CN109577396A - Propeller driving, which swings, twists suction dredging robot - Google Patents
Propeller driving, which swings, twists suction dredging robot Download PDFInfo
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- CN109577396A CN109577396A CN201811457184.9A CN201811457184A CN109577396A CN 109577396 A CN109577396 A CN 109577396A CN 201811457184 A CN201811457184 A CN 201811457184A CN 109577396 A CN109577396 A CN 109577396A
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- dredging
- hull
- swings
- propeller
- dredging robot
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- 230000007246 mechanism Effects 0.000 claims abstract description 82
- 238000005086 pumping Methods 0.000 claims abstract description 24
- 230000000007 visual effect Effects 0.000 claims abstract description 12
- 241001170716 Garra gotyla Species 0.000 claims description 37
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 20
- 238000004140 cleaning Methods 0.000 claims description 15
- 238000005286 illumination Methods 0.000 claims description 14
- 238000007373 indentation Methods 0.000 claims description 9
- 239000002245 particle Substances 0.000 claims description 7
- 239000010802 sludge Substances 0.000 claims description 6
- 238000009428 plumbing Methods 0.000 claims description 5
- 150000001875 compounds Chemical class 0.000 claims description 4
- 238000007667 floating Methods 0.000 claims description 3
- 238000011010 flushing procedure Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 230000009471 action Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 4
- 239000004575 stone Substances 0.000 description 9
- 238000010586 diagram Methods 0.000 description 8
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- 239000008400 supply water Substances 0.000 description 2
- 102000010637 Aquaporins Human genes 0.000 description 1
- 238000013019 agitation Methods 0.000 description 1
- 239000012223 aqueous fraction Substances 0.000 description 1
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Classifications
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- 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
- E02F3/8833—Floating installations
- E02F3/885—Floating installations self propelled, e.g. ship
-
- 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
- E02F3/905—Manipulating or supporting suction pipes or ladders; Mechanical supports or floaters therefor; pipe joints for suction pipes
-
- 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
- E02F3/907—Measuring or control devices, e.g. control units, detection means or sensors
-
- 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
-
- 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
- E02F3/9231—Suction wheels with axis of rotation parallel to longitudinal axis of the suction pipe
Abstract
It swings to twist the invention discloses a kind of driving of propeller and inhales dredging robot, can be realized the underwater innoxious quick dredging of continuous moving.It include: platform framework, hull, screw propeller, swing Jiao Xi mechanism, dredging mechanism, pumping mechanism, control unit and visual unit；Walking mechanism of the hull as the dredging robot is arranged in the platform framework bottom；Screw propeller moves ahead for hull under the control of described control unit and provides power；The hull interior is provided with buoyancy tank；The Jiao Xi mechanism that swings and dredging mechanism are execution part.The dredging robot is using propeller driving submarine formula traveling mode and swings and twists suction desilting mode, carries out the collection and pumping of mud, adapts to canal silting and the varying environments such as culvert inverted-siphon is silted up, realizes and innoxious continuously moves quick dredging.Suction dredging is twisted using swinging, high-efficient, dredging effect is good；It disturbs small, does not cause secondary pollution.
Description
Technical field
The present invention relates to a kind of robots, and in particular to a kind of dredging robot.
Background technique
Since being put into operation due to the general main canal of domestic many open channels, water user's degree of dependence is gradually deepened along the line, is supplied water
Fraction requires height, and in operation from now on, the desired value of the general main canal water delivery of open channel is uninterruptedly to supply water.However, and other
Open channel is the same, these open channel general main canals are during its operation, unavoidably in canal for water conveyance and the building that drains off floodwaters intersected therewith
It is interior to form a large amount of sediment, it influences to supply water and jeopardize general main canal safety.To guarantee uninterrupted water supply and general main canal safety, and subtract
Secondary pollution during light dredging, it is necessary to study a kind of underwater desilting machine people
In conjunction with open channel general main canal service requirement and field condition, underwater desilting machine people should be able to adapt to canal silting and culvert
Inverted-siphon such as silts up at the varying environments, has the functions such as sediment cleaning, realizes and innoxious continuously moves quick dredging.
Summary of the invention
In view of this, the present invention, which provides a kind of propeller driving submarine formula strand that swings, inhales dredging robot, Neng Goushi
The now underwater innoxious quick dredging of continuous moving.
