CN210887377U - Deep hole drainage building dredging device - Google Patents

Abstract

A deep hole drainage building dredging device comprises a robot operation system and a transfer system; the robot operation system comprises a first walking machine head, wherein the first walking machine head is arranged in a track groove at the top end of the deep-hole flood discharge tunnel in a sliding mode; the lower end of the first travelling machine head is provided with a mechanical arm, and the mechanical arm is connected with the mechanical arm; the transfer system comprises an underwater belt conveyor, the underwater belt conveyor is connected with a walking base, and the walking base is arranged on a bottom plate of the deep water flood discharge tunnel; a walking bucket is arranged on one side of the underwater belt conveyor and is connected with a lifting mechanism on a second walking machine head through a lifting rope group, and the second walking machine head is arranged in the track groove; and a lifting platform is arranged on the other side of the walking lifting bucket and is connected with the crane through a cable. The utility model provides a pair of deep hole outlet structure dredges stifled device can accomplish the clearance of the stifled thing of silt of deep hole flood discharge hole.

Description

Deep hole drainage building dredging device

Technical Field

The utility model belongs to the technical field of deep water desilting and specifically relates to a deep hole outlet structure dredges stifled device.

Background

The main dredging means in the existing stage can be summarized into three types: 1) mechanical equipment or manual work is adopted to submerge into the water for cleaning; 2) flood discharge or sluicing washes deposits in front of the bottom hole gate; 3) the above 2 modes are combined for use.

In the opening and closing operation process of the hydraulic gate of the existing hydropower station, due to the lack of sparse management and technology, the silting in front of the gate is not eliminated in time, multiple operation accidents are caused, some gate and dam are seriously damaged, and some dam even breaks. At present, more reservoirs are not used for cleaning deposits before a deep-hole gate is developed at an indefinite period, and long-term stable operation and safe operation of engineering are not facilitated. The underwater robot deep water desilting technology is a key research subject in thirteen-five periods in China.

Because of the deep water environment, the underwater robot needs to overcome three technical problems when walking in the deep water environment: 1) the hydraulic action is overcome, the self-stability of the structure and the stability of the walking track are ensured, and the existing method is generally realized by the self-weight of the robot and the crawler-type walking; 2) for the operation environment with higher siltation, the risk that the underwater robot is buried due to the collapse of siltation is overcome; 3) and the problem that the composition and the accumulation form of the sludge under deep water bring higher technical requirements for the underwater self-propelled walking of the robot is solved.

In addition, in the existing dredging equipment, before the robot launches, the deep-hole underwater topography needs to be described in advance, the form of the dredging body needs to be determined, then the robot is positioned through various equipment, the cost is high, and the running period is long.

In addition, in the deep water field, the underwater photography technology is difficult to play a role in the dredging process: after the sludge is disturbed by the walking and the operation of the robot, the water quality is large in polluted surface, and the visibility is basically zero.

In addition, the dredging condition cannot be grasped in time, and the matching of the stretching of the mechanical arm and the crushing completion condition cannot be accurately controlled in the crushing process of the silted up objects, so that the mechanical arm can operate on a water outlet structure easily to cause direct damage to the structure.

A conventional underwater self-propelled robot mostly adopts a crawler-type walking mode to adapt to complex terrain conditions. In the case of a water release structure with a floor protection structure, the crawler belt is directly contacted with the concrete floor, which is likely to cause certain damage. Under the sluicing scouring action after the gate is pulled, the potential threat of structural damage is realized.

The underwater walking type robot mainly comprises methods of siphoning, carrying or carrying and transporting of the robot, combination of siphoning and carrying and the like for cleaning sundries after dredging in the dredging process of a deepwater drainage building, on one hand, the robot is low in working efficiency, on the other hand, the robot walks repeatedly, further aggravates the loss of a building bottom plate, and on the other hand, siphoning on unconventional clogging objects such as nets, branches and the like can not be realized necessarily.

