CN213062150U - Trailing suction type diving dredging robot - Google Patents

Abstract

The utility model discloses a robot is dredged to trailing suction type dive, including automobile body, assembly at the crawler running gear of automobile body bottom, install the trailing suction mechanism of being connected at the big arm rotary mechanism of automobile body front end, with big arm rotary mechanism and install the drive assembly in the automobile body, drive assembly is used for driving actuating of crawler running gear, big arm rotary mechanism and trailing suction mechanism, pressure release mechanism is installed at the automobile body top, the both sides of automobile body all are equipped with pressure differential compensation mechanism, the utility model discloses an operation mode that the desilting was dug, adopted slush pump fixed point desilting after just lying in solving original artifical desilting, drainage, has researched and developed one can dive the operation, possess self-propelled ability, can remote control operation's trailing suction type dive and dredge robot.

Description

Trailing suction type diving dredging robot

Technical Field

The utility model relates to the technical field of robots, the concrete field is that the formula dive is dredged to the harrow suction type robot.

Background

The cooling water flow channel of urban water conveying and drainage box culvert and nuclear power station is mostly cleaned by pumping surface sewage after interception and then manually cleaning or adopting a micro loader. The drainage basin water transfer canal lock, the reservoir, the sewage treatment plant, the sediment treatment plant and the like are mostly operated by a specially-made dredging ship or a ship-borne excavator. The anaerobic digestion tower, the nuclear power station cooling water flow channel and the like have the condition of completely closing the water source, and a method of adopting a slurry pump to perform fixed-point suction after the water source is blocked is also adopted.

But no matter which kind of desilting mode, all there is the production efficiency low, can not continuously arrange mud, has the shortcoming of potential safety hazard, for example the city is defeated to arrange the drainage box culvert every day and is discharged sedimentary water to the state that can desilt just need to spend a large amount of time, and can have the unknown water source to inject into continuously in addition, needs the limit clearance, draws water simultaneously, and once meeting unexpected heavy rainfall in dark culvert operation, personnel just have life danger in the box culvert, similar incident takes place occasionally in recent years. The operation depth of the shipborne excavator and the dredging ship is limited, generally within 25 meters, the operation depth is difficult to be qualified for dredging working conditions of reservoirs, watershed water transfer canal locks and other positions, the operation cost is high, the manufacturing cost is high, and frequent maintenance is needed.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a formula dive dredging robot is inhaled to the harrow to it is low to propose production efficiency in solving above-mentioned background art, can not last row mud, has the problem of potential safety hazard.

In order to achieve the above object, the utility model provides a following technical scheme: trailing suction type dive dredging robot, including automobile body, assembly at the track running gear of automobile body bottom, install the big arm rotary mechanism at the automobile body front end, with the trailing suction mechanism of big arm rotary mechanism connection and install the drive assembly in the automobile body, drive assembly is used for driving the action of track running gear, big arm rotary mechanism and trailing suction mechanism, its characterized in that: the pressure release mechanism is installed on the top of the car body, the pressure difference compensation mechanisms are assembled on two sides of the car body respectively, each pressure difference compensation mechanism comprises an installation cabin formed on two sides of the car body and a pressure difference compensator installed in the installation cabin, the installation cabins are used for assembling the pressure difference compensators and protecting the pressure difference compensators simultaneously, a hydraulic oil tank pressure difference compensator protection cover is assembled on the periphery of the installation cabins, the hydraulic oil tank pressure difference compensator protection cover also plays a role of protecting the pressure difference compensators, the pressure difference compensators are assembled on the inner walls of the two installation cabins, a large arm is assembled at one end of the car body, the large arm is linked with the trailing suction unit to work, one end of the large arm is connected with the car body through a large arm angle adjustment mechanism, a large arm transmission mechanism is assembled at one side of the large arm, and a trailing suction spiral three-axis linkage mechanism is, the one end of harrow suction unit is fixed the intercommunication and has silt runner system, silt in the silt runner system collects the sunction inlet of mud through the spiral effect, silt runner system runs through the automobile body and extends to the outside, the inner chamber of automobile body is equipped with hydraulic tank under water, hydraulic tank is used for reserving the fuel under water, provides required power for equipment, the fixed hoist system that is equipped with of top surface of automobile body, big arm pivot department all is equipped with the round pin axle of taking fixed otic placode, the lateral wall of automobile body is equipped with cable clamp and prevents dragging the structure, the upper end of automobile body is equipped with the fixed installing support that is used for fixed light and camera, the inner chamber both sides of automobile body are equipped with support actuating mechanism, support actuating mechanism runs through the automobile body and links to each other with fixed installing support, one side of automobile body is equipped with power cable wiring mouth and control cable wiring mouth, the side of automobile body is equipped with the oil tank connecting pipe, the oil tank connecting pipe is arranged in the fuel transportation of equipment, the oil tank connecting pipe with the fixed intercommunication of hydraulic tank under water, one side of hydraulic tank is equipped with oil tank way door under water, hydraulic pipe spare cross the diaphragm orifice has all been seted up to the both sides of automobile body, the cable clip of the automobile body left and right sides is prevented dragging the structure and is inserted the cabin and be connected to the supervisory control case, with video signal and illumination intensity match handle later through the cable access block terminal, the block terminal is finally also collected to the control circuit of all hydraulic valves, then exports the remote control end via control cable wiring mouth through the cable.

Preferably, the vehicle body is provided with an inner cavity, the top of the vehicle body is provided with a mounting opening communicated with the inner cavity, a cabin cover plate is fixedly assembled on the mounting opening, and the cabin cover plate seals the mounting opening.

Preferably, when the driving assembly drives the large arm rotating mechanism to rotate, the angle of the trailing suction mechanism is adjusted.

Preferably, a cabin pressure difference compensation rubber plate is mounted on the vehicle body and used for balancing pressure imbalance caused by air pressure change in the vehicle body, so that a pressure difference adjusting function is achieved.

Preferably, the driving shaft drives the fixed mounting bracket to rotate through a stop screw.

Preferably, when the rotary lamp holder is fully lifted, the front camera, the rear camera and the front illuminating lamp and the rear illuminating lamp can be in a horizontal state.

Preferably, after the fixed mounting bracket and the bracket driving mechanism are assembled together, the end cover plate is fixed by using the cover plate fastening bolt.

Compared with the prior art, the beneficial effects of the utility model are that: the crawler traveling mechanism is driven to move forwards and backwards through the driving assembly, or the crawler traveling mechanism stops moving, the crawler traveling mechanism drives the vehicle body to move forwards and backwards when moving forwards and backwards, and the vehicle body correspondingly stops moving when the crawler traveling mechanism stops moving; the driving assembly drives the large arm rotating mechanism to rotate, so as to adjust the angle of the trailing suction mechanism and control the trailing suction mechanism at a proper angle, so as to facilitate the trailing suction mechanism to crush the blockage, such as sludge or other impurities, thereby facilitating the trailing suction mechanism to suck the blockage, and achieving the purpose of dredging; the driving assembly drives the scraper mechanism to crush the blockage and simultaneously drives the scraper mechanism to extract the blockage.

The utility model discloses an operation mode of original manual work desilting, drainage back shovel desilting, adoption slush pump fixed point desilting has just been solved in the aim at, has researched and developed one can dive the operation, possess the ability by oneself, can remote control operation's the formula dive dredging robot is inhaled to harrow.

Drawings

Fig. 1 is a schematic structural view of the present invention;

fig. 2 is a top view of the present invention;

fig. 3 is a side view of the present invention;

FIG. 4 is a schematic view of the whole structure of the dredging robot of the present invention;

FIG. 5 is an enlarged view of the structure at A in FIG. 4;

FIG. 6 is a schematic structural view of the boom assembly of the present invention;

FIG. 7 is an enlarged view of the structure at B in FIG. 6;

FIG. 8 is a schematic structural view of the trailing suction unit assembly of the present invention;

FIG. 9 is a schematic structural view of the trailing suction screw drive shaft assembly of the present invention;

FIG. 10 is a schematic structural view of a trailing suction unit;

FIG. 11 is a schematic structural view of a sludge runner system;

FIG. 12 is a schematic view of the structural assembly of the sludge runner system;

FIG. 13 is a sectional view of the structure of the trailing suction unit;

FIG. 14 is a front view of the structure of the trailing suction unit;

FIG. 15 is a side view of the large arm drive mechanism;

FIG. 16 is a schematic structural view of a pin with a fixing lug;

FIG. 17 is a partial schematic structural view of a stationary mounting bracket;

FIG. 18 is a schematic view of watertight bulkhead, landing plate, end cover plate, stop screws, and cover plate fastening bolts;

FIG. 19 is a schematic view of the carriage drive mechanism;

FIG. 20 is a schematic structural view of a stop screw, a cover plate fastening bolt, an inner lug plate, an outer lug plate, a lug plate bushing, a cover plate fastening nut, and the like;

FIG. 21 is an exploded view of the carriage drive mechanism;

FIG. 22 is a cross-sectional view of the pressure release mechanism;

FIG. 23 is a schematic view of a first portion of the pressure relief mechanism;

FIG. 24 is a second partial schematic view of the pressure relief mechanism;

FIG. 25 is an exploded view of the pressure differential compensator;

FIG. 26 is a schematic structural view of a hoisting system;

figure 27 is a front view of the hoist system;

FIG. 28 is a schematic structural view of a tail roof starboard lifting lug and reinforcing ribs

FIG. 29 is a schematic structural view of a tail roof port shackle;

FIG. 30 is a schematic view of the structure of the large arm angle adjustment mechanism;

FIG. 31 is a schematic view of a large arm angle sensor configuration;

FIG. 32 is an exploded view of the large arm angle sensor;

FIG. 33 is a schematic top view of the structure of FIG. 25;

FIG. 34 is a front view of the structure of FIG. 25;

FIG. 35 is a schematic right view of the structure of FIG. 25;

fig. 36 is a schematic view of the peripheral structure of the installation cabin of the present invention;

FIG. 37 is an enlarged view of D in FIG. 36;

fig. 38 is a schematic structural view of the installation compartment when the lower side protection net and the tail protection are disassembled;

FIG. 39 is an enlarged view of E in FIG. 38;

FIG. 40 is a schematic structural view of the mounting compartment when the angle steel upright is detached;

FIG. 41 is an enlarged view of the structure of FIG. 40 at C;

fig. 42 is a schematic view of the three-dimensional structure of the side protection net of the present invention;

fig. 43 is a schematic structural view of the cable clamp anti-drag structure of the present invention connected to a vehicle body;

FIG. 44 is a schematic view of the cable clip assembly with a cable inserted therein;

fig. 45 is a schematic perspective view of the cable clip assembly of the present invention;

fig. 46 is a schematic sectional view of the cable clip assembly of the present invention 1;

fig. 47 is a schematic sectional view of the cable clip assembly of the present invention, which is shown in fig. 2;

FIG. 48 is a schematic view of a structure of the underwater hydraulic oil tank of the present invention;

FIG. 49 is a schematic view of a second embodiment of the underwater hydraulic oil tank of the present invention;

FIG. 50 is a third schematic structural view of the underwater hydraulic oil tank of the present invention;

FIG. 51 is a schematic cross-sectional view of one side of the present invention;

fig. 52 is a schematic cross-sectional view of another side of the present invention;

fig. 53 is a schematic structural view of the motor-pump unit of the present invention located inside the vehicle body;

FIG. 54 is a schematic cross-sectional view of a vehicle body according to the present invention;

fig. 55 is a schematic perspective view of the motor-pump unit of the present invention.

