CN109235523A - A kind of underwater self-balancing dredging robot - Google Patents
A kind of underwater self-balancing dredging robot Download PDFInfo
- Publication number
- CN109235523A CN109235523A CN201811253929.XA CN201811253929A CN109235523A CN 109235523 A CN109235523 A CN 109235523A CN 201811253929 A CN201811253929 A CN 201811253929A CN 109235523 A CN109235523 A CN 109235523A
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- CN
- China
- Prior art keywords
- balancing
- mud
- walking
- traveling wheel
- buoyancy
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F5/00—Dredgers or soil-shifting machines for special purposes
- E02F5/28—Dredgers or soil-shifting machines for special purposes for cleaning watercourses or other ways
- E02F5/282—Dredgers or soil-shifting machines for special purposes for cleaning watercourses or other ways with rotating cutting or digging tools
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
- E02F3/90—Component parts, e.g. arrangement or adaptation of pumps
- E02F3/92—Digging elements, e.g. suction heads
- E02F3/9212—Mechanical digging means, e.g. suction wheels, i.e. wheel with a suction inlet attached behind the wheel
- E02F3/9225—Mechanical digging means, e.g. suction wheels, i.e. wheel with a suction inlet attached behind the wheel with rotating cutting elements
- E02F3/9237—Suction wheels with axis of rotation in transverse direction of the longitudinal axis of the suction pipe
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of underwater self-balancing dredging robots, suction environment-protective desilting head and two cabin buoyancy compartment of front and back are twisted including walking, walking twists suction environment-protective desilting head and buoyancy compartment is attached by vehicle frame, make the center of gravity of self-balancing dredging robot in lower part, the centre of buoyancy of buoyancy compartment is on top, realize " principle of tumbler " that there is light-weight, simple and convenient advantage.The buoyancy compartment is by former and later two cabins, water-inflow and drain valve, air inlet-outlet pipe composition, and the air inlet-outlet pipe is connect with air pump on the bank.By adjusting the intracorporal moisture storage capacity in front and back cabin, state when adjustable dredging robot walks and moves about under water is allowed to the function of having self-balancing.Meanwhile by the buoyancy size of control buoyancy compartment, it can be achieved that the floating and sunken caves of robot.The underwater self-balancing dredging robot, it is made of it is characterized in that the walking twists suction environment-protective desilting head walking support system and the mud strand big system of desorption system two, two big systems are rotated around same axis, the mud of agitation is directly aspirated by sludge pump, it can be effectively prevent the diffusion of mud, achieve the effect that environment-protective desilting.
Description
Technical field
The invention belongs to dredging robot fields, more particularly, to a kind of underwater self-balancing dredging robot.
Background technique
As the duration of China's economy is fast-developing, environmental problem is become more and more important, and mud is to major rivers lake
The pollution of pool also causes the more attention of people, therefore underwater desilting is imperative.And at present general underwater desilting have cofferdam dredging,
Dredger ship dredging and underwater desilting machine people's dredging, underwater desilting machine people because its is small in size, needed for power it is small and simple light
Just the advantages that, just popularizes market at leisure.Underwater desilting machine people generallys use caterpillar walking mechanism and twists and inhales in the market
Formula desilting mode, generally existing following disadvantage during use: crawler belt agitation mud causes secondary pollution when walking；Walking
If encountering biggish barrier in the process, such as boulder and bulky barrier etc., underwater desilting machine people is just stuck in
Can not normally walk forward work before barrier, while twisting suction knife and direct and bar contact and damage, greatly
The efficiency for affecting underwater desilting；In addition, underwater desilting machine people needs the assistance of big machinery when being lauched or debarking,
The inconvenience of operation is significantly increased, the cost of construction is increased.Therefore, it is next to be badly in need of a kind of novel underwater desilting machine people
A series of problems encountered in dredging process under the conditions of the solution prior art.
Summary of the invention
In view of the drawbacks of the prior art, the purpose of the present invention is to provide a kind of underwater self-balancing dredging robots, mainly
Suction environment-protective desilting head and two cabin buoyancy compartment of front and back are twisted including walking, walking twists suction environment-protective desilting head and buoyancy compartment passes through vehicle
Frame body is attached.Wherein:
The vehicle frame is the skeleton of underwater self-balancing dredging robot, is made of light and firm material, for installing
Buoyancy compartment, equipment control storehouse, sludge pump, walking environment protection-type dredging head；Gravity sensor is housed, for detecting vehicle frame on vehicle frame
The weight of the object carried on body, gravity sensor connects the control module in equipment control storehouse, for transmitting weight data.