Disclosure of Invention

The utility model aims to solve the technical problem that a deep hole outlet structure dredges stifled device and method is provided, can effectively desilt deep hole outlet structure, and avoid causing the damage for deep hole outlet structure.

In order to solve the technical problem, the utility model discloses the technical scheme who adopts is:

a deep hole drainage building dredging device comprises a robot operation system and a transfer system;

the robot operation system comprises a first walking machine head, wherein the first walking machine head is arranged in a track groove at the top end of the deep-hole flood discharge tunnel in a sliding mode; the lower end of the first travelling machine head is provided with a mechanical arm, and the mechanical arm is connected with the mechanical arm;

the transfer system comprises an underwater belt conveyor, the underwater belt conveyor is connected with a walking base, and the walking base is arranged on a bottom plate of the deep water flood discharge tunnel; a walking bucket is arranged on one side of the underwater belt conveyor and is connected with a lifting mechanism on a second walking machine head through a lifting rope group, and the second walking machine head is arranged in the track groove; and a lifting platform is arranged on the other side of the walking lifting bucket and is connected with the crane through a cable.

The first walking machine head and the second walking machine head respectively comprise a sealing shell, two ends of the rotating shaft extend out of the sealing shell and are connected with the walking wheels, and the rotating shaft is driven by a gear transmission mechanism and a first servo motor.

The arm includes the aircraft nose of being connected with first walking aircraft nose, installs second servo motor outside the aircraft nose, and second servo motor's output is connected with first lifing arm, and third servo motor is installed to first lifing arm lower end, and third servo motor's output with be connected with the base, second lifing arm one end is articulated with the base, the other end with swing the arm and articulate, swing the arm upper end and stretch out that the articulated point department articulates there is first pneumatic cylinder, the first pneumatic cylinder other end is articulated with the base.

The manipulator includes the connector, and connector and swing arm lower extreme threaded connection have a semicircle hopper about the connector lower extreme, and two semicircle hopper outsides all articulate have the second pneumatic cylinder, and the second pneumatic cylinder other end is articulated with connector (33).

The outer wall of the semicircular hopper is provided with a crushing head, the crushing head comprises a welding part, one end of the welding part is provided with a connecting rod, and a spiral piece is fixed on the connecting rod.

The lifting rope sets are four groups in total, the left lifting rope set and the right lifting rope set are distributed in pairs side by side, the upper end of each lifting rope set is arranged on a wire spool, and each wire spool is driven by a fourth servo motor.

The lifting platform is internally provided with an inclined supporting plate, the lower end of the inclined surface of the inclined supporting plate is far away from the walking bucket, the higher end of the inclined surface of the inclined supporting plate is provided with a notch, and the width of the notch is larger than that of the walking bucket.

The utility model relates to a deep hole outlet structure dredges stifled device has following technological effect:

1) the track groove is arranged, the track groove can be prefabricated in the process of building construction through an underwater building, the design and construction of the building are an innovation, and for cleaning, on one hand, the robot can walk on the top, so that the phenomenon that water quality is turbid and the visual field is lost due to contact of a track and a clogging object in the walking process of the robot is avoided; on the other hand, the underwater positioning device is relatively simple in technical requirement on underwater positioning due to the fact that the fixed track runs, and can be obtained through back calculation through the telescopic length of the cable.

2) The force generated during operation is transmitted to the top of the tunnel through the reverse thrust of the downward operation of the robot arm, the effect of water pressure is overcome, and the self stability of the structure and the stability of the walking track are ensured

3) Because the robot does not need to guarantee the stability under the deep water environment through gravity, consequently can carry out the lightweight with the robot and handle, both guaranteed the security that the robot walked on the track, avoided the loss that heavy robot caused at the walking of building bottom plate simultaneously.

4) The tunnel top walking robot has no ground walking problem, and can form a walking space by crushing even if the walking space is insufficient.

5) Through the control of the maximum extension length and the height of the hole of the robot and the matching of the maximum extension width and the diameter of the hole of the robot, the contact between the machine head and the building can be effectively controlled, and the loss to the building is reduced to the maximum extent

7) The mechanical arm and the mechanical arm are detachably connected, and after the mechanical arm and the mechanical arm are crushed, different machine head operations are utilized, so that various unconventional sources can be met, and the effect is remarkable.