In the figure: 1-vehicle body, 2-drive assembly, 201-vehicle body water tank structure, 202-shock absorption cushion block, 203-motor pump group, 2031-water cooling motor, 2032-bell jar, 2033-hydraulic oil pump, 2034-cooling water pump, 204-cooling water tank cover plate, 205-cooling water suction pipe, 206-cooling water inlet pipe, 207-cooling water return pipe, 208-mounting base, 3-differential pressure compensator, 301-hydraulic oil side sealing cover, 302-hydraulic oil side telescopic leather bag sealing flange, 303-water side telescopic leather bag sealing flange, 304-base, 305-hydraulic right side PC sleeve, 306-water side PC sleeve, 307-sliding plunger, 308-differential pressure reciprocating component, 3081-telescopic rubber leather bag, 3082-telescopic rubber leather bag pressing plate, 3083-expansion leather bag press plate fastening bolt group, 309-differential pressure spring assembly, 3091-differential pressure compensation spring, 3092-limit cylinder, 3093-limit cylinder fastening bolt group, 310-ball valve adapter, 311-oil tank adapter, 312-pressure sensor, 313-ball valve, 314-O type sealing ring, 315-seat plate fastening bolt group, 316-engine base, 317-plug cap, 318-middle sealing flange fastening bolt group, 319-main body penetrating bolt group, 320-nameplate fastening bolt group, 321-product nameplate, 4-big arm, 5-big arm angle adjusting mechanism, 501-big arm angle sensor, 5011-protective cover, 5012-protective cover mounting bolt, 5013-seat plate, 5014-clamping groove, 5-sensor mounting bolt, 502-large arm adjusting hydraulic oil cylinder, 6-large arm transmission mechanism, 601-large arm assembly, 6011-connecting square tube, 6012-large arm, 6013-lifting oil cylinder piston end lug plate, 6014-lifting oil cylinder piston end shaft sleeve, 6015-lifting oil cylinder piston pin shaft fixing nut, 6016-adjusting oil cylinder piston end lug plate, 6017-adjusting oil cylinder piston end shaft sleeve, 6018-adjusting oil cylinder body pin shaft fixing nut, 6019-screw driving motor plate seat, 60110-large arm shaft sleeve, 60111-large arm copper sleeve, 602-trailing suction unit assembly, 6021-trailing suction cover assembly, 6022-trailing suction unit bracket, 6023-slurry pump assembly, 6024-bearing sleeve, 6025-adjusting oil cylinder piston end shaft sleeve, 6026-adjusting oil cylinder piston pin shaft fixing nut, 603-trailing suction transmission shaft screw assembly, 6031-power shaft, 6032-friction ring, 6033-friction ring countersunk head screw, 6034-trailing suction unit running bearing, 6035-large arm running bearing, 6036-middle clamp spring, 6037-end clamp spring, 604-lifting oil cylinder piston pin shaft, 605-large arm lifting oil cylinder, 606-large arm pin shaft, 607-lifting oil cylinder body pin shaft, 608-adjusting oil cylinder body pin shaft, 609-trailing suction head adjusting oil cylinder, 610-adjusting oil cylinder piston pin shaft, 611-trailing suction screw, 612-trailing suction screw connecting bolt component, 613-cover plate countersunk head bolt, 614-friction cover plate, 615-trailing suction screw driving motor, 616-grease nozzle mounting threaded hole, 617-driving motor fastening bolt, 7-trailing suction unit, 701-trailing suction cover, 702-trailing suction screw reamer, 703-trailing suction spiral reamer driving hydraulic motor, 704-anti-blocking filter screen, 705-trailing suction head angle sensor, 706-trailing suction head adjusting bracket, 707-trailing suction head adjusting hydraulic oil cylinder, 708-crushing cutter tooth, 709-slurry pump shafting, 710-slurry pump shell, 711-mud discharging impeller, 712-flange joint, 9-sludge runner system, 901-slurry pump, 902-trailing suction pump driving hydraulic motor, 903-mud discharging hose, 904-mud discharging pipe rotary joint, 905-mud discharging cooling steel pipe, 10-underwater hydraulic oil tank, 1001-right oil tank, 1002-left oil tank, 1003-oil tank connecting pipe, 1004-compensator connecting pipe, 1005-oil tank cover, 1006-clapboard, 1007-oil filling port, 1008-oil return filter, 1009-auxiliary pump oil suction port, 10010-main pump oil suction port, 10011-main pump oil return port, 10012-auxiliary pump oil return port, 10013-pressure sensor, 10014-temperature sensor interface, 10015-one-way valve vent, 10016-oil discharge port, 11-hoisting system, 1101-tail roof port lifting lug, 11011-seat plate, 11012-reinforcing plate, 11013-lug plate, 1102-tail roof starboard lifting lug, 1103-tail vehicle bottom port lifting lug, 1104-tail vehicle bottom starboard lifting lug, 1105-head roof starboard lifting lug, 1106-head roof port lifting lug, 12-pin shaft with fixed lug plate, 1201-pin shaft, 1202-fixed lug plate, 1203-fastening nut, 1204-fixing bolt, 13-cable clamp anti-drag structure, 1301-cable plug, cable clamp, 1302-cable, 1303-anti-drag ear plate, 13031-upper half structure of clip, 13032-lower half structure of clip, 13033-cable hole, 13034-fastening bolt hole, 13035-fastening bolt component, 13036-steel wire hole, 1304-cable clip assembly, 1305-steel wire rope, 1306-self-locking hook, 14-pressure release mechanism, 1401-tail roof of car body, 1402-rubber cover plate, 1403-flange gland, 1404-fastening bolt component, 1405-sealing seat plate, 15-installation cabin, 1501-angle steel upright post, 1502-side protection net, 15021-side protection net steel outer frame, 15022-side steel wire net, 1503-tail protection net, 15031-tail protection net steel outer frame, 15032-tail steel wire net, 1504-protection net bolt fixing base, 1505-protective screen mounting bolt, 1506-plate compensator mounting table, 1507-mounting bolt, 16-fixed mounting bracket, 1601-rotary lamp bracket, 1602-front camera, 1603-rear camera, 1604-front lighting lamp, 1605-rear lighting lamp, 1606-lamp holder, 1607-lamp bracket shaft sleeve, 17-bracket driving mechanism, 1701-driving shaft, 1702-side wall base plate, 1703-mechanical seal, 1704-mechanical seal fixing bolt, 1705-rack, 1706-gear, 1707-bearing fixing bolt, 1708-bearing base plate, 1709-sleeved bearing, 1710-flat key, 1711-snap spring, 1712-hydraulic cylinder, 1713-cylinder fastening screw, 1714-cylinder base, 18-crawler running mechanism, 19-cabin cover plate, 20-weak point distribution box, 21-power cable connection port, 22-control cable connection port, 23-oil tank connection pipe, 24-oil tank channel door, 25-hydraulic pipe fitting through hole, 26-hydraulic oil tank differential pressure compensator protective cover, 27-watertight bulkhead, 28-platform plate, 29-end cover plate, 30-stop screw, 31-cover plate fastening bolt, 32-inner side lug plate, 33-outer side lug plate, 34-lug plate shaft sleeve and 35-cover plate fastening nut.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-55, the present invention provides a technical solution: a submersible dredging robot comprises a vehicle body 1, a crawler walking mechanism 18 assembled at the bottom of the vehicle body 1, a large arm rotating mechanism installed at the front end of the vehicle body 1, a trailing suction mechanism connected with the large arm rotating mechanism and a driving assembly 2 installed in the vehicle body 1, wherein the driving assembly 2 is used for driving the crawler walking mechanism 18, the large arm rotating mechanism and the trailing suction mechanism to move.

Specifically, that is, the driving assembly 2 drives the crawler belt 18 to move forward and backward, or stops the crawler belt 18, the crawler belt 18 drives the vehicle body 1 to move forward and backward when moving forward and backward, and the vehicle body 1 stops moving when the crawler belt 18 stops moving; the driving assembly 2 drives the large arm rotation mechanism to rotate, so as to adjust the angle of the trailing suction mechanism and control the trailing suction mechanism at a proper angle, so as to facilitate the trailing suction mechanism to crush the blockage, such as sludge or other impurities, thereby facilitating the trailing suction mechanism to suck the blockage, and achieving the purpose of dredging; the driving assembly 2 drives the scraping mechanism to crush the blockage and simultaneously drives the scraping mechanism to extract the blockage.

In this embodiment, automobile body 1 has the inner chamber, and automobile body 1 top is equipped with the installing port with the inner chamber intercommunication, and the fixed apron 19 that is equipped with on the installing port, and the apron 19 is sealed with the installing port, avoids in the work, and water smoke, impurity etc. enter into automobile body 1 from the installing port in, damages the component in automobile body 1, offers the installing port for the convenience installs the component in the inner chamber of automobile body 1.

The inner chamber of automobile body 1 is equipped with block terminal 20, and block terminal 20 provides required electric power for equipment work, guarantees the effect of work, and the inner chamber of automobile body 1 is equipped with drive assembly 2, and drive assembly 2 drives equipment normal operating as the main drive component of equipment.