The buoyancy compartment is mounted on vehicle frame, two cabin buoyancy compartments have adjust automatically posture and realize float and under
Heavy function.Equipment control storehouse includes control module, sensor module and hydraulic-driven module；The control cabinet is mounted on
On vehicle frame, it is fixed on the lower section of buoyancy compartment；The sensor module includes that three dimension acceleration sensor and three-dimensional gyroscope pass
Sensor；The three dimension acceleration sensor is for detecting self-balancing dredging vehicle speed, and three-dimensional gyro sensor is for detecting certainly
Balance the posture of dredging vehicle, including inclination angle, acceleration and yaw angle；The collected data of the sensor module institute are transferred to
Control module, control module receive three-dimensional gyroscope sensor data and acceleration transducer data, first pass through filtering algorithm
Posture information is obtained, then calculates current control amount by control algolithm, in flow and buoyancy compartment including hydraulic motor
Into displacement, control amount is transferred in hydraulic motor drive module；The hydraulic motor control module is located in control box, is used
In the flow and two cabin buoyancy compartments for controlling hydraulic motor according to the control amount of acquisition into draining, to keep entire self-balancing
The movement and balance of dredging vehicle.
The walking twists suction environment-protective desilting head and is mounted on vehicle frame, including walking support system and mud twist desorption system
Two big systems, two big systems are rotated around same axis, and the mud of agitation is directly aspirated by sludge pump, can effectively prevent mud
Diffusion, achieve the effect that environment-protective desilting；The walking support system include traveling wheel welded drum, traveling wheel support blade,
Traveling wheel shaft coupling, dredging head shell cover, traveling wheel hydraulic motor and hydraulic control convey oil duct, are similar to for reducing
Stirred mud when crawler type walking mechanism is walked and caused by secondary pollution, realization environment-protective desilting；The mud twists desorption system
Outside reamer, reamer axis, reamer shaft coupling, reamer hydraulic motor, rolling bearing, mud strand inhale conveyance conduit, mud filters
Clamshell body and filter screen.
When work, after the starting of self-balancing dredging robot, sensor module is by the data and acceleration of collected gyroscope
The data of degree meter are transferred in control module, and control module calculates the current posture and speed of self-balancing dredging robot, by
This obtains being transferred into displacement, then by control amount for the flow that current control amount includes hydraulic motor and two cabin buoyancy compartments
Hydraulic motor drive module and gas pump drive module, hydraulic motor drive module and gas pump drive module are according to the control received
Amount processed controls the flow of hydraulic motor and the pressure of gas pump respectively, realizes that the adjusting of robot forward speed and buoyancy compartment are floating
The adjusting of power, so that self-balancing dredging robot be made to keep stable state.
When underwater self-balancing dredging robot needs to turn to, buoyancy compartment increases the buoyancy of itself, and buoyancy is greater than entirely certainly
The gravity for balancing dredging robot, makes self-balancing dredging robot that suspended state be presented in water, and the installation of buoyancy compartment two sides is horizontal
Propeller, the inconsistent steering to realize dredging robot of propeller revolving speed.Meanwhile robot can also be realized by propeller
The function of moving ahead and retreat.
When self-balancing dredging robot encounters slope or meets with small barrier, the stabilization shape of self-balancing dredging robot
State will receive destruction, so that self-balancing dredging robot can topple forward or backward；The revolving speed of hydraulic motor reduces, and makes
The forward speed of dredging robot is slack-off, and internal water is discharged by gas pump for buoyancy compartment, increases the buoyancy of itself, thus
It is adjusted by buoyancy compartment and restores stable state.
When underwater self-balancing dredging robot encounter big barrier and can not by when, buoyancy compartment by gas pump will in
The water in portion is discharged, and increases the buoyancy of itself, and generated buoyancy is made to be greater than the gravity of entire self-balancing dredging robot itself, from
It balances dredging robot to float, bottommost is more than the top of barrier, is broken the barriers under the action of propeller.
