reversing driven bevel gear, the reversing driven bevel gear is arranged on a driving shaft of a driving wheel, and the driving shaft of the driving wheel is perpendicular to the output shaft of the speed reducer; the two sides of the driving wheel driving shaft are provided with driving wheel reducer input gears, the driving wheel reducer input gears are meshed with the driving wheel reducer output gears, and the driving wheels are connected with the driving wheel reducer output gears through driving wheel couplers.

In one possible technical scheme, the driven wheel is matched with a driven wheel bearing and is arranged on a longitudinal shaft of the driven wheel, the longitudinal shaft of the driven wheel is vertically connected with a transverse shaft of the driven wheel through a pin joint, and the steering locking rod is inserted between the longitudinal shaft of the driven wheel and the air cylinder mounting plate through interference fit.

In a possible technical scheme, the two sides of the box body mounting plate are respectively provided with a propeller mounting plate, the propeller mounting plates are respectively provided with a propeller for ascending and a propeller for steering, and the propeller mounting plates are fixedly connected with the inflator mounting plates.

In a possible technical scheme, an adjusting plate is arranged in the inflator in a sliding fit mode through a cylinder wall, and a through hole is formed in one end, close to the adjusting plate, of the inflator.

In a possible technical scheme, the shearing assembly comprises a moving blade and a fixed blade, a reciprocating linear driving structure is arranged on the bottom frame, and the moving blade is connected with the reciprocating linear driving structure and is in contact with the fixed blade arranged on the bottom frame to generate relative sliding so as to generate shearing force.

In a possible technical scheme, the reciprocating linear driving structure comprises a lead screw sliding table sliding rail arranged on a bottom frame, a lead screw sliding table motion motor assembly periodically slides on the lead screw sliding table sliding rail, a moving block is fixed on the lead screw sliding table motion motor assembly, and the moving block is connected with a motion blade through a connecting rod.

In a possible technical scheme, a battery and control part box body is fixed above the lower box body of the speed reducer.

In one possible technical scheme, an underwater illuminating lamp is arranged on the inflator mounting plate.

In a second aspect, the invention provides a method for using a swimming bladder aquatic weed shearing device, which is realized by any one of the swimming bladder aquatic weed shearing devices, wherein a driving wheel driving assembly drives a driving wheel to move forward or backward so as to drive the whole swimming bladder aquatic weed shearing device to move forward or backward, the gravity of a machine body is controlled by an air cylinder to be balanced with the buoyancy borne by the machine body, and the underwater aquatic weed is sheared by a shearing assembly.

Compared with the prior art, the invention has the beneficial effects that: the invention innovatively designs a swimming bladder-imitating structure, utilizes a swimming bladder air cylinder system to balance the whole gravity, utilizes a driving wheel driving component to realize the movement of the whole device, utilizes a propeller to realize the up-and-down floating and steering, and utilizes a first driving mechanism to drive a main propelling blade and wheels to advance through a transmission mechanism and a speed reduction device, so that the device can swim in water like a fish and also can walk at the water bottom. When the device moves under water, once aquatic weeds are found, the shearing assembly can be opened, aquatic weeds can be cut efficiently, the aquatic weeds are fished and landed by matching with a plurality of salvage ships, the cleaning work of the aquatic weeds is finished, the working efficiency is high, the manual labor of workers is reduced, and the danger is avoided. Simultaneously, the function of the device can be expanded, and various functions such as underwater detection, underwater salvage, underwater search and rescue inspection and the like are realized.

Drawings

Fig. 1 is a schematic perspective view of an embodiment of the present invention.

FIG. 2 is a schematic view of a tail drive mechanism according to an embodiment of the present invention.

Fig. 3 is a schematic diagram of the internal structure of the box body according to an embodiment of the invention.

Fig. 4 is a schematic view of a front end shear function of one embodiment of the present invention.

Fig. 5 is a diagram of an assembly line for gas cylinders according to an embodiment of the present invention.

Fig. 6 is a schematic view of the installation of the bearing and the shaft parts according to one embodiment of the invention.