The top of the vehicle body 1 is provided with a pressure release mechanism 14 for balancing the pressure in a sealed space (namely, an inner cavity of the vehicle body 1) of the vehicle body 1, the pressure release mechanism 14 is used on the vehicle body of a closed cabin structure 15 of an underwater robot for balancing the periodic stress change of the sealed space caused by the expansion and contraction of air, and can effectively reduce the fatigue deformation of a mechanical structure, a welding line, sealing and the like caused by the periodic stress acting on the vehicle body structure and mechanical equipment in the cabin, so that the possibility of a series of mechanical failures occurs, the pressure difference compensation mechanism is mainly completed through the plastic deformation capacity of a rubber cover plate, the pressure release mechanism 14 comprises a vehicle body tail top plate 1401, a rubber cover plate 1402, a flange type gland 1403, a fastening bolt group 1404 and a seal seat plate 1405, three convex sealing surfaces and two seal grooves are designed on the flange type gland 1403 and the seal seat plate 1405, adopt fastening bolt group 1404 to link to each other rubber cover plate 1402, flange formula gland 1403 and seal seat board 1405, under fastening bolt group 1404's effect, rubber cover plate 1402 produces elastic deformation, form high pressure resistant watertight fit relation between the corresponding seal face of flange formula gland 1403 and seal seat board 1405 and the seal groove, seal seat board 1405 welds the internal surface at automobile body tail roof 1401, rubber cover plate 1402 and flange formula gland 1403 install in proper order in the recess of seal seat board 1405, after the installation, the upper surface of flange formula gland 1403 and the external surface of automobile body tail roof 1401 are in the coplanar, when guaranteeing the functional requirement, can make the automobile body surface clean and tidy, seal seat board 1405 is last to have blind screw hole, compare in logical screw hole, can effectively prevent the not tight defect of seal between the screw thread.

It can be understood that the utility model discloses a car body 1 of dive dredging robot can produce a large amount of heats at the during operation, and the air inflation in the car body 1 inner chamber makes atmospheric pressure grow, and atmospheric pressure is too big can make the mechanical structure (for example welding seam and seal structure) of car body 1 self and the mechanical equipment in the car body 1 produce the deformation, and then probably arouses a series of mechanical failure. The pressure releasing mechanism 14 mainly completes pressure release through the elastic deformation capability of the rubber cover plate 1402, when the air pressure in the vehicle body 1 increases, the rubber cover plate 1402 protrudes outwards under the action of the pressure to release the pressure, so as to achieve the action of adjusting the internal pressure of the vehicle body 1, and play a role of adjusting the pressure difference, both sides of the vehicle body 1 are provided with pressure difference compensation mechanisms, each pressure difference compensation mechanism comprises an installation cabin formed at both sides of the vehicle body 1 and a pressure difference compensator arranged in the installation cabin, one side of the installation cabin is provided with an inlet, the installation cabin 15 is installed and protected on the inlet, the installation cabin 15 is used for assembling the pressure difference compensator 3, and simultaneously protects the pressure difference compensator 3, so as to ensure the use safety of the pressure difference compensator, two openings with partition nets are arranged at the outer side end of the installation cabin 15, a hydraulic oil tank pressure difference compensator protection cover 26 is arranged at the periphery of the installation cabin 15, and the protection cover 26 also, the inner walls of the two installation cabins 15 are respectively provided with a differential pressure compensator 3, one end of the vehicle body 1 is provided with a large arm 4, the large arm 4 is linked with the trailing suction unit 7 to work, the working position and the working angle of the trailing suction unit 7 are controlled, one end of the large arm 4 is connected with the vehicle body 1 through a large arm angle adjusting mechanism 5, one side of the large arm 4 is provided with a large arm transmission mechanism 6, one end of the large arm 4 is provided with the trailing suction unit 7, the trailing suction unit 7 is trailing suction spiral reamer driving hydraulic motors 703 which are symmetrically arranged at the left side and the right side of a trailing suction cover 701 and can drive the trailing suction spiral reamer 702 to synchronously run through hydraulic driving positive and negative rotation, the sludge can be collected to a suction inlet of the sludge 901 through spiral action by rotation of the trailing suction pump driving hydraulic motors 902 through hydraulic power to drive impellers of the sludge pump 901 to rotate, and the sludge collected by the trailing suction spiral reamer 702 is pumped into a sludge discharge hose 903 through, the sludge discharge hose 903 penetrates through the cooling water circulation cabin, is connected to a sludge discharge pipe rotary joint 904 and then is discharged to a preparation position through a delivery pipeline connected to the tail part, one side of the trailing suction unit 7 is provided with a trailing suction spiral three-shaft linkage mechanism, one end of the trailing suction unit 7 is fixedly communicated with a sludge flow channel system 9, sludge in the sludge flow channel system 9 is collected to a suction inlet of the sludge 901 through a spiral effect, a suction stirring pump drives a hydraulic motor 902 to rotate through an impeller of a hydraulic power drive slurry pump 901, so that the sludge collected by the trailing suction spiral reamer 702 is pumped into the sludge discharge hose 903 through an anti-blocking filter screen 704, the sludge discharge hose 903 penetrates through the cooling water circulation cabin, is connected to the sludge discharge pipe rotary joint 904 and then is discharged to the preparation position through the delivery pipeline connected to the tail part, the sludge discharge pipe rotary joint 904 can rotate at 360 degrees, and the sludge flow channel system 9 penetrates through, an underwater hydraulic oil tank 10 is assembled in an inner cavity of a vehicle body 1, the underwater hydraulic oil tank 10 is used for storing fuel oil and providing required power for equipment, a hoisting system 11 is fixedly assembled on the top surface of the vehicle body 1, four lifting lugs 1101 are installed on a large arm 4 and a top panel of the vehicle body 1 by the hoisting system 11 and used for penetrating a steel wire rope U-shaped ring so as to be convenient for hoisting during loading and launching, a pin shaft 12 with a fixed lug plate is assembled at a rotating shaft of the large arm 4, the pin shaft 12 with the fixed lug plate ensures the rotating effect, the pin shaft has a good fixing effect and is not easy to fall off, cable through-plate watertight structures 13 are assembled at two sides of the vehicle body 1, the cable through-plate watertight structures 13 ensure that a front camera 1602, a rear camera 1603, a rear illuminating lamp 1605 and a front illuminating lamp 1604 are connected into a cabin through the cable through-plate watertight structures 13 arranged at the left side and the right side of the robot vehicle body 1 and are connected to a, the top end of a vehicle body 1 is provided with a fixed mounting support 16, the upper end of the vehicle body 1 is provided with the fixed mounting support 16 for fixing a lighting lamp and a camera, meanwhile, the fixed mounting support 16 can be adjusted through a support driving mechanism 17, two sides of an inner cavity of the vehicle body 1 are provided with the support driving mechanism 17, the support driving mechanism 17 penetrates through the vehicle body 1 to be connected with the fixed mounting support 16, one side of the vehicle body 1 is provided with a power cable wiring port 21 and a control cable wiring port 22, the side surface of the vehicle body 1 is provided with a fuel tank connecting pipe 23, the fuel tank connecting pipe 23 is used for fuel transportation in equipment, the fuel tank connecting pipe 23 is fixedly communicated with an underwater hydraulic fuel tank 10, one side of the underwater hydraulic fuel tank 10 is provided with a fuel tank gate 24, two sides of the vehicle body 1 are respectively provided with hydraulic pipe fitting through plate holes 25, 50HZ power electricity, the motor adopts an internal circulation cooling system, a submersible cooling water circulating pump conveys cooling water to the motor from a cooling water tank through a cooling water tank water outlet, after the motor is cooled, the cooling water returns to the cooling water circulation tank through a cooling water tank water return port, the cooling water enters and returns a certain distance, and a crawler beam structure is arranged in the middle of the cooling water circulation tank, the cooling water circulation speed can be effectively delayed, the heat exchange effect is achieved, the water cooling motor 201 simultaneously drives a swash plate type radial plunger pump and a gear pump to operate, a hydraulic valve group is integrated on the gear pump and is connected to a cylinder control valve group through a hydraulic rubber pipe, the valve group controls a large arm suction head adjusting hydraulic cylinder 502, a rake adjusting hydraulic cylinder and a lamp holder jacking cylinder 1701 through the hydraulic rubber pipe, the swash plate type radial plunger pump is connected to an electric proportional multi-way valve through the hydraulic rubber, The drag suction spiral reamer drives the hydraulic motor 703 and the crawler traveling mechanism 18, wherein the left and right driving motors of the crawler traveling mechanism 18 have the functions of forward rotation and backward rotation, and can act synchronously or respectively, the electric proportional multi-way valve is assembled at the two sides of the front end of the vehicle body 1, all the motors can control the rotating speed through the electric proportional multi-way valve, the mud discharging efficiency and the operating speed are influenced, the electric proportional multi-way valve can also control the oil supply direction and control the forward and backward rotation of the motors, the hydraulic oil tank differential pressure compensator 3 is used for balancing the volume change caused by the hydraulic oil discharge and return in the hydraulic oil tank, the vehicle body damage caused by the overlarge differential pressure is prevented, the hydraulic oil tanks at the left and right sides are communicated with each other through the left and right oil tank connecting pipes 23, the oil tank at the left side is an oil return tank, the oil tank at the right side is an oil, the rack structure is arranged at the end part of the lamp holder jacking oil cylinder 1701, the rack structure is matched with a gear, the lamp holder is driven to rotate through a transmission shaft on a watertight vehicle body, when the lamp holder is retracted into a lamp groove, the height of the whole machine is only 1.2 m, the whole machine can smoothly pass through a short box culvert about 1.3 m, when the lamp holder is fully lifted, the height of the whole machine is 1.7 m, the front camera 1602/1603 and the front lighting lamp 1604/1605 are in a horizontal state, the whole machine is in a normal working state, the lifting of the whole harrowing unit 7 can be controlled by adjusting the stretching of the hydraulic oil cylinder 502 by a large arm, the angle of the harrowing suction cover 7 can be adjusted by the harrowing suction head adjusting hydraulic oil cylinder, the angle of a shovel tooth is further adjusted, the yield of dredging is controlled, the harrowing suction spiral reamers drive hydraulic motors 703 are symmetrically arranged at the left side and the right side of the harrowing suction cover, the rotation of the mud scraper can lead the mud to be gathered to a suction inlet of the mud 901 through the spiral action, the stirring suction pump drives a hydraulic motor 902 to drive an impeller of the mud pump 901 to rotate through hydraulic power, the mud gathered by the stirring suction spiral reamer 702 is pumped into a mud discharge hose 903 through an anti-blocking filter screen 704, the mud discharge hose 903 penetrates through a cooling water circulation cabin and is connected to a mud discharge pipe rotary joint 904, then the mud is discharged to a prepared position through a delivery pipeline connected to the tail part, the mud discharge pipe rotary joint 904 can rotate for 360 degrees, the robot can be effectively prevented from being broken and turned over due to pipeline torsion in the operation process, the mud discharge pipe can play a role in cooling the circulation cabin through the cooling water circulation cabin, the cooling liquid heat dissipation is facilitated, the stirring suction hood 701 not only provides a mounting base for the mud pump 901, but also can be effectively prevented from causing the diffusion of turbid matters caused by mud stirring and influencing the shooting function, the front camera 1602, the rear camera 1603, the rear illuminating lamp 1605 and the front illuminating lamp 1604 are connected into a cabin through cable through plate watertight structures 13 arranged on the left side and the right side of a robot body 1 and are connected to a monitoring control box, video signals are matched with illumination intensity and then are connected into a distribution box 20 through cables, a large arm angle sensor 501 and a rake suction head angle sensor 705 are respectively arranged on a large arm 4 and a rake suction cover 701 and are used for detecting the operation postures of the large arm 4 and the rake suction cover 701, the signals are transmitted into the distribution box 20 through the cable through the plate watertight structures 13, the control circuits of all hydraulic valve groups are finally collected into the distribution box 20 and then are output to a remote control end through a control cable connection port 22 through cables, four lifting lugs 1101 are arranged on a top panel on the large arm 4 and the body 1 and are used for threading a steel wire rope U-shaped ring so as to be convenient for lifting during loading and launching, a cabin differential pressure compensation rubber plate is arranged on the body, the pressure-balancing device is used for balancing pressure imbalance caused by air pressure change in the vehicle body, plays a role in pressure difference adjustment, and is also provided with a similar mechanism on the cooling water circulation cabin.