8) By arranging the underwater belt conveyor, the underwater belt conveyor has a certain length, so that the reciprocating walking and siphoning operation of a traditional robot can be avoided, the stroke is saved, and the operation efficiency is improved; in addition, the surface area borne by the underwater belt conveyor is large, so that the precision of the manipulator in delivering the silted up materials can be reduced.

Drawings

The invention will be further explained with reference to the following figures and examples:

fig. 1 is a schematic view of the working state of the present invention.

Fig. 2 is a schematic diagram (only schematic, not specific) of the installation of the robot in the present invention.

Fig. 3 is a schematic structural diagram of the robot of the present invention.

Fig. 4 is a schematic structural diagram of the robot of the present invention.

Fig. 5 is a schematic structural view of the middle walking bucket of the present invention.

Fig. 6 is a partially enlarged schematic view of a portion a of fig. 5.

Fig. 7 is a schematic view of the position of the middle walking bucket near the lifting platform.

Fig. 8 is a schematic structural view of the middle semicircular hopper of the present invention.

Fig. 9 is a schematic structural view of the crushing head of the present invention.

Fig. 10 is an electric control block diagram of the robot according to the present invention.

In the figure: the device comprises a gate 1, a silt object 2, a first walking machine head 3, a track groove 4, a mechanical arm 5, a mechanical arm 6, an underwater belt conveyor 7, a walking base 8, a bottom plate 9, a walking bucket 10, a lifting rope group 11, a second walking machine head 12, a lifting mechanism 13, a lifting platform 14, a cable 15, a crane 16, a control system 17, a sealing shell 18, a rotating shaft 19, a walking wheel 20, a gear transmission mechanism 21, a first servo motor 22, a machine head 23, a control module 24, an underwater computer 25, a second servo motor 26, a first lifting arm 27, a third servo motor 28, a base 29, a second lifting arm 30, a swing arm 31, a first hydraulic cylinder 32, a connecting head 33, a semicircular hopper 34, a second hydraulic cylinder 35, a crushing head 36, a welding part 37, a connecting rod 38, a spiral sheet 39, a winding disc 40, a fourth servo motor 41, a flood discharge hole 42, a main control box 43 and an operation display box 44, an umbilical cable 45 and a motor drive module 46.

Detailed Description

As shown in figure 1, the dredging device for the deep-hole water discharging building acts on a deep-hole flood discharging tunnel 42.

The deep hole flood discharging hole 42 is of a surrounding rock lining concrete structure, one end of the deep hole flood discharging hole is provided with the gate 1, when water level adjustment is needed in the operation of the power station, the gate needs to lift and discharge water, and if the lifting process is blocked due to silting, the operation safety of the power station is affected.

The bottom plate 9 of the deep hole flood discharging tunnel 42 is of a concrete structure, in the traditional robot dredging technology, a robot directly walks on the concrete structure, the self-stability difficulty of the robot in the self-walking process is high due to the existence of silting objects, the walking stability is ensured by means of the increase of the gravity of the robot, and the possibility of damage to the bottom plate exists in the crawler walking process.

The top of deep hole flood discharging hole 42 is the arc structure, reserves the track groove on traditional arc roof, requires to arrange in flood discharging hole civil engineering work process, and the existence of this reservation track groove has changed civil engineering construction technology than traditional construction scheme, improves to some extent to the lining requirement, nevertheless because of reserving orbital existence in advance, provides convenience to flood discharging hole later maintenance, desilting, gate maintenance etc.. The robot can walk on the top of the tunnel, and has no self-stabilization problem in the dredging process, so that the weight of the robot and the damage to the bottom plate can be greatly reduced.

The fouling 2 here is mainly the fouling 2 before the sluice 1.

A deep hole water release building dredging device comprises an in-tunnel operation system and an out-tunnel operation system.