In the figure: 1. a moving blade; 2. a screw rod sliding table box body; 3. a bottom frame; 4. a connecting rod; 5. a driven wheel; 6. a driven wheel bearing; 7. a driven wheel longitudinal axis; 8. a steering lock lever; 9. a driven wheel cross shaft; 10. an air cylinder mounting plate; 11. an underwater light; 12. an air cylinder; 13. a battery and control part box; 14. a propeller for lifting; 15. a propeller mounting plate; 16. a steering propeller; 17. a drive wheel coupling; 18. a reducer case cover; 19. a propeller for propulsion; 20. a lower box body of the speed reducer; 21. a reducer output shaft; 22. the reversing box is arranged on the box body; 23. a reversing box lower box body; 24. a drive wheel drive shaft; 25. a driving wheel reducer case; 26. a drive wheel reducer case cover; 27. a drive wheel; 28. a drive wheel reducer input gear; 29. a drive wheel reducer output gear; 30. a reversing drive bevel gear; 31. a reversing driven bevel gear; 32. a reducer input shaft; 33. a reducer output shaft gear; 34. an intermediate shaft output gear; 35. an intermediate shaft; 36. the output gear of the input shaft of the speed reducer; 37. an intermediate shaft input gear; 38. an input gear of an input shaft of the speed reducer; 39. a first drive mechanism output gear; 40. a first drive mechanism; 41. a box body mounting plate; 42. fixing a blade; 43. fixing the rod; 44. a moving block; 45. a screw rod sliding table motion motor assembly; 46. a screw rod sliding table sliding rail; 47. an adjusting plate.

Detailed Description

The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.

As shown in fig. 1, the swimming bladder aquatic weed shearing device comprises a bottom frame 3, a driving wheel 27, a driven wheel 5, a driving wheel driving assembly, a box body mounting plate 41, an air cylinder 12 and a shearing assembly, wherein the driving wheel 27 is connected with the bottom frame 3 through the driving wheel driving assembly, and the driven wheel 5 is mounted on the bottom frame 3 through a shaft and a bearing; the driving wheel driving assembly is used for driving the driving wheel 27 to roll, a box body mounting plate 41 is mounted on the bottom frame 3, an air cylinder mounting plate 10 is arranged above the box body mounting plate 41, and an air cylinder 12 is mounted on the air cylinder mounting plate 10; one end of the bottom frame 3 is provided with a shearing assembly for shearing underwater aquatic plants.