The large arm transmission mechanism 6 is arranged on the body 1 of the dredging robot and plays a role in supporting and adjusting the angle and height of the trailing suction unit assembly 602 contained in the large arm transmission mechanism 6, the large arm transmission mechanism 6 comprises a large arm assembly 601, a trailing suction unit assembly 602 connected with the large arm assembly 601 and trailing suction spiral transmission shaft assemblies 603 arranged on two sides of the trailing suction unit assembly 602, two sides of the bottom surface of the large arm assembly 601 are rotatably connected with the piston end of a large arm lifting oil cylinder 605 through a lifting oil cylinder piston pin shaft 604, two ends of one side of the large arm assembly 601 are respectively rotatably connected on the body through large arm pin shafts 606, the cylinder end of the large arm lifting oil cylinder 605 is positioned on the lower side of the large arm assembly 601 and is rotatably connected on the body through a lifting oil cylinder body pin shaft 607, the large arm lifting oil cylinder 605 pushes the piston to stretch through hydraulic action, and the large arm assembly 601 moves up and down under the restraint of the lifting oil cylinder body pin shaft 607, the side wall of the middle position of the large arm assembly 601 far away from the vehicle body is rotatably connected with the cylinder body end of a trailing suction head adjusting cylinder 609 through an adjusting cylinder body pin roll 608, the piston end of the trailing suction head adjusting cylinder 609 is rotatably connected with the middle position of the trailing suction unit assembly 602 through an adjusting cylinder piston pin roll 610, the other two ends of the large arm assembly 601 are respectively rotatably connected with the two side positions of the trailing suction unit assembly 602 through a trailing suction spiral transmission shaft assembly 603, the trailing suction head adjusting cylinder 609 pushes the piston to stretch through hydraulic action, simultaneously the trailing suction unit assembly 602 is turned over up and down under the constraint of a trailing suction unit operation bearing 6034, a trailing suction spiral 611 is rotatably arranged inside the trailing suction unit assembly 602, one end of the trailing suction spiral transmission shaft assembly 603 penetrates through the side wall of the trailing suction unit assembly 602 and is fixedly connected with the opposite end face of the trailing suction spiral 611 through a trailing suction, the other end of the trailing suction screw transmission shaft assembly 603 is located at the outer side of the trailing suction unit assembly 602 and is fixedly provided with a friction cover plate 614 through a cover plate countersunk bolt 613, both ends of the large arm assembly 601 close to the trailing suction unit assembly 602 are fixedly provided with trailing suction screw driving motors 615, the output ends of the trailing suction screw driving motors 615 penetrate through the friction cover plate 614 and are fixedly connected to the other end of the screw transmission shaft assembly 603, the above movements are controlled by hydraulic valves to supply oil, the actions can be independent of each other or combined with each other, under the hydraulic action, the trailing suction screw driving motors 615 drive the power shaft 6031 to rotate, thereby driving the trailing suction screws 611 to rotate, when in operation, the height, the digging angle and the digging speed of the trailing suction screws 611 can be automatically adjusted according to the actual conditions in pipelines and boxes, under the condition of guaranteeing the dredging effect, the working efficiency is greatly improved, the end surfaces of the friction ring 6032 and the bearing sleeve 6034 and the end surfaces of the friction cover plate 614 and the shaft Therefore, the friction ring 6032 and the friction cover plate 614 are both consumables and are made of relatively soft materials, in order to ensure the installation reliability of all pin shafts, all the pin shafts are fixed in nuts by bolts, the large arm transmission mechanism of the desilting robot, the large arm assembly 601 comprises a square connecting pipe 6011 and large arms 6012 arranged at two sides of the square connecting pipe 6011, the large arms 6012 are V-shaped, one opposite ends of the square connecting pipe 6011 are welded at a V-shaped included angle position of the large arms 6012, good parallelism is required for the large arms 6012 at two sides, good verticality is required between the square connecting pipe 6011 and the large arms 6012, the arm surface width of the large arms 6012 between the vehicle body and the square connecting pipe 6011 is smaller than the arm surface width of the large arms 6012 between the suction unit assembly 602 and the square connecting pipe 1, lifting oil cylinder piston lug plates 6013 are symmetrically arranged at the bottom surface of the bending position of the large arms 6012, and lifting oil cylinder piston lug plates 6013 penetrate through the side walls of the lifting oil cylinder piston lug plates 6014, a lifting oil cylinder piston pin shaft 604 penetrates through a lifting oil cylinder piston end shaft sleeve 6014 and is arranged on a lifting oil cylinder piston end lug plate 6013 through a lifting oil cylinder piston pin shaft fixing nut 6015, an adjusting oil cylinder piston end lug plate 6016 is symmetrically arranged in the middle of a connecting square pipe 6011, an adjusting oil cylinder piston end shaft sleeve 6017 penetrates through and is welded on the side wall of the adjusting oil cylinder piston end lug plate 6016, an adjusting oil cylinder piston pin shaft 610 penetrates through the adjusting oil cylinder piston end shaft sleeve 6017 and is arranged on the lug plate of the adjusting oil cylinder piston end lug plate 6016 through an adjusting oil cylinder body pin shaft fixing nut 6018, one end of a wide-face arm 6012 of a large arm 6012 is penetrated and welded with a spiral driving motor plate seat 9, the plate seat is a mounting base of a raking and sucking spiral driving motor 615 and a mounting shaft seat of a large arm running bearing 6035, the raking and sucking spiral driving motor 615 is fixedly arranged on the spiral driving motor plate seat 6019 through, one end of a narrow surface arm of a big arm 6012 is penetrated and welded with a big arm shaft sleeve 60110, a big arm copper sleeve 60111 is arranged inside a big arm shaft sleeve 60110, the big arm copper sleeve 60111 and the big arm shaft sleeve 60110 are both in hydraulic jacking press fit and are in interference fit, the big arm copper sleeve 60111 and a screw drive motor seat plate 6019 on the big arms 6012 on two sides need to have good coaxiality, a trailing suction unit assembly 602 comprises a stirring suction cover assembly 6021, one end of a trailing suction unit bracket 6022 arranged on the top end surface of the stirring suction cover assembly 6021 and a mud pump assembly 6023 arranged on the outer side wall of the stirring suction cover assembly 6021, the other end of the trailing suction unit bracket 6022 is arranged on the mud pump assembly 6023, two side walls of the stirring suction cover assembly 6021 are penetrated and welded with bearing sleeves 6024, in order to ensure the coaxiality requirement after manufacture, a concentric shaft tool is manufactured for two bearing sleeves 6034, an adjusting oil cylinder piston end shaft sleeve 6025 is symmetrically welded on the trailing suction unit bracket 6022, an adjusting oil cylinder piston shaft sleeve 610 penetrates and an adjusting oil cylinder piston shaft sleeve The nut 6026 is arranged on the rack 6022, the screw transmission shaft assembly 603 comprises a power shaft 6031 and a friction ring 6032 arranged on the power shaft 6031, one end of the power shaft 6031 is provided with a plate seat connected with the end face of the screw 611, the other end of the power shaft 6031 is provided with a flat key hole connected with the output end of the screw 615, the inner side of the plate seat of the power shaft 6031 is provided with a groove, the friction ring 6032 is fixedly arranged in the groove by a plurality of friction ring countersunk head screws 6033, the power shaft 6031 is provided with a screw operation bearing 6034 and a large arm operation bearing 6035 by interference fit in a hydraulic press fit mode, the power shaft 6031 is provided with a middle clamp spring 6036 and an end clamp spring 6037 for preventing the axial movement of the screw operation bearing 6034 and the large arm operation bearing 6035, the large arm operation bearing 6035 is inserted into the screw drive motor plate seat 6019, the screw operation bearing 6034 is inserted into the bearing 6024, the drag suction unit operation bearing 6034 and the large arm operation bearing 6035 form a group of double-bearing series structure, in order to facilitate installation and positioning and prevent the bearing from moving on the power shaft 6031 due to long-term operation, the large arm 6012 is formed by welding steel plate materials and is hollow inside, concentric grease nipple installation threaded holes 616 are formed in the narrow-face arm of the large arm 6012 and the large arm shaft sleeve 60110, the thickness of the friction ring 6032 is larger than the depth of a groove in the inner side of a plate seat of the power shaft 6031, the friction ring 6032 has a plate seat which partially protrudes out of the power shaft 6031 after installation, and the annular part is a normal friction consumption position.