It includes: platform framework, hull, propeller that the propeller driving submarine formula, which swings and twists suction dredging robot,
Propeller, swing Jiao Xi mechanism, dredging mechanism, pumping mechanism, control unit and visual unit；
Walking mechanism of the hull as the dredging robot is arranged in the platform framework bottom；The spiral
Paddle propeller moves ahead for hull under the control of described control unit and provides power；The hull interior is provided with buoyancy tank；
It is described swing Jiao Xi mechanism be arranged in the hull front end, comprising: rotating base, mounting base, telescopic arm and
Twisting sucker head；The rotating base is arranged on the hull, swings Jiao Xi mechanism within the scope of set angle for driving
It swings；The mounting base is fixed on rotating base, and one end of the telescopic arm and the mounting base pin joint, the other end connect
Connect twisting sucker head；The twisting sucker head includes: cover, spiral twisting sucker head and motor；The cover is bottom opening, and the right and left is all provided with
Hollow structure jaggy is set, the spiral twisting sucker head is arranged inside the cover, and the spiral twisting sucker head is being fixed on
It states and is rotated under the driving of motor around vertical direction；The motor is fixed on the cover；
The pumping mechanism is arranged on the hull, is connected with the suction silt particle pipe that the covering on top is arranged in, described
Pumping mechanism is used for the sludge pumping of twisting sucker head strand suction to ground；
The dredging mechanism include mechanical arm and collect basket, it is described swing Jiao Xi mechanism carry out dredging before or dredging
Afterwards, telescopic arm and twisting sucker head are removed from the mounting base, and mechanical arm is installed in the mounting base；The collection basket setting exists
At the top of the platform framework；The mechanical arm completes picking action in setting position in the control of described control unit, and will pick up
Object is taken to be put into the collection basket；The rotating base and mechanical arm are controlled by described control unit；
Image of the visual unit for environment where obtaining dredging robot in real time, and passed by photoelectric compound cable
Transport to the host computer on ground；Described control unit receives the instruction of the host computer, controls the screw propeller, left and right pendulum
Dong Jiaoxi mechanism and dredging mechanism work.
It further, further include anticollision guiding device, the anticollision guiding device includes being symmetricly set on the platform frame
Anticollision wheel group at left and right sides of frame, the anticollision group of every side includes more than two anticollision wheels being located in same vertical plane, described anti-
Hit the axis of wheel along the vertical direction.
Further, the visual unit includes: preposition sonar, preposition illumination camera unit, postposition front lit/camera shooting list
Illumination/camera unit after member and postposition；Wherein the preposition sonar is arranged in platform framework front center, in the platform framework
Preposition illumination/camera unit of the camera lens towards front is each side arranged in upper front end, in the platform framework rear end
Middle position be respectively set camera lens towards front postposition front lit/camera unit and camera lens towards shining after the postposition at rear
Bright/camera unit.
Further, two buoyancy tanks are each side set in the hull interior, are arranged before and after two buoyancy tanks of every side,
Wherein two buoyancy tanks positioned at front are connected to, and are located at subsequent two buoyancy tanks and are connected to；Two interconnected buoyancy tanks share one
Plumbing mechanism.
Further, more than one supporting mechanism is each side set in the hull, the supporting mechanism is flexible
Oil cylinder, cylinder body end are connected with hull, and when the hull is in driving status, the supporting mechanism is shunk, when the silt remover
When device people starts dredging work, the supporting mechanism stretches out, and supports on the culvert metope of respective side.
The utility model has the advantages that
(1) dredging robot is driven submarine formula traveling mode and swung using propeller twists suction desilting mode,
The collection and pumping for carrying out mud adapt to canal silting and the varying environments such as culvert inverted-siphon is silted up, realize innoxious continuous
Move quick dredging.Suction dredging is twisted using swinging, high-efficient, dredging effect is good；It disturbs small, does not cause second level dirty
Dye.
(2) dredging mechanism is set, the pickup compared with bigger material such as underwater stone and branch can be realized before silt dredging mud, so that
Silt dredging is more efficient.
(3) setting anticollision guiding device can not only prevent dredging robot vehicle from breaking the wall in culvert, additionally it is possible to
Realize the cleaning of orbit determination road mud and the removing of obstacle.