In one embodiment of the present invention, as shown in fig. 1, 2, 3 and 6, the driving wheel driving assembly includes a lower reducer casing 20 mounted on a casing mounting plate 41, a reducer casing cover 18 is disposed on the top of the lower reducer casing 20, a first driving mechanism 40 is disposed inside the lower reducer casing 20, a first driving mechanism output gear 39 is mounted on the first driving mechanism 40, the first driving mechanism output gear 39 is engaged with a reducer input shaft input gear 38, and the reducer input shaft input gear 38 and the reducer input shaft output gear 36 are mounted on the reducer input shaft 32 with a key slot; the end of the reducer input shaft 32 close to the reducer output shaft 21 is provided with a sleeve, the reducer output shaft 21 is inserted into the sleeve through clearance fit, a bearing seat is arranged on the lower reducer box body 20 and positioned at the position of the sleeve, after the bearing is installed, the relative positions of the reducer input shaft 32 and the reducer output shaft 21 are stable, and the rotation of the reducer input shaft 32 does not influence the rotation of the reducer output shaft 21 and can respectively and stably operate; the intermediate shaft input gear 37 and the intermediate shaft output gear 34 are arranged on an intermediate shaft 35 which is processed with key slots, except that the intermediate shaft 35 is fixed on the wall of the lower box body 20 of the speed reducer, a bearing base is processed on the middle part of the intermediate shaft 35 of the lower box body 20 of the speed reducer, and the intermediate shaft 35 can stably run after the bearing is installed; the output gear 36 of the input shaft of the speed reducer is meshed with the input gear 37 of the intermediate shaft, the output gear 34 of the intermediate shaft is meshed with the gear 33 of the output shaft of the speed reducer, the output shaft 21 of the speed reducer extends out of the lower box body 20 of the speed reducer and is provided with a propeller 19 for propulsion through interference fit; the front end of the output shaft 21 of the speed reducer is connected with a reversing driving bevel gear 30, the driving bevel gear 30 is meshed with a reversing driven bevel gear 31, the reversing driven bevel gear 31 is installed on a driving wheel driving shaft 24, and the driving wheel driving shaft 24 is mutually vertical to the output shaft 21 of the speed reducer; a reversing box consisting of a reversing box upper box body 22 and a reversing box lower box body 23 is arranged on the outer sides of the driving bevel gear 30 and the reversing driven bevel gear 31; a driving wheel reducer input gear 28 is arranged on two sides of the driving wheel driving shaft 24, the driving wheel reducer input gear 28 is meshed with a driving wheel reducer output gear 29, a driving wheel reducer box 25 is arranged on the outer sides of the driving wheel reducer input gear 28 and the driving wheel reducer output gear 29, a driving wheel reducer box cover 26 is arranged on one side of the driving wheel reducer box 25, positions for mounting rolling bearings are reserved on the driving wheel reducer box 25 and the driving wheel reducer box cover 26, the driving wheel reducer box 25 and the driving wheel driving shaft 24 are fixed, and a driving wheel 27 is connected with the driving wheel reducer output gear 29 through a driving wheel coupling 17; the first drive mechanism output gear 39 meshes with the reducer input shaft input gear 38, transmitting the power output by the first drive mechanism 40 to the reducer input shaft 32; the reducer input shaft output gear 36 is meshed with the intermediate shaft input gear 37, and the power of the reducer input shaft 32 is transmitted to the intermediate shaft 35; the intermediate shaft output gear 34 is meshed with the reducer output shaft gear 33, and transmits the power of the intermediate shaft 35 to the reducer output shaft 21; the propeller 19 for propulsion is mounted on the output shaft 21 of the speed reducer, so that the output shaft 21 of the speed reducer rotates together with the propeller 19 for propulsion to provide the propulsion power for forward movement; the reversing drive bevel gear 30 is connected with the reducer output shaft 21, and the drive bevel gear 30 is meshed with the reversing driven bevel gear 31 to transmit the power of the reducer output shaft 21 to the drive wheel drive shaft 24; the drive wheel reducer input gear 28 meshes with the drive wheel reducer output gear 29 to transmit the drive wheel drive shaft 24 power to the drive wheel coupling 17; the driving wheel coupling 17 rotates together with the driving wheel 27 to drive the machine body to move forward; the first driving mechanism 40 may be an electric motor, and similarly, any suitable driving mechanism such as a hydraulic motor may be used; the model and parameters of the first driving mechanism 40 are determined by the specific size of the trolley and the required speed; the gear is selected for transmission, the gears except the bevel gear are all cylindrical straight-tooth gears, the gears and the shaft can be connected through a common flat key, and the axial position of the gears can be fixed through a shaft sleeve; the invention adopts the intermediate shaft two-stage speed change mechanism, changes the defect that one-stage speed reduction can be realized only by one pair of gears of two shafts, realizes two-stage speed reduction by using three shafts and two pairs of gears, directly performs steering by using a pair of propellers, replaces the steering of a guide plate, and has accurate and simple control. The forward and backward only need to change the rotation direction of the first driving mechanism; similarly, the main reducer composed of two pairs of three-shaft two-stage reduction groups consisting of the reducer input shaft 32, the intermediate shaft 35 and the reducer output shaft 32 and the drive wheel reducer composed of the drive wheel reducer input gear 28 and the drive wheel reducer output gear 29 can also adopt belt transmission to realize stepless reduction effect; chain drives may also be used.

In one embodiment of the invention, the driven wheel 5 is arranged on a driven wheel longitudinal shaft 7 in cooperation with a driven wheel bearing 6, the driven wheel longitudinal shaft 7 is vertically connected with a driven wheel transverse shaft 9 through a pin joint, and the steering locking rod 8 is inserted between the driven wheel longitudinal shaft 7 and the air cylinder mounting plate 10 through interference fit, so that the front wheel is prevented from swinging and deviation of the traveling direction is prevented.