The driving assembly 2 is arranged in a vehicle body 1 of the dredging robot and used for providing driving force in the dredging robot, the vehicle body 1 plays a role in protecting the driving assembly 2, the driving assembly 2 comprises a vehicle body water tank structure 201 arranged on the bottom surface of the vehicle body 1, the vehicle body water tank structure 201 is welded on the vehicle body 1 in a sealing mode, a plurality of shock absorption cushion blocks 202 are arranged on the inner bottom surface of the vehicle body 1, a motor pump set 203 is fixedly arranged on shock absorption ends of the shock absorption cushion blocks 202, the shock absorption cushion blocks 202 can reduce vibration generated in the operation process of the motor pump set 203, tank openings are formed in the same positions of the vehicle body water tank structure 201 and the bottom surface of the vehicle body 1, a cooling water tank cover plate 204 for sealing the tank openings is arranged on the inner bottom surface of the vehicle body 1, one end of a cooling water suction pipe 205 is fixedly connected to a suction end of the motor pump set 203, and the, the output end of the motor-pump set 203 is provided with one end of a cooling water inlet pipe 206, the other end of the cooling water inlet pipe 206 is fixedly connected to the input end of the motor-pump set 203, the return end of the motor-pump set 203 is fixedly connected with one end of a cooling water return pipe 207, the other end of the cooling water return pipe 207 penetrates through the bottom surface of the vehicle body 1 and extends into the interior of the vehicle body water tank structure 201, the motor-pump set 203 comprises a water-cooling motor 2031 installed on a cushion block 202, one end of the water-cooling motor 2031 located at the output shaft is bolted with a bell-shaped cover 2032, one end of the bell-shaped cover 2032 is bolted with a hydraulic oil pump 2033, the output shaft of the water-cooling motor 2031 is connected with the input shaft of the hydraulic oil pump 2033 through a coupler, one end of the hydraulic oil pump 2034 is bolted with the input shaft of the cooling water pump, and the output is output to the input shaft of the hydraulic oil pump 2033, and the output shaft of the hydraulic oil pump 2033 is output to the input shaft of the cooling water pump 2034, so that cooling water and hydraulic oil are driven to circulate. The suction end of the cooling water pump 2034 is connected with one end of a cooling water suction pipe 205, the output end of the cooling water pump 2034 is connected with one end of a cooling water inlet pipe 206, the other end of the water inlet pipe 206 is connected with the input end of a water-cooled motor 2031, the return end of the water-cooled motor 2031 is connected with one end of a cooling water return pipe 207, when the cooling water pump 2034 is in operation, the cooling water suction pipe 205 draws cooling water out of the vehicle body water tank structure 201, the cooling water enters a cooling water flow channel of the inner cavity of the water-cooled motor 2031 through the cooling water inlet pipe 206, and then returns to the vehicle body water tank structure 201 through the cooling water return pipe 207, the cooling water suction pipe 205 and the cooling water return pipe 207 are respectively arranged at two ends of the vehicle body water tank structure 201, so as to ensure that the cooling water has enough flowing distance in the vehicle body water tank structure 201 and enhance the heat exchange effect, the vehicle body water tank structure 201, the cooling water suction pipe 205, the, the heat generated in the operation process of the water-cooled motor 2031 is transferred to cooling water, and when the robot works normally, the water tank structure 201 of the vehicle body is immersed under water, so that the heat is transferred to the external water body, and an open cooling system is formed.

The differential pressure compensator 3 is arranged in an installation cabin 15 of the dredging robot and comprises a hydraulic oil side sealing cover 301, a hydraulic oil side telescopic leather bag sealing flange 302, a water passing side telescopic leather bag sealing flange 303 and a base 304, the hydraulic oil side telescopic leather bag sealing flange 302 and the water passing side telescopic leather bag sealing flange 303 are the same in size, the axes are on the same horizontal straight line, a hydraulic oil side PC sleeve 305 is arranged on the side wall of the hydraulic oil side telescopic leather bag sealing flange 302 and the hydraulic oil side sealing cover 301, the hydraulic oil side telescopic leather bag sealing flange 302 is fixedly connected with the water passing side telescopic leather bag sealing flange 303, a water passing side PC sleeve 306 is arranged on the side wall of the water passing side telescopic leather bag sealing flange 303 and the side wall of the base 304, a sliding plunger 307 is connected in the hydraulic oil side PC sleeve 305 and the water passing side PC sleeve 306 in a sliding mode, a differential pressure reciprocating assembly 308 for pushing the sliding plunger 307 is arranged inside the hydraulic oil side PC sleeve 305, lead to water side PC sleeve 306 and be equipped with the pressure differential spring subassembly 309 that promotes slip plunger 307, the lateral wall of the sealed lid 301 of hydraulic oil side link up threaded connection has ball valve adapter 310, oil tank adapter 311 and pressure sensor 312, the one end of ball valve adapter 310, the one end of oil tank adapter 311 and the response end of pressure sensor 312 all communicate with the inside of hydraulic oil side PC sleeve 305, ball valve adapter 310 one end threaded connection has ball valve 313, be equipped with a plurality of through-hole on the base 304.

The pressure difference reciprocating assembly 308 comprises a telescopic rubber leather bag 3081 and a telescopic rubber leather bag pressing plate 3082, one end of the telescopic rubber leather bag 3081 is arranged on the hydraulic oil side telescopic leather bag sealing flange 302 and the water through side telescopic leather bag sealing flange 303, one end of the telescopic rubber leather bag 3081 is tightly sealed and clamped by the hydraulic oil side telescopic leather bag sealing flange 302 and the water through side telescopic leather bag sealing flange 303, one end of the sliding plunger 307 located in the hydraulic oil side PC sleeve 305 extends into the telescopic rubber leather bag 3081, the telescopic rubber leather bag pressing plate 3082 is located on the end face of the telescopic rubber leather bag 3081 close to the hydraulic oil side sealing cover 301, the telescopic rubber leather bag 3081 is fixedly connected with the telescopic rubber leather bag pressing plate 3082 and the sliding plunger 307 through a telescopic leather bag pressing plate fastening bolt group 3083, and an oil-water interface is separated by the telescopic rubber leather bag 33081 compressed by the water through side telescopic leather bag sealing flange 303 and the hydraulic oil side telescopic leather bag sealing flange 302.

The differential pressure spring assembly 309 includes a differential pressure compensation spring 3091 and a limiting cylinder 3092, one end of the differential pressure compensation spring 3091 is attached to the base 304, the other end of the differential pressure compensation spring 3091 extends into the sliding plunger 307 and is attached to the inner end face of the sliding plunger 3082, the water-through side PC sleeve 306 provides protection for the differential pressure compensation spring 3091, the limiting cylinder 3092 is disposed in the differential pressure compensation spring 3091, the limiting cylinder 3092 not only has the function of preventing the core element composed of the telescopic rubber bladder 3081 from excessively stretching, but also provides a guiding and fixing seat for the differential pressure compensation spring 3091, one end of the limiting cylinder 3092 is disposed on the base 304 through a limiting cylinder fastening bolt group 3093, the limiting cylinder 3092 is provided with a plurality of through holes, a large number of through holes are formed on both the base 304 and the limiting cylinder 3092 to ensure that sufficient water enters and exits from the water-through side PC sleeve 306 to prevent an instantaneous vacuum or overpressure environment, and the mounting holes reserved on the base 304 and the hydraulic oil-side sealing cover 301 can, according to the space during convenient design, the position is reserved in a flexible way, and the equipment arrangement is more convenient.

The hydraulic oil side sealing cover 301 and the hydraulic oil side telescopic leather bag sealing flange 302 are provided with sealing grooves matched with the installation of the hydraulic oil side PC sleeve 305, an O-shaped sealing ring 314 is arranged in each sealing groove, the sealing grooves are arranged on the opposite surfaces of the hydraulic oil side sealing cover 301 and the hydraulic oil side telescopic leather bag sealing flange 302, each sealing groove is in an annular shape, and the O-shaped sealing rings 314 are embedded in the sealing grooves.

The base 304 and the hydraulic oil side seal cover 301 are provided with a base 316 by a base plate fastening bolt group 315.

One end of the ball valve 311 is provided with a blocking cap 317, which can prevent foreign matters from blocking the screw hole.

The hydraulic oil side PC sleeve 305 and the water side PC sleeve 306 are made of transparent PC materials, the base 304, the sliding plunger 307, the hydraulic oil side telescopic leather bag sealing flange 302, the water side telescopic leather bag sealing flange 303 and the hydraulic oil side sealing cover 301 are made of high polymer materials, and the two materials are high in strength, wear-resistant, corrosion-resistant and good in impact resistance, and the reliability of equipment is enhanced.

The hydraulic oil side telescopic leather bag sealing flange 302 and the water side telescopic leather bag sealing flange 303 are in flange connection through a middle sealing flange fastening bolt group 318, and the base 304, the hydraulic oil side telescopic leather bag sealing flange 302, the water side telescopic leather bag sealing flange 303 and the hydraulic oil side sealing cover 302 are fixedly connected through a main body penetrating bolt group 319.

The outer side wall of the hydraulic oil side sealing cover 301 is provided with a product name plate 321 through a name plate fastening bolt group 320 for identifying product information.

The surface of the hydraulic oil side PC sleeve 305 is provided with identification scales, the scale identification is obvious, and the working state of the compensator can be visually seen.