Structure novel, light-weight, control is nimble, prevents dredging secondary pollution due to using the above structure, having by the present invention
The advantages of.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention
Fig. 2 is the left view of Fig. 1
Fig. 3 is the structural schematic diagram of buoyancy compartment in the present invention
Fig. 4 is the structural schematic diagram that walking twists suction environment-protective desilting head in the present invention
Fig. 5 is the positive structure diagram that walking twists suction environment-protective desilting head in the present invention
Fig. 6 is the A-A the schematic diagram of the section structure that walking twists in the positive structure diagram of suction environment-protective desilting head in the present invention
Appended drawing reference: buoyancy compartment 1, vehicle frame 2, horizontal propeller 3, equipment control storehouse 4, sludge pump 5, walking twist suction ring
Protect dredging head 6, the camera 7 with light source, preceding cabin 8, rear cabin 9, water-inflow and drain valve 10, air inlet-outlet pipe 11, traveling wheel welding rolling
Cylinder 12, traveling wheel support blade 13, traveling wheel shaft coupling 14, dredging head shell cover 15, traveling wheel hydraulic motor 16, hydraulic control
Conveyance conduit 17 processed, reamer 18, reamer axis 19, reamer axis shaft coupling 20, reamer hydraulic motor 21, rolling bearing 22, mud twist
Inhale conveyance conduit 23, mud filter shell cover 24, filter screen 25.
Specific embodiment
The following further describes the present invention with reference to the drawings:
As shown in the picture, a kind of underwater self-balancing dredging robot, it is characterised in that pushed away equipped with buoyancy compartment 1, vehicle frame 2, level
Suction environment-protective desilting head 6, the camera 7 with light source are twisted into device 3, equipment control storehouse 4, control system waterborne, sludge pump 5, walking,
The buoyancy compartment 1 is mounted on vehicle frame 2, and twisting suction environment-protective desilting head 6 with walking is in cross, so that underwater self-balancing is clear
Silt robot advances or when being influenced by undercurrent, can adjust posture, 2 top of vehicle frame be equipped with equipment control storehouse 4,
Lower part connection walking twists suction environment-protective desilting head 6, and two sides are equipped with horizontal propeller 3, and the walking twists suction environment-protective desilting head
Top is equipped with sludge pump 5, and two sides are provided with the camera 7 of light source, and the equipment control is equipped with drive system in storehouse 4,
The horizontal propeller 3 and walking twist suction environment-protective desilting head 6 and are connected respectively with drive system, the buoyancy compartment 1, driving system
System, the camera 7 with light source are connected with control system waterborne respectively, and the control system waterborne is by control cabinet, industrial personal computer
Display screen, mouse and keyboard composition, the control cabinet is interior to be equipped with industrial personal computer, display screen, mouse and keyboard, sets on the industrial personal computer
There is display screen, the industrial personal computer is connected with mouse and keyboard respectively, and the industrial personal computer is connected with water-proof cable, in favor of logical
Sub-marine situations can be seen by crossing display screen, pass through mouse and Keyboard Control industrial personal computer and the water being connected through water-proof cable with industrial personal computer
Flat propeller, sludge pump, drive system, the camera movement with light source, have the function that automatic control, the buoyancy compartment 1 with
Gas pump connects on the bank, and controls through control system waterborne, and the sludge pump 5 is mounted on walking and twists on suction environment-protective desilting head,
And controlled through control system waterborne, horizontal propeller of the present invention is the prior art, this is not repeated.
Buoyancy compartment of the present invention is made of preceding cabin 8, rear cabin 9, water-inflow and drain valve 10 and air inlet-outlet pipe 11, buoyancy compartment
Symmetrical before and after cabin and water-inflow and drain valve, not only good appearance, but also stabilized structure, underwater self-balancing dredging robot is carrying out clearly
Silt work or when meeting with small obstacle can be leaned forward or be swung back in the process of movement due to using single wheel walking mechanism,
Buoyancy compartment is installed in its top, is filled with high pressure gas by cavity of the air inlet-outlet pipe 11 to buoyancy compartment, will be floated by water-inflow and drain valve 10
The water discharge of certain volume, makes the center of gravity of self-balancing dredging robot in lower part, the centre of buoyancy of buoyancy compartment is upper in power cabin cavity 1
Portion, using similar " principle of tumbler ", thus guarantee the attitude stability of self-balancing dredging robot during the motion, when
After the completion of dredging work, the intracorporal water of buoyancy compartment chamber is largely discharged under the high pressure gas effect that air inlet-outlet pipe is filled with, so that floating
The buoyancy in power cabin is greater than the gravity of underwater self-balancing dredging robot, and self-balancing dredging robot floats up to the water surface automatically, grasped
Make personnel to salvage onto ship, since buoyancy compartment power into required for draining is provided by water surface ship, reduces failure
The probability of generation, thus when ensure that underwater self-balancing dredging robot breaks down in mud, be still able to achieve its it is automatic on
It is floating, reduce the salvaging difficulty of operator.