(4) mechanical arm in dredging mechanism can be matched with the tools such as giant or shovel scraper plate, remove culvert inner wall
The aufwuches such as the shell that surrounding occurs.
Detailed description of the invention
The composition schematic diagram of Fig. 1 dredging robot；
Fig. 2 is the overall structure diagram of the dredging robot；
Fig. 3 is the structural schematic diagram of the dredging robot hull；
Fig. 4 is that the dredging robot swings the structural schematic diagram of Jiao Xi mechanism；
Fig. 5 is the structural schematic diagram of the twisting sucker head with motor；
Fig. 6 is the structural schematic diagram of dredging mechanism；
Fig. 7 is the structural schematic diagram of anticollision guiding device；
Fig. 8 is the structural schematic diagram of visual unit.
Wherein: 1- hull, 2- screw propeller, 3- pumping mechanism, 4- swing Jiao Xi mechanism, 5- anticollision guiding dress
It sets, 6- collection frame, 7- dredging mechanism, 8- visual unit, 9- platform framework, the 13- deck of boat, 14- buoyancy tank, 15- support wheel, 16- branch
Support mechanism, 17- rotating base, 18- mounting base, 19- support cylinder, 20- telescopic arm, 21- twisting sucker head, 22- cover, 23- spiral
Twisting sucker head, 24- inhale silt particle pipe, 25- motor, 26- idler wheel, 27- collect basket, the preposition sonar of 39-, the preposition illumination camera unit of 40-,
Illumination/camera unit, 46- support frame, 47- anticollision wheel, 48- rotary shaft after 41- postposition front lit/camera unit, 42- postposition
Specific embodiment
With reference to the accompanying drawings and examples, the present invention is described in further detail.
Embodiment 1:
It a kind of driving of propeller is provided in the present embodiment swings and twist suction dredging robot, can be realized underwater harmless
Change the quick dredging of continuous moving.
As depicted in figs. 1 and 2, which includes: platform framework 9, hull 1, screw propeller 2, left and right pendulum
Dong Jiaoxi mechanism 4, dredging mechanism 7, anticollision guiding device 5, pumping mechanism 3, control unit and visual unit.Wherein hull 1, spiral shell
It revolves paddle propeller and anticollision guiding device forms travelling platform system, the Jiao Xi mechanism 4 that swings and dredging mechanism 7 are to execute
Part.
As shown in figure 3, the dredging robot is used as walking mechanism using hull 1, screw propeller is installed in 1 tail portion of hull
2, screw propeller 2 is that hull 1 moves ahead and provides power, i.e., hull 1 under the effect of screw propeller 2 along culvert to moving ahead
Into.Screw propeller 2 can also be installed simultaneously in the tail portion of hull 1 and stem, realize dredging robot in the row of both direction
Into.Hull 1 includes: the deck of boat 13, buoyancy tank 14, traveling wheel 15 and supporting mechanism 16.One is each side arranged inside hull 1 to float
Case 14 enables the hull 1 to float as submarine and dive；And a buoyancy tank of every side is divided into former and later two independent sons
Buoyancy tank, and sub- buoyancy tank communicates before left and right two, sub- buoyancy tank communicates after two, and sub- buoyancy tank shares discharge water dispenser before two
Structure, sub- buoyancy tank shares a plumbing mechanism after two.It acts as can guarantee hull 1 lean forward and it is horizontal also raise up,
Thus the dredging robot is allow to imitate car walking in decline passway and rising passway, it is of course also possible to travel in level
Channel.The function is realized by the plumbing mechanism built in buoyancy tank, i.e., when wanting hull 1 to go down hill, as long as passing through discharge water dispenser
Structure gives the sub- more water-fillings of buoyancy tank in left and right two positioned at front, guarantees the subsequent left and right buoyancy tank of hull 1 few water-filling appropriate, passes through ship
Attitude transducer (the posture of attitude transducer real-time monitoring hull, and the attitude data of monitoring is uploaded to being arranged on body 1
Host computer on the bank) inclination angle display, in conjunction with plumbing mechanism inject front and back cabinet water weight difference, can adjust
The angle that whole ship body 1 tilts down keeps it consistent with the gradient of descending, i.e., so that the folder of the gradient and horizontal plane of hull and descending
Angle is identical, that is, hull 1 is parallel with the gradient of descending.Equally also adjustable hull in level or raises up.