The large arm adjusting mechanism 5 comprises a large arm adjusting hydraulic oil cylinder 502, one end of the large arm adjusting hydraulic oil cylinder 502 is fixedly assembled with the vehicle body 1, the other end of the large arm adjusting hydraulic oil cylinder 502 is fixedly assembled with the large arm 4, the top surface of the large arm 4 is fixedly assembled with a large arm angle sensor 501, the expansion and contraction of the large arm adjusting hydraulic oil cylinder 502 can control the lifting of the whole trailing suction unit 7, the trailing suction head adjusting hydraulic oil cylinder can adjust the angle of the trailing suction hood 7, the working unit angle adjusting mechanism of the dredging robot comprises two sensors, namely the large arm angle sensor 501 and the trailing suction unit angle sensor 705, the two sensors are installed in the same mode, the seat plate 5013 is welded on the large arm assembly, the clamping groove 5014 is fixed on the seat plate 5013 by a sensor installing bolt 5015, the large arm angle sensor 501 and the clamping groove 5014 are assembled by a clamping groove structure, the protective cover 5011 is fixed on the seat plate, therefore, the sensor and the protective cover share one mounting base plate, the large-arm hydraulic oil cylinder stretches and pushes the large-arm assembly to move up and down, the large-arm angle sensor 501 moves synchronously along with the large-arm assembly, the large-arm angle sensor 501 senses the generated angle change and outputs an electric signal to transmit to a remote control station, the stretching amount of the large-arm hydraulic oil cylinder is further adjusted, the purpose of adjusting the lifting amount of the large arm is achieved, the rake suction unit adjusts the hydraulic oil cylinder to stretch and push the rake suction unit assembly to turn over, the rake suction unit angle sensor 705 and the rake suction unit assembly move synchronously, the rake suction unit angle sensor 705 senses the generated angle change and outputs an electric signal to transmit to the remote control station, the rake suction unit is further adjusted to adjust the stretching amount of the hydraulic oil cylinder, the purpose of adjusting the lifting amount of the large arm is achieved, and the large-arm hydraulic oil, and finishing the adjustment of the lifting amount of the working unit.

The harrowing suction unit 7 comprises a harrowing suction cover 701 and a harrowing suction unit, wherein the harrowing suction unit comprises a harrowing suction spiral reamer 702, a harrowing suction spiral reamer driving hydraulic motor 703, an anti-clogging filter screen 704, a harrowing suction head angle sensor 705, a harrowing suction head adjusting bracket 706, a harrowing suction head adjusting hydraulic cylinder 707, crushing cutter teeth 708, a slurry pump shafting 709, a slurry pump shell 710, a sludge discharge impeller 711 and a flange joint 712, the harrowing suction cover 701 is fixedly assembled with the large arm 4, the harrowing suction spiral reamer 702 is assembled at the inner side end of the harrowing suction cover 701, the harrowing suction spiral reamer 207 penetrates through the harrowing suction cover 701 and is connected with the harrowing suction spiral reamer driving hydraulic motor 703, the anti-clogging filter screen 704 is assembled at the side of the harrowing suction cover 701, the harrowing suction head angle sensor 705 is fixedly assembled at the top end of the harrowing suction cover 701, the harrowing suction head adjusting, one end of a drag suction head adjusting hydraulic oil cylinder 707 is fixedly assembled with the large arm 4, a drag suction unit 7 drags and sucks a spiral reamer to drive a hydraulic motor 703 which is symmetrically arranged at the left side and the right side of a drag suction cover 701, the drag suction spiral reamer 702 can be driven to synchronously rotate by hydraulic driving forward and reverse rotation, the rotation of the drag suction spiral reamer can lead sludge to be gathered to a suction inlet of the sludge 901 through spiral action, the drag suction pump drives a hydraulic motor 902 to drive an impeller of the sludge pump 901 to rotate through hydraulic power, the sludge gathered by the drag suction spiral reamer 702 is pumped into a sludge discharge hose 903 through an anti-blocking filter screen 704, the sludge discharge hose 903 penetrates through a cooling water circulation cabin and is connected to a sludge discharge pipe rotary joint 904, then the mud is discharged to a prepared position through a conveying pipeline connected to the tail part, the trailing suction screw is of a symmetrical screw structure and is driven to rotate by a hydraulic motor, and in the rotating process, mud on two sides is collected to a mud pump suction port along a screw impeller. The mud pump suction inlet is provided with an anti-blocking filter screen 704, so that large particles of stones are prevented from entering the pump body to damage the impeller or block a flow channel. The mud pump shaft 709 is provided with a crushing cutter tooth 708 and a mud discharging impeller 711, the mud pump shaft 709 is driven by a hydraulic motor to run at a high speed to drive the mud discharging impeller 711 and the crushing cutter tooth 708 to run synchronously, and the crushing cutter tooth 708 can crush sundries such as branches and masonry entering the anti-blocking filter screen 704, so that the damage to the mud discharging impeller 711 is reduced. The sucked mud is discharged into a mud discharging hose 903 through a flange joint 712, the mud discharging hose 903 is connected with a mud discharging cooling steel pipe 905 and the trailing suction unit 7, the trailing suction unit 7 and the vehicle body can move relatively, and the trailing suction unit 7 can flexibly adjust the angle. The mud discharging cooling steel pipe 905 is welded on the front wall of the cooling water tank by the single-face base plate at one side of the mud discharging hose 903, and the other side is directly and directly welded with the bulkhead by the steel pipe, so that the water tightness of the whole cooling water tank is ensured, meanwhile, the space of the mud discharging hose 903 can be reserved to the maximum extent, the length of the mud discharging hose 903 is increased as much as possible, the bending radius of the mud discharging hose is increased, and the effective service life of the mud discharging hose is prolonged. The back end of the sludge discharging cooling steel pipe 905 is provided with a sludge discharging pipe rotary joint 904, and the sludge discharging pipe rotary joint 904 is connected with the sludge discharging cooling steel pipe 905 by bolts.

The pin shaft 12 with the fixed ear plate comprises a pin shaft 1201, the pin shaft 1201 is inserted in the large arm 4, the outer side end of the outer wall of the pin shaft 1201 is provided with a fixed ear plate 1202, the inner wall of the fixed ear plate 1202 is inserted with a fixed bolt 1204, one end of the fixed bolt 1204 penetrates through the fixed ear plate 1202 and is screwed with a fastening nut 1203, in a mechanical structure adopting pin shaft connection, the key for ensuring the safe operation of machinery is to prevent the pin shaft from moving in the axial direction, the design adopts as few non-standard parts as possible on the basis of meeting the functional requirements, the workload of machining and the precision requirement of welding positioning are reduced to the maximum extent, the production efficiency is high, the cost is saved, the technical universality is good, the pin shaft mechanism adopts the integrated design of the ear plate and the pin shaft, the pin shaft 1201 and the fixed ear plate 1202 are welded together, the fixed ear plate 1202 comprises a large end and a small end, the large end is provided with a through, the cut surface and the outer edge of the pin shaft 1201 are on the same plane, the cut surface is fully welded and polished to be a flat and smooth plane, the small end of the fixed lug plate 1202 is provided with an equal-diameter circular through hole for fastening and installation, the waist circular hole increases the positioning error range of the fastening nut 1203, and the welding construction difficulty can be effectively reduced.

The pressure release mechanism 14 comprises a vehicle body tail roof 1401, the vehicle body tail roof 1401 is fixedly assembled with the vehicle body 1, a flange type gland 1403 is assembled on the top surface of the vehicle body tail roof 1401, a rubber cover plate 1402 is assembled on the inner wall of the flange type gland 1403, a seal seat plate 1405 is arranged at the bottom end of the flange type gland 1403, a fastening bolt component 1404 is inserted into the top end of the flange type gland 1403, the fastening bolt component 1404 penetrates through the flange type gland 1403 to be connected with the seal seat plate 1405, the pressure difference compensation mechanism 14 is used on the vehicle body of the closed cabin structure of the underwater robot and used for balancing the periodic stress change of the sealed space caused by the expansion and contraction of air, the fatigue deformation of the mechanical structure, welding seams, sealing and the like caused by the periodic stress acting on the vehicle body structure and the mechanical equipment in the cabin can be effectively reduced, and the possibility of a series of mechanical failures can be further caused, and the pressure difference compensation mechanism is, the differential pressure compensation mechanism consists of a vehicle body tail top plate 1401, a rubber cover plate 1402, a flange type gland 1403, a fastening bolt group 1404 and a seal seat plate 1405, wherein three convex seal surfaces and two seal grooves are designed on the flange type gland 1403 and the seal seat plate 1405 respectively, the rubber cover plate 1402, the flange type gland 1403 and the seal seat plate 1405 are connected by the fastening bolt group 1404, under the action of the fastening bolt group 1404, the rubber cover plate 1402 generates elastic deformation, a high-pressure-resistant watertight fit relation is formed between the corresponding seal surfaces and the seal grooves of the flange type gland 1403 and the seal seat plate 1405, the seal seat plate 1405 is welded on the inner surface of the vehicle body tail top plate 1401, the rubber cover plate 1402 and the flange type gland 1403 are sequentially installed in the grooves of the seal seat plate 1405, after installation, the upper surface of the flange type gland 1403 and the outer surface of the vehicle body tail top plate 1401 are in the same plane, the surface of the vehicle body can be clean and tidy while the functional requirements, the design has blind screw hole on the seal bedplate 1405, compares in logical screw hole, can effectively prevent the not tight defect of seal between the screw thread.

The fixed mounting bracket 16 comprises a rotary lamp holder 1601, the rotary lamp holder 1601 is connected with a bracket driving mechanism 17, the middle part of the top end of the rotary lamp holder 1601 is respectively provided with a front camera 1602 and a rear camera 1603 through a lamp holder 1606, the two sides of the rotary lamp holder 1601 are respectively provided with a front illuminating lamp 1604 and a rear illuminating lamp 1605 through the lamp holder 1606, a lamp holder shaft sleeve 1607 is welded on the rotary lamp holder 1601, the lamp holder shaft sleeve 1607 and the rotary lamp holder 1601 are provided with threads of a stop screw 30 on the same side, the end part of a lamp holder jacking oil cylinder 1701 is provided with a bracket driving mechanism 17, the rotary lamp holder 1601 is driven by a driving shaft 1701 on a watertight vehicle body to perform rotary motion, when the rotary lamp holder 1601 is, can smoothly pass through a short box culvert about 1.3 meters, when the lamp bracket is fully lifted, the height of the whole machine is 1.7 meters, the front and rear cameras 1602/1603 and the front and rear illumination lamps 1604/1605 can be in a horizontal state.