It is to twist the big system of desorption system two by walking support system and mud that walking of the present invention, which twists suction environment-protective desilting head,
Composition, wherein walking support system include traveling wheel welded drum 12, it is traveling wheel support blade 13, traveling wheel shaft coupling 14, clear
Silt head shell cover 15, traveling wheel hydraulic motor 16, hydraulic control conveyance conduit 17, it includes reamer 18, hinge that mud, which twists desorption system,
Outside cutter shaft 19, reamer axis shaft coupling 20, reamer hydraulic motor 21, rolling bearing 22, mud twist suction conveyance conduit 23, mud filters
Clamshell body 24 and filter screen 25 form, and the traveling wheel hydraulic motor 16 is fixed on dredging head shell cover 15, traveling wheel
The output shaft of hydraulic motor 16 is connected by traveling wheel shaft coupling 14 with the one end for the traveling wheel welded drum 12 being welded, therefore
Underwater self-balancing dredging robot can be conveyed by hydraulic control oil duct 17 control hydraulic motor travel motor output shaft revolving speed and
It turns to, to control revolving speed and the steering of walking welded drum 12, the traveling wheel support blade 13 is welded on traveling wheel welding
It on roller 12, is welded on four ring supports on roller respectively as shown in Figure 4,8 is welded on each ring support, tool
The welding quantity of body can according to the actual situation depending on, the traveling wheel welded drum 12 is welded on the traveling wheel welded drum rightmost side
Ring support on and be connected with reamer axis 19, the two is connected by rolling bearing 22, so that traveling wheel welded drum
It being supported and is unlikely to shake during rotation, the reamer hydraulic motor 21 is fixed on dredging head shell cover 15,
The output shaft of reamer hydraulic motor 21 is connected by reamer shaft coupling 20 with the other end of reamer axis 19, thus underwater self-balancing is clear
Silt robot can control revolving speed and the steering of the output shaft of reamer hydraulic motor 21 by hydraulic control oil transportation road 17, to control
The revolving speed of reamer axis 19 and steering；The other end of reamer axis 19 by rolling bearing 22 and is welded on traveling wheel welded drum simultaneously
The ring support of 12 leftmost sides is connected, so that traveling wheel welded drum 12 is supported and is unlikely to send out during rotation
Raw to shake, the reamer 18 is welded on reamer axis 19, and the left and right two halves section for being welded on reamer axis 19 should be that pitch size is identical
But oppositely oriented reamer 18, left and right two halves section reamer 18 form a certain size opening in the central junction of reamer axis 19, converge
Ji Kou faces filter screen and mud and twists suction inlet, there is filter screen 25 in the mud filter shell cover 24, on filter screen 25
Depending on the openings of sizes of grid can twist the case where being drawn through journey according to practical mud, which, which can filter out, can pass through row
Walk support system but other barriers such as stone that size is bigger than filter screen grid, in case blocking mud twists and inhales conveyance conduit, from
And desilting efficiency data is improved, the sludge pump 5 is formed the mud after agitation with water by mud strand suction conveyance conduit 23 certain
The mud of concentration is absorbed and is pumped ashore, handles mud accordingly.
Claims (3)
1. a kind of underwater self-balancing dredging robot, which is characterized in that twist suction environment-protective desilting head and two cabin of front and back including walking
Body buoyancy compartment, walking twists suction environment-protective desilting head and buoyancy compartment is attached by vehicle frame, makes the weight of self-balancing dredging robot
The heart realizes " principle of tumbler " there is light-weight, simple and convenient advantage on top in lower part, the centre of buoyancy of buoyancy compartment.
2. a kind of underwater self-balancing dredging robot according to claim 1, it is characterised in that the buoyancy compartment is by preceding
Latter two cabin, water-inflow and drain valve, air inlet-outlet pipe composition, the air inlet-outlet pipe are connect with air pump on the bank.By adjusting front and back cabin
Interior moisture storage capacity, state when adjustable dredging robot walks and moves about under water, is allowed to the function of having self-balancing.Together
When, by control two cabin buoyancy size, it can be achieved that robot floating and sunken caves.