The extra-tunnel operation system mainly comprises a crane 16 on the water outside the tunnel, wherein the crane 16 can be a truck crane or a tower crane. Mainly provides power for vertical transportation. The crane 16 is connected with an underwater lifting platform 14 through cables 15 (steel cables), the lifting platform 14 provides a placement platform for vertical transportation, and the cables 15 are gathered around the lifting platform 14 and then connected, so that the stability of the underwater vertical movement of the lifting platform 14 is ensured. The bottom of the lifting platform 14 is hollowed out, clamping grooves are reserved around the lifting platform, and the fixed breast board can be mounted conveniently.

The control system 17 is also arranged on the water outside the tunnel, and the control system 17 comprises a main control box 43 which is connected with an operation display box 44 through a cable and connected with the underwater equipment through an umbilical cable 45 and is used for processing input operation instructions and operation data fed back by the underwater equipment.

The in-tunnel operation system comprises a robot, the robot comprises a first walking machine head 3, and the first walking machine head 3 is arranged in a track groove 4 at the top end of the deep-hole flood discharging tunnel in a sliding mode; the lower end of the first travelling machine head 3 is provided with a mechanical arm 5, and the mechanical arm 5 is connected with a mechanical arm 6.

The first travelling head 3 comprises a sealing shell 18, two ends of a rotating shaft 19 extend out of the sealing shell 18 and are connected with a travelling wheel 20, and the rotating shaft 19 is driven by a gear transmission mechanism 21 and a first servo motor 22.

The four walking wheels 20 ensure that the stress is balanced in the walking process of the robot, power is provided through the first servo motor 22, power transmission is carried out through the gears, and the walking wheels 20 and the track groove 4 act together to provide tracks and power for the walking of the robot.

The robot arm 5 here comprises a head 23 connected to the first travelling head 3, the head 23 being a subsea control center. A control module 24, an underwater computer 25 and a motor driving module 46 are arranged in the handpiece 23, the control module 24 is connected with the control system 17 through an umbilical cable 45, and the underwater computer 25 is connected with the control module 24 through the umbilical cable 45. During operation, an overwater operator sends instructions to the underwater computer 25, the underwater computer 25 specifically operates each device to act according to the instruction requirements, and then all data are fed back.

The motor driving modules 46 are connected with the control module 24 and the underwater computer 25 through cables, and each servo motor is respectively connected with one motor driving module 46 through a cable.

The underwater computer 25 adopts a north China industrial control BIS-6310 waterproof computer,

each servo motor can adopt a Suctech brand ABZM-SW underwater direct current stepping servo motor.

The motor drive module 46 employs the loose MINAS A5 series drive.

The control module 24 employs a mitsubishi FX series PLC controller.

In addition, still install first servo motor 24 in aircraft nose 23, first servo motor 24 output is connected with base 25, and first servo motor 24 drives base 25 circumferential direction and rotates. A second servo motor 26 is fixedly mounted on the base 25, an output end of the second servo motor 26 is connected with the first lifting arm 27, and the first lifting arm 27 can be driven to rotate around an output shaft of the second servo motor 26 through rotation of the second servo motor 26, so that the lower end of the first lifting arm 27 can move up and down in space. And a third servo motor 28 is mounted on the bottom end of the first lift arm 27, and the output end of the third servo motor 28 is connected to a base 29. The base 29 can be driven to rotate circumferentially by the third servo motor 28. One end of the second lifting arm 30 is hinged with the base 29, the other end is hinged with the swinging arm 31, a first hydraulic cylinder 32 is hinged at the extending hinged point of the upper end of the swinging arm 31, and the other end of the first hydraulic cylinder 32 is hinged with the base 29. The swing arm 31 is swingably moved back and forth by the first hydraulic cylinder 32.

Through realizing swaying, rotating, satisfy multi-angle movable and operation, the connected mode all realizes comparatively ripe through the connecting rod effect relatively. Wherein, the total elongation of the mechanical arm and the machine head is matched with the maximum height of the chamber.