Two support wheels 15 are each side arranged in 1 lower section of hull, arrange before and after two support wheels 15 of every side, Mei Gezhi
It is equipped with pressure sensor under support wheel 15, when carrying out charge and discharge water to buoyancy tank 14, each pressure sensor of real-time monitoring, when each pressure
When the pressure of sensor is zero, show that hull 1 is not contacted with ground at this time, be in floating state, at this time drive hull to move ahead
It sails, the friction with ground can be effectively reduced.
In hull 1, two supporting mechanisms 16 are each side set, supporting mechanism 16 is telescopic oil cylinder, and its cylinder body end with
Hull is connected, and when hull 1 is in driving status, supporting mechanism 16 is shunk, when hull 1, which stops, carries out dredging operation,
Due to filling water in 1 buoyancy tank of hull, in addition the weight of hull and thereon mechanical part adds up in water, weight is larger, is easy to cause ship
Body 1 swings, at this point, supporting mechanism 16 is stretched out, directly supports on the culvert metope of respective side, thereby guarantees that hull 1
It will not swing, be conducive to dredging operation.
The dredging robot is using the Jiao Xi mechanism silt dredging mud that swings, as shown in figure 4, the Jiao Xi mechanism setting that swings
In 1 front end center position of hull, comprising: rotating base 17, mounting base 18, support cylinder 19, telescopic arm 20 and the strand with motor
Suction nozzle 21.Wherein rotating base 17 is arranged on hull 1, for driving the Jiao Xi mechanism that swings to turn within the scope of set angle
Dynamic, realization swings；18 one end of mounting base is fixed on rotating base 17, and one end of the other end and telescopic arm 20 passes through pin shaft
Connection, telescopic arm 20 can be rotated around the pin shaft, and realization is swung up and down.The other end of telescopic arm 20 connects twisting sucker head 21.Support
The cylinder body end of oil cylinder 19 is fixed in mounting base 18, and tailpiece of the piston rod is connected after above tilting obliquely downward with telescopic arm 20, and swing strand
When inhaling mechanism normal work, support cylinder 19 is in free extension state, passes through support cylinder 19 and realizes free floating, Neng Gouda
To the effect of vibration damping；When maintenance, twisting sucker head 21 is propped by support cylinder 19, replacement twisting sucker head 21 easy to repair.
The structure of twisting sucker head 21 with motor is as shown in Figure 5, comprising: cover 22, spiral twisting sucker head 23, inhale silt particle pipe 24,
Motor 25 and idler wheel 26.Cover 22 is bottom opening, and the right and left is respectively provided with hollow cylindrical structure jaggy, inside cover 22
Spiral twisting sucker head 23 is set, and spiral twisting sucker head 23 is rotated by the driving of motor 25 for being fixed on 22 top of cover around vertical direction.Cover
22 bottom of body is peripherally disposed there are four idler wheel 26, so that twisting sucker head 21 is swung when twisting silt dredging mud and rolls on ground
It is dynamic, reduce frictional resistance.
The working principle for the Jiao Xi mechanism that swings are as follows: the twisting sucker head 21 for being provided with cover 22 is responsible for agitation and collects to become silted up
Mud is provided with the pipeline (i.e. suction silt particle pipe 24) of suction mud at the top of cover 22, inhales silt particle pipe 24 and be connected with pumping mechanism 3, strand
Sludge after suction nozzle 21 stirs enters the pumping mechanism 3 being arranged on hull 1 by inhaling silt particle pipe 24.Pumping mechanism 3 mainly by
Submersible motor and sand pump composition, by pumping mechanism 3 by sludge pumping to ground.
Due in addition to mud, can also there is stone and branch in culvert, collection basket is additionally provided in the left and right sides of hull 1
27,27 front opening of basket is collected, during hull moves ahead, basket 27 is collected and collects stone and branch as dustpan；Equal culverts
Mud collect and pumping after, collect 27 front opening of basket raise up, avoid stone and branch from skidding off basket, pass through collect basket
Stone and branch are directly taken back ground by 27.