3. underwater self-balancing dredging robot according to claim 1, it is characterised in that it is clear that the walking twists suction environmental protection
Silt head twists the big system of desorption system two by walking support system and mud and forms, and two big systems are rotated around same axis, the mud of agitation
It is directly aspirated by sludge pump, the diffusion of mud can be effectively prevent, achieve the effect that environment-protective desilting.Walking support system
System includes traveling wheel welded drum, traveling wheel support blade, traveling wheel shaft coupling, dredging head shell cover, the hydraulic horse of traveling wheel
It reaches and hydraulic control conveyance conduit.It includes reamer, reamer axis, reamer axis shaft coupling, the hydraulic horse of reamer that the mud, which twists desorption system,
It reaches, rolling bearing, mud twist and inhales conveyance conduit, mud filter shell cover and filter screen.The output shaft of hydraulic motor travel motor
It is connected by traveling wheel shaft coupling with the one end for the traveling wheel welded drum being welded, the traveling wheel support blade welding is expert at
Walk to take turns on welded drum, the traveling wheel welded drum be welded on the ring support of the traveling wheel welded drum rightmost side and with hinge
Cutter shaft is connected, and the two is connected by rolling bearing, and the output shaft of reamer hydraulic motor passes through reamer shaft coupling and reamer axis
The other end is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811253929.XA CN109235523A (en) | 2018-10-19 | 2018-10-19 | A kind of underwater self-balancing dredging robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811253929.XA CN109235523A (en) | 2018-10-19 | 2018-10-19 | A kind of underwater self-balancing dredging robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109235523A true CN109235523A (en) | 2019-01-18 |
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ID=65082329
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811253929.XA Pending CN109235523A (en) | 2018-10-19 | 2018-10-19 | A kind of underwater self-balancing dredging robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109667307A (en) * | 2019-01-25 | 2019-04-23 | 甘肃中电建港航船舶工程有限公司 | A kind of big suction twists with one heart inhales Accrete clearing device and application method |
| CN110106934A (en) * | 2019-06-05 | 2019-08-09 | 中清深利(深圳)科技有限公司 | A kind of underwater intelligent silt remover |
| CN110203361A (en) * | 2019-07-03 | 2019-09-06 | 蚌埠市圆周率电子科技有限公司 | A kind of processing of underwater mud is put into antiwind underwater robot |
| CN110593334A (en) * | 2019-09-29 | 2019-12-20 | 中交疏浚技术装备国家工程研究中心有限公司 | Light-duty high-efficient desilting device of adjustable buoyancy of fusiform |
| CN112593587A (en) * | 2020-01-17 | 2021-04-02 | 中国电建集团西北勘测设计研究院有限公司 | Trailing suction type diving dredging robot |
| CN113737878A (en) * | 2021-09-08 | 2021-12-03 | 韩东兴 | Desilting equipment for gas field methanol and light hydrocarbon containing closed space and use method |
| CN115075320A (en) * | 2022-06-08 | 2022-09-20 | 齐雪淞 | City environmental protection engineering construction is with silt clean-up equipment under water |
| CN116290170A (en) * | 2023-03-10 | 2023-06-23 | 广州市净水有限公司 | Intelligent suspension type underwater dredging robot and dredging system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109667307A (en) * | 2019-01-25 | 2019-04-23 | 甘肃中电建港航船舶工程有限公司 | A kind of big suction twists with one heart inhales Accrete clearing device and application method |
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| CN112593587A (en) * | 2020-01-17 | 2021-04-02 | 中国电建集团西北勘测设计研究院有限公司 | Trailing suction type diving dredging robot |
| CN112593587B (en) * | 2020-01-17 | 2023-12-22 | 中国电建集团西北勘测设计研究院有限公司 | Trailing suction type diving dredging robot |
| CN113737878A (en) * | 2021-09-08 | 2021-12-03 | 韩东兴 | Desilting equipment for gas field methanol and light hydrocarbon containing closed space and use method |
| CN115075320A (en) * | 2022-06-08 | 2022-09-20 | 齐雪淞 | City environmental protection engineering construction is with silt clean-up equipment under water |
| CN116290170A (en) * | 2023-03-10 | 2023-06-23 | 广州市净水有限公司 | Intelligent suspension type underwater dredging robot and dredging system |
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