The bottom end of the swing arm 31 is provided with a threaded sleeve, and the swing arm 31 is connected with a manipulator through the threaded sleeve. Therefore, the universality can be realized, and the manipulator can be disassembled and reassembled according to the requirement. The mechanical arms in the forms of grab buckets, breaking hammers, back shovels and the like are respectively adopted in the process of cleaning sundries on the surface of the silted up objects, loosening hardened objects and moving loosened objects.

Specifically, the manipulator comprises a connector 33, the connector 33 is in threaded connection with the lower end of the swing arm 31, semicircular hoppers 34 are hinged to the left and the right of the lower end of the connector 33, second hydraulic cylinders 35 are hinged to the outer sides of the two semicircular hoppers 34, and the other ends of the second hydraulic cylinders 35 are hinged to the connector 33. When the second hydraulic cylinder 35 is retracted, the two semicircular hoppers 34 are opened, and when the second hydraulic cylinder 35 is extended, the two semicircular hoppers 34 are closed to form a sphere.

The outer wall of the semicircular hopper 34 is provided with a crushing head 36, the crushing head 36 comprises a welding part 37, one end of the welding part 37 is provided with a connecting rod 38, and a spiral piece 39 is fixed on the connecting rod 38. Accordingly, at the beginning, the two semicircular hoppers 34 can be closed first, and the second lift arm 30, the swing arm 31, and the semicircular hoppers 34 can be rotated by starting the third servo motor 28, so that the crushing head 36 performs the rotary crushing.

An underwater belt conveyor 7 is arranged on one side of the robot, the underwater belt conveyor 7 is connected with a walking base 8, and the walking base is arranged on a bottom plate 9 of the deep water flood discharge tunnel. The walking base 8 is provided with walking wheels which are driven by a servo motor and can horizontally move in the hole.

One side of the underwater belt conveyor 7 is provided with a walking bucket 10, the walking bucket 10 is connected with a lifting mechanism 13 on a second walking machine head 12 through a lifting rope group 11, and the second walking machine head 12 (the structure of which is the same as that of the first walking machine head 3) is arranged in the track groove 4.

The lifting rope groups 11 are four groups, the lifting ropes are distributed in pairs at the left and right side, the upper end of each lifting rope group is arranged on the wire spool 40, the wire spool 40 is arranged on the upper end of each lifting rope group, and each wire spool 40 is driven by the fourth servo motor 41. The lifting of the two groups of hoisting rope groups 11 at the left and the right are kept synchronous. When the lengths of the four groups of the hanging rope groups 11 are the same, the horizontal movement of the walking bucket 10 can be realized; when the wire spool 40 at the left end or the right end winds, one end of the walking bucket 10 is tilted, and the material can be unloaded.

The lifting platform 14 is flat, after a robot, an underwater belt conveyor and the like are placed through the lifting platform 14 and arranged, fenders are arranged around the lifting platform 14, and inclined supporting plates 42 are arranged in the lifting platform 14. The lower end of the inclined plane of the inclined supporting plate 42 is far away from the walking bucket 10, the higher end of the inclined plane of the inclined supporting plate 42 is provided with a notch 43, and the width of the notch 43 is larger than that of the walking bucket 10. This allows the foulant poured into the lift platform 14 to flow to the other side of the lift platform 14, avoiding an imbalance caused by a pile at one location.

Here, since the underwater belt conveyor 7 and the traveling bucket 10 move back and forth relatively frequently, in order to avoid collision, pressure sensors are arranged at the left and right extending ends of the underwater belt conveyor 7 and the traveling bucket 10, and when the pressure sensors contact with a front obstacle or a rear obstacle and form a certain pressure, the pressure sensors feed back to the machine head 23, so that the underwater belt conveyor 7 or the second traveling machine head 12 can stop braking in time.

The pressure sensor is connected with the signal acquisition module, and the signal acquisition card is connected with the control module 24;

the pressure sensor adopts an intentional semiconductor LPS33HW pressure sensor.

The signal acquisition module adopts a chip ICL 7135. The signal acquisition module is arranged in a sealing box at one side of the underwater belt conveyor shell.