The bracket driving mechanism 17 is composed of a driving shaft 1701, a side wall seat plate 1702, a mechanical seal 1703, a mechanical seal fixing bolt 1704, a rack 1705, a gear 1706, a bearing fixing bolt 1707, a bearing seat plate 1708, a sleeved bearing 1709, a flat key 1710, a snap spring 1711, a hydraulic oil cylinder 1712, a cylinder fastening screw 1713 and a cylinder base 1714, wherein the side wall seat plate 1702, the mechanical seal 1703, the snap spring 1711, the gear 1706 and the sleeved bearing 1709 are assembled on the driving shaft 1701 in sequence, the snap spring 1711 is installed in a snap spring groove on the surface of the driving shaft 1701, the gear 1706 is locked at the relative position on the driving shaft 1701 through the flat key 1710, the side wall seat plate 1702 is welded on the inner wall of the vehicle body 1, the mechanical seal 1703 is fixed by two mechanical seal bolts 1704, the bearing seat plate 1708 and the cylinder base 1714 are both welded on a platform and are fixed by the bearing fixing bolt 1707 and the cylinder fastening bolt 1713, the gear 1706 is separated from the mechanical seal 1703 by a snap spring 1711, the gear 1706 is prevented from rubbing the mechanical seal 1703 when the gear 1706 rotates, and meanwhile, the snap spring 1711 also plays a role in positioning other parts arranged on a shafting, during operation, hydraulic oil synchronously drives pistons of the hydraulic oil cylinders 1712 on two sides to act, and the pistons drive the racks 1705 connected to the ends of the pistons to move back and forth. The rack 1705 drives the gear 1706 to rotate, the flat key 1710 transmits acting force to the driving shaft 1701, and the driving shaft 1701 drives the lamp holder assembly to rotate through the stop screw. The extension and contraction quantity of the hydraulic oil cylinder is determined by the electromagnetic control of an oil supply electromagnetic valve, the rising and falling amplitude of the lamp holder is determined, the watertight cabin structure 27 and the platform plate 28 are cabin structural members, the inner side ear plate 32 and the outer side ear plate 33 are welded on the platform plate 28, meanwhile, the ear plates are all welded with ear plate shaft sleeves 34 to ensure that the driving shaft 1701 in the bracket driving mechanism 17 can freely rotate after penetrating through the ear plate shaft sleeves 34, after the fixed mounting bracket 16 and the bracket driving mechanism 17 are assembled together, the end cover plate 29 is fixed by using the cover plate fastening bolt 35, the center of the big end of the end cover plate 29 is coincided with the axis, the two sides of the fixed mounting bracket 16 are both provided with bracket driving mechanisms 17, the two hydraulic oil cylinders 1712 synchronously supply oil through a common battery valve to ensure that the hydraulic oil cylinders have the same driving torque, and when the hydraulic oil cylinder works, the hydraulic oil synchronously drives the pistons of the hydraulic oil cylinders 1712 at two sides to move, and the pistons drive the racks 1705 connected to the ends of the pistons to move back and forth. The rack 1705 drives the gear 1706 to rotate, the flat key 1710 transmits the acting force to the driving shaft 1701, and the driving shaft 1701 drives the fixed mounting bracket 16 to rotate through the stop screw 30. The extension and retraction of the hydraulic oil cylinder is controlled by an oil supply electromagnetic valve through electromagnetic control to determine the rising and falling amplitude of the lamp holder.

The both sides of automobile body 1 are equipped with the installation cabin 15 that is used for installing pressure differential compensator 3, and installation cabin 15 includes angle steel stand 1501, installation cabin 15 runs through the side and the afterbody of automobile body 1 and installs side protection net 1502 and tail protection net 1503 respectively, the terminal surface that side protection net 1502 and tail protection net 1503 are close to each other is passed through angle steel stand 1501 and is connected, the setting is in installation cabin 15, installation cabin 15 communicates with each other with external water through side protection net 1502 and tail protection net 1503 for prevent the big granule grit in aquatic from getting into the suction drain of compensator 3, can also increase the area of contact of compensator 3 and water, when providing the protection, guarantee to have enough rivers and send the space, the communicating design overall arrangement of side protection net 1502 and tail protection net 1503 can also provide effectual washing and maintenance space after mechanical work finishes, side protection net 1502 includes side protection net steel frame 15021 and side steel silk screen 15022, side steel wire mesh 15022 is welded on the inner side wall of side protection mesh steel frame 15021, side protection mesh 1502 and side protection mesh steel frame 15021 are combined into a whole by welding, so that the connectivity and integrity are good, tail protection mesh 1503 comprises tail protection mesh steel frame 15031 and tail steel wire mesh 15032, tail steel wire mesh 15032 is welded on the inner side wall of tail protection mesh steel frame 15031, tail protection mesh 1503 and tail protection mesh steel frame 15031 are combined into a whole by welding, so that the connectivity and integrity are good, a plurality of protection mesh bolt fixing bases 1504 are arranged at the edge position of installation cabin 15 close to the outside and on the side wall of angle iron upright 1501, side protection mesh 1502 and tail protection mesh 1503 are fixedly installed on the protection mesh bolt fixing bases 1505 by protection mesh installation bolts, side protection mesh 1502 and tail protection mesh can be disassembled and cleaned, plate compensator installation tables 1506 are symmetrically arranged on the inner bottom surface of installation cabin 1503, the terminal surface of compensator 3 passes through construction bolt 1507 fixed mounting on the board-like compensator mount table 1506 that corresponds, adopts the board-like structure, still can effectively reduce compensator 3's mounting height, reduces the opening size of embedded structure, is favorable to keeping overall structure intensity.

The cable clamp anti-drag structure 13 is installed on the body 1 of the dredging robot for installing the cable clamp anti-drag structure 13, in order to prevent the cable 1302 from falling off, the cable clamp anti-drag structure 13 comprises a cable plug 1301, a cable 1302 plugged on the cable plug 1301, anti-drag ear plates 1303 arranged at two sides of the cable plug 1301 and a cable clamp assembly 1304 arranged on the cable 1302, the cable plug 1301 and the anti-drag ear plates 1303 are both welded on the tail wall of the body 1, the cable 1302 penetrates through the cable clamp assembly 1303, the side walls of the cable 1302 are fixedly installed in the cable clamp assembly 1303, one end of the cable clamp assembly 1304 far away from the cable plug 1301 is positioned at the upper side and the lower side of the cable 1302 and is fixedly connected with one end of a steel wire rope 1305, the other end of the steel wire rope 1305 is fixedly connected with a self-locking hook 1306, the self-locking hook 1306 is buckled in the hole of the opposite anti-drag ear plate 1303, after the cable 1302 is installed, the self-locking hook 1306 is buckled in the hole, the cable clamp assembly 1303 comprises an upper clamp half-structure 13031 and a lower clamp half-structure 13032, wherein a cable hole 13033 is formed in the surface of the upper clamp half-structure 13031 opposite to the lower clamp half-structure 13032, a cable 1302 penetrates through the cable hole 13033, a plurality of fastening bolt holes 13034 are symmetrically formed in the upper clamp half-structure 13031 and the lower clamp half-structure 13032 on both sides of the cable hole 13033, a fastening bolt assembly 13035 for locking the cable in the cable hole 13033 is connected in the fastening bolt holes 13034 in a threaded manner, a steel wire hole 13036 is formed in each of one end of the upper clamp half-structure 13031 and the lower clamp half-structure 13032, one end of the steel wire 1305 penetrates through the steel wire hole 13036 and clamps the end thereof through an octagonal aluminum buckle 1306, an AB glue is coated on the inner side wall of the cable hole 13033, the cable clamp assembly 1303 is further ensured to be reliably connected with the cable 1302, the end of the steel wire 1305 is connected to a self-locking hook 1306 through the octagonal aluminum buckle 1306, the steel wire ropes are fastened by splayed aluminum buckles 1306 to ensure that the effective lengths of the upper steel wire rope 1305 and the lower steel wire rope 1305 are consistent, and the upper half structure 13031 and the lower half structure 13032 of the clamp are in semi-cylindrical shapes

The hoisting system 11 is a system for facilitating the lifting of water and landing by a crane for fault traction, the whole is symmetrically arranged by taking the longitudinal section in the robot body as a neutral plane, the weight of each robot body can be uniformly distributed, the stress of each lifting lug is balanced, the deformation in the hoisting process is reduced, the hoisting system of the dredging robot is composed of tail roof port and starboard lifting lugs 1101 and 1102, tail vehicle bottom port and starboard lifting lugs 1103 and 1104 and head vehicle roof starboard lifting lugs 1105 and 1106, the tail roof port and starboard lifting lugs 1101 and 1102 and the tail vehicle bottom port and starboard lifting lugs 1103 and 1104 are independent heavy-load lifting lugs which are similar in structural form, the tail roof port 1101 is taken as an example and is composed of a seat plate and four symmetrically arranged lifting lugs, the ear plate is composed of a vehicle body in a welding mode, the seat plate is welded with a structure, and the stress area can be effectively increased, the stress concentration is prevented, the risk that a car body structure is torn is reduced, the head port and starboard lifting lugs 1105 and 1106 and the whole car body side plate structure are subjected to blanking cutting, the risk that the connection strength is insufficient due to welding quality can be effectively reduced, the construction amount and the processing difficulty are reduced, the tail car bottom port and starboard lifting lugs 1103 and 1104 are used for enabling a robot to encounter sudden faults underwater, a steel wire rope connected to the lifting lugs can be used for forcefully lifting the whole machine in a winch dragging mode, reinforcing ribs are arranged on the reverse side of a robot top plate of the car body lifting lugs 1101 and 1102 and used for reinforcing the car body structure, stress is dispersed, and when a crane is used for lifting water or landing, the four lifting lugs are formed by the tail car top port and starboard lifting lugs 1101 and 1102 and the head port and starboard lifting lugs 1105 and.