In one embodiment of the present invention, propeller mounting plates 15 are respectively disposed on both sides of the box mounting plate 41, a propeller 14 for lifting and a propeller 16 for steering are symmetrically mounted on both the propeller mounting plates 15 by using screws, and the propeller mounting plates 15 are fixedly connected to the gas cylinder mounting plate 10; the ascending propeller 14 and the steering propeller 16 may be operated at the time of advancing to provide advancing power to obtain a further speed increase, and the ascending propeller 14 and the steering propeller 16 may be underwater propellers of the related art, for example, T200 underwater propellers.

In one embodiment of the present invention, as shown in fig. 1 and 5, the gas cylinder 12 may be mounted on the gas cylinder mounting plate 10 by using a metal tie, the interior of the gas cylinder 12 is provided with an adjusting plate 47 through a sliding fit of the cylinder wall, a sliding groove is provided in a partial region of the cylinder wall of the gas cylinder 12, the adjusting plate 47 divides the inner cavity of the gas cylinder 12 into two spaces of a larger volume and a smaller volume, one end of the gas cylinder 12 near the adjusting plate 47 is provided with a through hole, water can flow into the smaller volume end of the gas cylinder through the through hole, and only the larger volume end is retained to provide buoyancy. If the working area is deep in water, in order to prevent the air section with large volume from being compressed by the Pascal principle, before launching water at each time, the position of the adjusting plate 47 on the air cylinder 12 is adjusted, the air hole is blocked after the small volume end is filled with water, so that the integral gravity of the trolley is slightly larger than the buoyancy F borne by the trolley in the water and is less than G, the balance between the gravity of the machine body and the buoyancy borne by the machine body can be realized, and the machine body can realize various motions through the power mechanism.

In one embodiment of the present invention, the cutting assembly comprises a moving blade 1 and a fixed blade 42, a reciprocating linear driving structure is provided on the bottom carriage 3, and the moving blade 1 is connected with the reciprocating linear driving structure, and contacts and slides relative to the fixed blade 42 mounted on the bottom carriage 3 to generate a shearing force.

In an embodiment of the present invention, as shown in fig. 4, the reciprocating linear driving structure includes a lead screw sliding table slide rail 46 installed on the bottom frame 3, a lead screw sliding table motion motor assembly 45 periodically slides on the lead screw sliding table slide rail 46, a moving block 44 is fixed on the lead screw sliding table motion motor assembly 45, the moving block 44 is connected to the moving blade 1 through a connecting rod 4, the lead screw sliding table slide rail 46, the lead screw sliding table motion motor assembly 45, the moving block 44 and a part of the connecting rod 4 are enclosed in a lead screw sliding table box 2, a fixed blade 42 is connected to the fixed rod 43 through a bolt, the fixed rod 43 is vertically installed on the bottom frame 3 through interference fit, and both the moving blade 1 and the fixed blade 42 are in a transverse zigzag shape; the shearing function is realized by adopting the screw rod sliding table mechanism to drive the moving block to do reciprocating linear motion, and similarly, the shearing mechanism can also be replaced by a linear reciprocating telescopic two-rod mechanism or a cam connecting rod; the operation can also be completed by adopting a hydraulic motor to drive a hydraulic rod; and an electric telescopic rod can be adopted for replacement.

In one embodiment of the present invention, a battery and control component case 13 is fixed above the decelerator lower case 20.

In one embodiment of the present invention, the gas cylinder mounting plate 10 is provided with an underwater illuminating lamp 11, and preferably, the underwater illuminating lamp 11 can be added with a camera module to realize underwater visualization operation.