Because the underwater belt conveyor 7 and the walking bucket 10 can input silted objects, gravity sensors can be arranged on the lower part of the upper belt and the walking rope set 11, the amount of the silted objects can be detected, and the start, stop and transfer of the underwater belt conveyor 7 and the walking bucket 10 can be controlled in time.

The gravity sensor adopts a CG-5 quartz sensor,

the gravity sensor is connected with a signal acquisition chip which adopts an A68AD A/D conversion module,

the signal acquisition chip of belt feeder is installed in the seal box of belt feeder casing one side. The signal acquisition chip of the walking bucket 10 is arranged in a sealing box at one side of the bucket.

In addition, for the sake of easy observation, an underwater camera (not shown) with a strong light is installed at a suitable place on the robot. For the operator to see at a glance.

The underwater camera adopts a Haikangwei vision DS-2XC6225F-L type camera.

The underwater camera is connected with a driving module, and the driving module is connected with a control module 24 and an underwater computer 25 on the robot.

The driving devices in the device all need to be subjected to waterproof treatment, so that electric leakage is avoided.

The working principle and the process are as follows:

1) first walking aircraft nose 3, with arm 5, manipulator 6 installation target in place to place on lift platform 14, it is fixed to form fixed or belt ligature form through the buckle, utilize 16 of loop wheel machine to transfer to under water, require to transfer to under water, and be located the hole top below certain distance.

2) And finishing the underwater manual loose binding and installation of the robot, and installing the first walking machine head 3 into the track groove 4.

3) The first walking machine head 3 walks back and forth in the track groove 4 by electrifying the control system 17, acquires underwater silting scene information through the video monitoring system, and provides water for operators to analyze.

4) And similar to the robot transfer, the transfer of the underwater belt conveyor 7 and the walking bucket 10 is completed in sequence.

5) The hurdles are fixed around the lifting platform 14, and the inclined supporting plate 42 is placed on the lifting platform 14. Transformed into a platform with a collection function. A notch is arranged on one side of the lifting platform 14, so that the lifting platform can be poured conveniently.

6) Moving the manipulator 6 to the position through the first walking machine head 3; the underwater belt conveyor 7 moves to be in place, and the walking bucket 10 is close to the right side of the underwater belt conveyor 7.

7) The length of the entire robot arm 5 is adjusted by the rotation of the second servo motor 26 and the extension and contraction of the first hydraulic cylinder 32, so as to be adapted to the accumulation height of the clogging matter. Starting the second hydraulic cylinder 35 to close the two semicircular hoppers 34; starting the third servo motor 28 to rotate the robot arm 6; therefore, the crushing head 36 can crush the silted up objects to a certain extent in the rotating process, and is convenient for later-stage grabbing.

8) After the local area is broken, the second hydraulic cylinder 35 contracts, the two semicircular hoppers 34 open, the mechanical arm 5 performs corresponding actions to grab the silted objects, then the second hydraulic cylinder 35 extends out, the two semicircular hoppers 34 are closed, the two semicircular hoppers 34 are moved to the underwater belt conveyor 7 through the actions of the mechanical arm 5, the two semicircular hoppers 34 open, and the silted objects are released to the underwater belt conveyor 7.

9) When the silted up objects on the underwater belt conveyor 7 are accumulated to a certain weight, the belt motor drives the underwater belt conveyor 7 to rotate slowly, and the silted up objects fall into the walking bucket 10 at the tail end of the belt. Stopping the belt to continue receiving the materials.

10) When the silted up materials in the walking bucket 10 reach a certain weight, the second walking machine head 12 drives the walking bucket 10 to move to the lifting platform 14, the hoisting rope group 11 on the left side rolls up the part, so that the left side of the walking bucket 10 is tilted, and the silted up materials in the walking bucket 10 are poured into the lifting platform 14. And then the walking bucket 10 returns to the underwater belt conveyor 7 to continue receiving materials.