The sludge flow channel system 9 comprises a sludge pump 901, one end of the sludge pump 901 is fixedly communicated with a trailing suction cover 702, one end of the sludge pump 901 is provided with a stirring suction pump driving hydraulic motor 902, the other end of the sludge pump 901 is fixedly communicated with one end of a sludge discharge hose 903, the other end of the sludge discharge hose 903 penetrates through the bottom end of the vehicle body 1 and is fixedly communicated with a sludge discharge pipe rotary joint 904, sludge in the sludge flow channel system 9 is collected to a suction port of the sludge 901 through a spiral effect, the stirring suction pump driving hydraulic motor 902 drives an impeller of the sludge pump 901 to rotate through hydraulic power, so that the sludge collected by the trailing suction spiral reamer 702 is pumped into the sludge discharge hose 903 through an anti-blocking filter screen 704, the sludge discharge hose 903 penetrates through a cooling water circulation cabin and is connected to the sludge discharge pipe rotary joint 904 and then is discharged to a preparation position through a delivery pipeline connected to the tail part, the sludge discharge pipe rotary joint 904 can rotate at 360 degrees, the sludge discharge hose 903 is connected with a sludge discharge cooling steel pipe 905 and the trailing suction unit 7, so that the trailing suction unit 7 and the vehicle body can move relatively, and the trailing suction unit 7 can flexibly adjust the angle. The mud discharging cooling steel pipe 905 is welded on the front wall of the cooling water tank by the single-face base plate at one side of the mud discharging hose 903, and the other side is directly and directly welded with the bulkhead by the steel pipe, so that the water tightness of the whole cooling water tank is ensured, meanwhile, the space of the mud discharging hose 903 can be reserved to the maximum extent, the length of the mud discharging hose 903 is increased as much as possible, the bending radius of the mud discharging hose is increased, and the effective service life of the mud discharging hose is prolonged. The rear end of the sludge discharge cooling steel pipe 905 is provided with a sludge discharge pipe rotary joint 904, the sludge discharge pipe rotary joint 904 is connected with the sludge discharge cooling steel pipe 905 through bolts, when the sludge discharge cooling steel pipe is in operation, slurry enters a sludge discharge hose 903 through a sludge pump 901, and is discharged into a subsequent pipeline through the sludge discharge cooling steel pipe 905 and the sludge discharge pipe rotary joint 904, when the slurry flows in the sludge discharge cooling steel pipe 905, the temperature of a water body in a cooling water tank can be taken away, an external open type cooling system is formed, the sludge discharge pipe rotary joint 904 can effectively reduce the problem of stress concentration at a pipeline joint caused by bumping and sludge discharge pipe folding and unfolding when a robot runs, the stress concentration and the stress concentration cannot be effectively released, and the sludge discharge pipe runs for a long time, so that the connecting flange between the subsequent sludge discharge pipe and a vehicle body is.

The underwater hydraulic oil tank 10 is arranged in a vehicle body 1 of the dredging robot and used for installing the underwater hydraulic oil tank 10 and protecting the underwater hydraulic oil tank 10, the underwater hydraulic oil tank 10 comprises a right oil tank 1001 and a left oil tank 1002 which are arranged on two sides of the bottom surface in the vehicle body 1, the lower parts of the opposite side walls of the right oil tank 1001 and the left oil tank 1002 are communicated by an oil tank connecting pipe 1003 in a welding mode, the right oil tank 1001 and the left oil tank 1002 are communicated with a pressure difference compensator 3 on the same side by a compensator connecting pipe 1004, the pressure difference compensator 3 and the oil tank are both in threaded connection with a compensator connecting pipe 4 to ensure that the compensator is communicated with the oil tank, the opposite surfaces of the right oil tank 1001 and the left oil tank 1002 are provided with oil tank openings, the right oil tank 1001 and the left oil tank 1002 are both in flange connection with an oil tank cover 1005 for sealing the oil tank openings, cleaning and cleaning, and examining the internal conditions after disassembly, wherein the inside bottom surfaces of a right oil tank 1001 and a left oil tank 1002 are welded with a partition plate 1006, the partition plate 1006 blocks oil in the right oil tank 1001 and the left oil tank 1002 from directly flowing, so as to increase the flowing time of the hydraulic oil and enhance the clarification effect, in addition, precipitated impurities are blocked by the partition plate 1006 and cannot flow to a suction port again, an oil tank cover 1005 can be opened after being precipitated to a certain degree for cleaning, an oil filling port 1007 is welded on the top surface of the right oil tank 1001, an oil return filter 1008 is installed on the upper portion of the side wall of the right oil tank 1001, an auxiliary pump oil suction port 1009 and a main pump oil suction port 10010 are welded on the lower portion of the side wall of the left oil tank 1002, a main pump oil return port 10011 and an auxiliary pump oil return port 10012 are welded on the upper portion of the side wall of the left oil tank 1002, the working system oil enters a, the underwater hydraulic oil tank 10 adopts a welding type structure, is arranged in bilateral symmetry, has good heat dissipation and pressure difference compensation functions, can fully precipitate oil liquid and separate impurities, a pressure sensor interface 10013 is welded at the lower part of the side wall of a right oil tank 1001, a temperature sensor interface 10014 is welded at the lower part of the side wall of the right oil tank 1001, in order to ensure the reliability of the hydraulic oil tank, the pressure sensor interface 10013 and the temperature sensor interface 10014 are welded on the right oil tank 1001, the oil tanks are communicated through an oil tank connecting pipe 1003, so the pressures of the right oil tank 1001 and a left oil tank 1002 are basically consistent, the right oil tank 1001 is a system return oil tank, the temperature is higher than that of the left oil tank 1002, so the temperature of the right oil tank 1001 is only measured and is used for judging the running state of the system, check valve air holes 10015 are arranged on the top surfaces of the right oil tank, open the check valve when refueling, can discharge the air in right side oil tank 1001 and the left side oil tank 1002, in normal operating, close this check valve, the lateral wall lower part of right side oil tank 1001 and left side oil tank 1002 has all welded and has unloaded hydraulic fluid port 10016, two baffle 1006 divide into the front and back part respectively right side oil tank 1001 and the inside of left side oil tank 1002, when wasing, the anterior fluid accessible pressure sensor interface 10013 of right side oil tank 1001 or temperature sensor interface 10014 are released, the anterior oil accessible of left side oil tank 1002 is assisted pump oil absorption mouth 1008 or main pump oil absorption mouth 10010 and is released, the posterior part oil liquid of right side oil tank 1001 and left side oil tank 1002 can be respectively through unloading hydraulic fluid port 10016 about by controlling and release.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "mounted," "connected," and "fixed" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The utility model discloses the standard part that uses all can purchase from the market, and dysmorphism piece all can be customized according to the description with the record of drawing of description, and the concrete connection mode of each part all adopts conventional means such as ripe bolt, rivet, welding among the prior art, and machinery, part and equipment all adopt prior art, and conventional model, including circuit connection adopts conventional connection mode among the prior art, does not detailed here again.

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 (5)

1. Trailing suction type dive dredging robot, including automobile body (1), assembly at crawler travel mechanism (18) of automobile body (1) bottom, install the big arm rotary mechanism of automobile body (1) front end, with the trailing suction mechanism that big arm rotary mechanism is connected and install drive assembly (2) in automobile body (1), its characterized in that: drive assembly (2) are used for driving the action of crawler travel mechanism (18), big arm rotary mechanism and trailing suction mechanism, its characterized in that: pressure release mechanism (14) are installed at automobile body (1) top, the both sides of automobile body (1) all are equipped with differential pressure compensation mechanism, differential pressure compensation mechanism is including forming installation cabin (15) in automobile body (1) both sides, installing differential pressure compensator (3) in installation cabin (15), installation cabin (15) are used for assembling differential pressure compensator (3), and is right simultaneously differential pressure compensator (3) protect, the periphery of installation cabin (15) is equipped with hydraulic tank differential pressure compensator safety cover (26), hydraulic tank differential pressure compensator safety cover (26) play the effect of protection differential pressure compensator (3) equally, two installation cabin (15) inner wall all is equipped with differential pressure compensator (3), the one end of automobile body (1) is equipped with big arm (4), big arm (4) interlock harrow suction unit (7) work, the one end of big arm (4) links to each other with automobile body (1) through big arm angle guiding mechanism (5), one side of big arm (4) is equipped with big arm drive mechanism (6), one side of trailing suction unit (7) is equipped with trailing suction spiral triaxial link gear, the fixed intercommunication of one end of trailing suction unit (7) has silt runner system (9), the sunction inlet of mud is assembled to through the screw action to silt in silt runner system (9), silt runner system (9) run through automobile body (1) and extend to the outside, the inner chamber of automobile body (1) is equipped with hydraulic tank (10) under water, hydraulic tank (10) are used for reserving the fuel under water, provide required power for equipment, the fixed hoist system (11) that is equipped with in top surface of automobile body (1), big arm (4) pivot department all is equipped with round pin axle (12) of taking fixed otic placode, the lateral wall of automobile body (1) is equipped with cable clamp and detains anti-drag structure (13), the upper end of automobile body (1) is equipped with fixed installing support (16) that are used for fixed light and camera, the inner chamber both sides of automobile body (1) are equipped with support actuating mechanism (17), support actuating mechanism (17) run through automobile body (1) and link to each other with fixed installing support (16), one side of automobile body (1) is equipped with power cable wiring mouth (21) and control cable wiring mouth (22), the side of automobile body (1) is equipped with oil tank connecting pipe (23), oil tank connecting pipe (23) are arranged in the fuel transportation in the equipment, oil tank connecting pipe (23) and hydraulic tank (10) under water fixed intercommunication, one side of hydraulic tank (10) under water is equipped with oil tank gate (24), hydraulic pressure pipe fitting crosses pore (25) has all been seted up to the both sides of automobile body (1), cable clamp anti-drag structure (13) of automobile body (1) left and right sides inserts the cabin and be connected to the monitoring control box, passes through cable access block terminal (20) after matching processing with video signal and illumination intensity, and the control circuit of all hydraulic valve banks finally also collects block terminal (20), then exports remote control end through control cable wiring mouth (22) through the cable.

2. The trailing suction type submersible dredging robot of claim 1, wherein: the automobile body (1) is provided with an inner cavity, the top of the automobile body (1) is provided with a mounting opening communicated with the inner cavity, a cabin cover plate (19) is fixedly assembled on the mounting opening, and the mounting opening is sealed by the cabin cover plate (19).

3. The trailing suction type submersible dredging robot of claim 1, wherein: when the driving assembly (2) drives the large arm rotating mechanism to rotate, the angle of the trailing suction mechanism is adjusted.

4. The trailing suction type submersible dredging robot of claim 1, wherein: the vehicle body (1) is provided with a cabin pressure difference compensation rubber plate which is used for balancing pressure imbalance caused by air pressure change in the vehicle body (1) and has a pressure difference adjusting effect.

5. The trailing suction type submersible dredging robot of claim 1, wherein: and after the fixed mounting bracket (16) and the bracket driving mechanism (17) are assembled together, the end cover plate (29) is fixed by using a cover plate fastening bolt (35).

Images