The application method of the swimming bladder aquatic weed shearing device provided by the embodiment of the invention comprises the following working modes:

the advancing mode is as follows: the first driving mechanism 40 starts to operate after obtaining the forward command, the first driving mechanism output gear 39 is engaged with the reducer input shaft input gear 38, the power output from the first driving mechanism 40 is transmitted to the reducer input shaft 32, the reducer input shaft output gear 36 is engaged with the counter shaft input gear 37, the power of the reducer input shaft 32 is transmitted to the counter shaft 35, the counter shaft output gear 34 is engaged with the reducer output shaft gear 33, the counter shaft 35 is transmitted to the reducer output shaft 21, the propeller 19 for propulsion is mounted on the reducer output shaft 21, so the reducer output shaft 21 rotates together with the propeller 19 for propulsion to provide the forward propulsion, the reverse drive bevel gear 30 is connected with the reducer output shaft 21, and the reverse drive bevel gear 30 is engaged with the reverse driven bevel gear 31 to transmit the power of the reducer output shaft 21 to the drive wheel drive shaft 24, the drive wheel reducer input gear 28 is engaged with the drive wheel reducer output gear 29 to transmit the power of the drive wheel drive shaft 24 to the drive wheel coupling 17, the drive wheel coupling 17 rotates together with the drive wheel 27 to drive the body to advance, and the raising propeller 14 and the steering propeller 16 can be operated together at the time of advancing to provide the advancing power to obtain a further speed increase.

A retreating mode: the first driving mechanism 40 starts to work after obtaining the reverse command, the transmission process is the same as the forward process, and the rotation directions of all the gears and the shaft parts are opposite to the forward process.

The floating and submerging actions can be stably realized by the following steps: as shown in fig. 1 and 5, water can flow into the smaller volume end of the cylinder through the through-hole, and only the larger volume end is retained to provide buoyancy. If the working area is deep in water, in order to prevent the air section with large volume from being compressed by the Pascal principle, the position of the adjusting plate 47 on the air cylinder 12 is adjusted before water is launched each time, and the air hole is blocked after the end with small volume is filled with water, so that the integral gravity of the trolley is slightly larger than the buoyancy F borne by the trolley in the water and is less than G.

The floating mode is as follows: as shown in fig. 1, four ascent propellers 14 symmetrically installed at propeller mounting plates 15 on both sides of the body start to operate after a ascent command is obtained, providing power for upward movement.

The steering mode is as follows: four lifters at organism both sides propeller mounting panel 15 are installed to the symmetry and are begun work after obtaining the come-up order with propeller 14, make the organism leave the bottom, later, two that the symmetry is installed at organism both sides propeller mounting panel 15 turn to with propeller 16 according to the direction decision propeller work for turning to of which one side of turning to order: if left-hand turning is needed, the propeller 16 for right-hand turning is electrified to work; if a right turn is required, the left-hand steering thruster 16 is powered up to operate.

The shearing working mode is as follows: as shown in fig. 4 and fig. 1, the lead screw and sliding table movement motor assembly 45 starts to operate after receiving a shearing command, the lead screw and sliding table movement motor assembly 45 periodically slides on the lead screw and sliding table slide rail 46, the lead screw and sliding table movement motor assembly 45 drives the moving block 44 to move together, and the moving blade 1 contacts with the fixed blade 42 mounted on the bottom frame 3 and slides relatively to generate a shearing force to shear the object to be sheared.

The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.

Claims (10)

1. A swimming bladder aquatic weed shearing device is characterized by comprising a bottom frame (3), a driving wheel (27), a driven wheel (5), a driving wheel driving assembly, a box body mounting plate (41), an air cylinder (12) and a shearing assembly, wherein the driving wheel (27) is connected with the bottom frame (3) through the driving wheel driving assembly, and the driven wheel (5) is mounted on the bottom frame (3) through a shaft and a bearing; the driving wheel driving assembly is used for driving the driving wheel (27) to roll, a box body mounting plate (41) is mounted on the bottom frame (3), an air cylinder mounting plate (10) is arranged above the box body mounting plate (41), and an air cylinder (12) is mounted on the air cylinder mounting plate (10); one end of the bottom frame (3) is provided with a shearing assembly for shearing underwater aquatic weeds.