After the silt dredging system of channel completes dredging, silt dredging system can be removed, dredging is installed on rotating base 17
Mechanism 7, then the pickup to channel progress ratchel.As shown in fig. 6, dredging mechanism 7 be five shaft mechanical arms, the one of five shaft mechanical arms
End is connected with mounting base 18, drives mechanical arm to rotate around vertical direction by rotating base 17, realizes mechanical arm in circumferential difference
Position operation.Mechanical arm realizes the pickup of underwater stone and branch under the control of the control unit, and rotating base 17 is responsible for entire
The rotation of mechanical arm, thus pick up front stone and branch after, be rotated back to be arranged in platform framework 9 (platform framework 9 is set
Set on hull 1) on the inside of collection basket 6, ground is finally brought back to by dredging robot.
As shown in fig. 7, being arranged on platform framework 9 to prevent underwater desilting machine people's vehicle from breaking the wall in culvert
There is anticollision guiding device, anticollision guiding device includes: the rubber tire group for being symmetricly set on 9 left and right sides of platform framework, the glue of every side
Wheel group include four in vertical plane be in distributed rectangular anticollision wheel 47, the axis of anticollision wheel 47 is along the vertical direction, specific to install
Mode are as follows: one end of support frame 46 is connected with platform framework 9, and the other end is connected by bearing with rotary shaft 48, and anticollision wheel 47 is logical
Cross bearing holder (housing, cover) be mounted in outside rotary shaft 48.The main function of anticollision guiding device can be prevented when crawler body sideslip
Underwater desilting machine people's vehicle breaks the wall in culvert；Dredging robot can be close to culvert when advancing with side or two simultaneously
Metope is travelled along wall side, realizes the cleaning of orbit determination road mud and the removing of obstacle.Such as it is directed to 3 meters of culvert, it is assumed that design vehicle
It is 1.5 meters of body wide, directly anticollision guiding device both sides respectively can be designed as 0.7 meter wide, underwater desilting machine people can be straight as a result,
It connects and moves ahead by each four rubber tires on both sides along culvert, realize the cleaning of orbit determination road mud and the removing of obstacle.For being greater than 3
Rice is less than or equal to 6 meters of culvert, and four rubber tires on one side can be allowed to paste wall, travelled along wall side, after the dredging for completing set a distance,
It allows four rubber tires on other one side also to paste wall again to travel along wall side, completes the dredging of the set a distance of other half.From there through
Disengaging culvert twice, so that it may complete the set a distance dredging work of culvert.
As shown in figure 8, visual unit includes: the preposition sonar 39 being mounted on platform framework 9, preposition illumination/camera shooting list
Illumination/camera unit 42 after member 40, postposition front lit/camera unit 41 and postposition.Wherein preposition sonar 39 is arranged in platform frame
9 front center of frame, that 6 front end of basket is collected on platform framework 9 is each side arranged preposition photograph of the camera lens towards front
Postposition front lit/41 He of camera unit is respectively set in bright/camera unit 40, the middle position that 6 rear end of basket is collected on platform framework 9
Illumination/camera unit 42 after postposition, wherein postposition front lit/camera unit 41 camera lens is towards front, illumination/camera shooting after postposition
The camera lens of unit 42 is towards rear.In visual unit for underwater image and logical will to be acquired by illumination/camera unit
The image outline that sonar detection obtains is crossed, the upper of ground is transferred to by the photoelectric compound cable of underwater desilting machine people's tail end
Machine is displayed on the screen by the multi-panel monitor displaying of host computer, convenient for ground staff according to the manipulation of image operation control host computer
Bar and data processing system, which combine to issue to slave computer (i.e. the control unit of dredging robot), to be instructed, and dredging robot water is instructed
Lower executing agency's (silt dredging mud mechanism and dredging mechanism) work.
Control unit includes hydraulic control unit and electronic control unit, and hydraulic control unit is for controlling the dredging robot
Hydraulic part, such as the motor 25 in twisting sucker head 21, five shaft mechanical arms also use hydraulic power supply, the electronics on dredging robot
Component is controlled by electronic control unit.Underwater desilting mud robot tail end is associated with to be mentioned to slave computer (electronic compartment i.e. on hull 1)
For the photoelectric compound cable of optical fiber and power cable, the pipeline (being connected with pumping mechanism) of also guaranteed underwater mud-water conveying.