11) And repeating the actions 6) -10) until the blockage is cleaned, wherein in the process, the lifting platform 14 can be lifted out of the water surface at intervals by the crane 16, lifted to the shore by a vehicle, and the blockage in the lifting platform 14 is cleaned and then returned to the original position.

In the process, when the clogging object 2 at one position is cleaned, the first walking machine head 3 can move forwards for a short distance, and the underwater belt conveyor 7 moves to the position close to the gate 1 for the same distance along with the first walking machine head 3, so that fixed-point transmission is met. And the traveling bucket 10 moves back and forth.

Claims (7)

1. The utility model provides a deep hole outlet structure dredges stifled device which characterized in that: comprises a robot working system and a transfer system;

the robot operation system comprises a first walking machine head (3), wherein the first walking machine head (3) is arranged in a track groove (4) at the top end of the deep-hole flood discharge tunnel in a sliding mode; the lower end of the first travelling machine head (3) is provided with a mechanical arm (5), and the mechanical arm (5) is connected with a mechanical arm (6);

the transfer system comprises an underwater belt conveyor (7), the underwater belt conveyor (7) is connected with a walking base (8), and the walking base (8) is arranged on a deep water flood discharge tunnel bottom plate (9); a walking bucket (10) is arranged on one side of the underwater belt conveyor (7), the walking bucket (10) is connected with a lifting mechanism (13) on a second walking machine head (12) through a lifting rope group (11), and the second walking machine head (12) is arranged in the track groove (4); and a lifting platform (14) is arranged on the other side of the walking bucket (10), and the lifting platform (14) is connected with a crane (16) through a cable (15).

2. The dredging device for the deep-hole water draining building according to claim 1, wherein: the first walking machine head (3) and the second walking machine head (12) both comprise a sealing shell (18), two ends of a rotating shaft (19) extend out of the sealing shell (18) and are connected with the walking wheels (20), and the rotating shaft (19) is driven by a gear transmission mechanism (21) and a first servo motor (22).

3. The dredging device for the deep-hole water draining building according to claim 1, wherein: arm (5) are including aircraft nose (23) of being connected with first walking aircraft nose (3), second servo motor (26) are installed outward to aircraft nose (23), the output and first lift arm (27) of second servo motor (26) are connected, third servo motor (28) are installed to first lift arm (27) lower extreme, the output and base (29) of third servo motor (28) are connected, second lift arm (30) one end is articulated with base (29), the other end is articulated with rocking arm (31), rocking arm (31) upper end stretches out that articulated point department articulates has first pneumatic cylinder (32), first pneumatic cylinder (32) other end is articulated with base (29).

4. The dredging device for the deep-hole water draining building according to claim 1, wherein: manipulator (6) are including connector (33), connector (33) and swing arm (31) lower extreme threaded connection, and it has semicircle hopper (34) to articulate about connector (33) lower extreme, and two semicircle hoppers (34) outside all articulates there is second hydraulic cylinder (35), and the second hydraulic cylinder (35) other end is articulated with connector (33).

5. The dredging device for the deep-hole water draining building according to claim 4, wherein: the outer wall of the semicircular hopper (34) is provided with a crushing head (36), the crushing head (36) comprises a welding part (37), one end of the welding part (37) is provided with a connecting rod (38), and a spiral piece (39) is fixed on the connecting rod (38).

6. The dredging device for the deep-hole water draining building according to claim 1, wherein: the lifting rope sets (11) are four groups in total, the left lifting rope set and the right lifting rope set are distributed in pairs side by side, the upper end of each lifting rope set is arranged on a wire spool (40), the wire spools (40), and each wire spool (40) is driven by a fourth servo motor (41).

7. The dredging device for the deep-hole water draining building according to claim 1, wherein: the lifting platform (14) is internally provided with an inclined supporting plate (42), the lower end of the inclined surface of the inclined supporting plate (42) is far away from the walking bucket (10), the higher end of the inclined surface of the inclined supporting plate (42) is provided with a notch (43), and the width of the notch (43) is greater than that of the walking bucket (10).

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