2. The swimming bladder aquatic weed shearing device according to claim 1, wherein the driving wheel driving assembly comprises a lower reducer box (20) mounted on a box mounting plate (41), a first driving mechanism (40) is arranged inside the lower reducer box (20), a first driving mechanism output gear (39) is mounted on the first driving mechanism (40), the first driving mechanism output gear (39) is meshed with a reducer input shaft input gear (38), and the reducer input shaft input gear (38) and the reducer input shaft output gear (36) are mounted on a reducer input shaft (32); a sleeve is processed at the end, close to the output shaft (21), of the speed reducer input shaft (32), the output shaft (21) of the speed reducer is inserted into the sleeve through clearance fit, an intermediate shaft input gear (37) and an intermediate shaft output gear (34) are installed on an intermediate shaft (35), the output gear (36) of the input shaft of the speed reducer is meshed with the intermediate shaft input gear (37), the intermediate shaft output gear (34) is meshed with the gear (33) of the output shaft of the speed reducer, and the output shaft (21) of the speed reducer extends out of a lower box body (20) of the speed reducer and is provided with a propeller (19) for propulsion through interference fit; the front end of the output shaft (21) of the speed reducer is connected with a reversing drive bevel gear (30), the reversing drive bevel gear (30) is meshed with a reversing driven bevel gear (31), the reversing driven bevel gear (31) is installed on a driving wheel driving shaft (24), and the driving wheel driving shaft (24) is vertical to the output shaft (21) of the speed reducer; the two sides of the driving wheel driving shaft (24) are provided with driving wheel reducer input gears (28), the driving wheel reducer input gears (28) are meshed with driving wheel reducer output gears (29), and the driving wheels (27) are connected with the driving wheel reducer output gears (29) through driving wheel couplers (17).

3. The swimming bladder aquatic weed shearing device as recited in claim 2, wherein the driven wheel (5) is mounted on a driven wheel longitudinal shaft (7) in cooperation with the driven wheel bearing (6), the driven wheel longitudinal shaft (7) is vertically connected with a driven wheel transverse shaft (9) through a pin joint, and the steering locking rod (8) is inserted between the driven wheel longitudinal shaft (7) and the air cylinder mounting plate (10) through interference fit.

4. The swimming bladder aquatic weed shearing device according to claim 1, wherein propeller mounting plates (15) are respectively arranged on two sides of the box mounting plate (41), the propeller mounting plates (15) are respectively provided with a propeller (14) for ascending and a propeller (16) for steering, and the propeller mounting plates (15) are fixedly connected with the air cylinder mounting plate (10).

5. The swimming bladder aquatic weed shearing device according to claim 1, wherein an adjusting plate (47) is arranged in the cylinder (12) in a sliding fit manner through a cylinder wall, and a through hole is formed in one end of the cylinder (12) close to the adjusting plate (47).

6. The swimming bladder aquatic weed shearing device as recited in claim 1, wherein the shearing assembly comprises a moving blade (1) and a fixed blade (42), a reciprocating linear driving structure is arranged on the bottom frame (3), and the moving blade (1) is connected with the reciprocating linear driving structure, contacts with the fixed blade (42) arranged on the bottom frame (3) and slides relatively to generate shearing force.

7. The swimming bladder aquatic weed shearing device according to claim 6, wherein the reciprocating linear driving structure comprises a lead screw sliding table sliding rail (46) arranged on the bottom frame (3), the lead screw sliding table movement motor assembly (45) periodically slides on the lead screw sliding table sliding rail (46), a moving block (44) is fixed on the lead screw sliding table movement motor assembly (45), and the moving block (44) is connected with the movement blade (1) through a connecting rod (4).

8. The swimming bladder aquatic weed shearing device as recited in claim 2, wherein a battery and control part box body (13) is fixed above the reducer lower box body (20).

9. The swimming bladder aquatic weed shearing device according to claim 1, wherein an underwater illuminating lamp (11) is arranged on the air cylinder mounting plate (10).

10. An application method of a swimming bladder aquatic weed shearing device is characterized in that the swimming bladder aquatic weed shearing device is realized according to any one of claims 1 to 9, a driving wheel driving assembly drives a driving wheel (27) to move forward or backward to drive the whole swimming bladder aquatic weed shearing device to move forward or backward, the gravity of a machine body is controlled to be balanced with the buoyancy of the machine body through an air cylinder (12), and the underwater aquatic weed is sheared through the shearing assembly.

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