There are two types of application environment is as follows for the dredging robot:
The first: artificial river is open channel, straight, water flow goes downstream, and water flow section is that inverted trapezoidal is blue.When individual
Time will also pass through the horizontal bridge in river or dark hole.It is required that underwater equipment can not break the bunding on river both sides or bridge pier.
The four sides wall of culvert can not be broken, can not manually be lauched relief underwater equipment, but underwater equipment is wanted voluntarily to return
Go back to ground.Underwater equipment is needed to realize the cleaning of riverway sludge and the removing of obstacle (stone or branch, braided fabric).
Second: sloot itself is to cross below open channel, and the inverted trapezoidal culvert under open channel, and is full water shape
Under state, water flow section is square, and inverted trapezoidal culvert overall length itself is in several hundred rice or so.Commonly referred to as wear canal culvert.River water is muddy
It is turbid.Can clearly be appreciated that wear all sizes of canal culvert therein (Ru Dongchang, the inverted trapezoidal gradient, gradient plan-viewed length, indulge
Slope surface complexion and all relative dimensions).It is required that underwater equipment can not break inverted trapezoidal culvert four sides wall, can not it is artificial under
Water removes relief underwater equipment, but underwater equipment is wanted voluntarily to return to ground.Need underwater equipment realize culvert mud cleaning and
The removing of obstacle (stone or branch, braided fabric).
Embodiment 2:
On the basis of above-described embodiment 1, the indentation, there of 22 the right and left of cover is provided with and can be opened and closed in twisting sucker head 21
Door, twisting sucker head 21, which swings, twists silt dredging mud, and when twisting sucker head 21 is swung to the left, the door of left side indentation, there is opened, and right side lacks
Door at mouthful is closed；When twisting sucker head 21 is swung to the right, the door of right side indentation, there is opened, and the door of left side indentation, there is closed.
Embodiment 3:
On the basis of above-described embodiment 1 or embodiment 2, increase cleaning system, the cleaning system includes mechanical arm, bondage
Giant on the robotic arm and the high pressure cleaning pump that ground is connected with giant by water pipe is set.
The function of cleaning system is as follows:
(1) since existing culvert all has inner chamfer, dredging robot be difficult it is with dredging mechanism that it is completely clear clean, when
After completing the main dredging work of culvert, the bondage giant on five shaft mechanical arms is realized to culvert the right and left inner chamfer
The flushing cleaning for locating mud, is flushed to the center of culvert, then passes through the Jiao Xi mechanism 4 that swings of dredging robot again
It is collected and pumps, by sludge pumping remaining in culvert into the mud and water separating equipment on ground.
(2) when culvert inner wall is attached with the testacean biochron, since adhesive force is not strong, culvert two sides and top can be with
After testacean attachment is directly rinsed cleaning in such a way that giant rinses, then swinging by dredging robot
Jiao Xi mechanism 4 carries out the collection and pumping of mud and shell, completes the dredging work in culvert.
(3) it since dredging robot is dual-use, i.e., uses in channel, is used in culvert again, therefore, when clear
Silt robot is in culvert after use, after carrying out bath cleaning to dredging robot by giant, then in open channel
Carry out the collection and pumping of mud.
Embodiment 4:
On the basis of above-described embodiment 1 or embodiment 2, since the culvert inner wall surrounding of current some areas is adhered to
Shell biology, adhesive force is not strong, and diameter is between 10-60 millimeters.For this special sediment, underwater desilting machine people spreads out
It bears shovel and scrapes system, specifically, the end installation shovel scraper plate of the five shaft mechanical arms in dredging robot, by under five shaft mechanical arms
Rotating platform rotation by being mounted on the shovel scraper plate of its front end, then pass through five so that the side wall of the vertical culvert of five shaft mechanical arms
The shovel of the attachments such as the shell of culvert two sides inner wall is scraped in the extension realization of shaft mechanical arm, finally by the left and right of dredging robot
Collection and pumping that Jiao Xi mechanism 4 carries out mud and shell are swung, the dredging work in culvert is completed.The shell on culvert top is raw
Object still needs the flushing by 3 high-pressure gun of above-described embodiment, shell aufwuch is rinsed, then pass through silt remover
Device people cleaning.
Although above having used general explanation and specific embodiment, the present invention is described in detail, at this
On the basis of invention, it can be made some modifications or improvements, this will be apparent to those skilled in the art.Therefore,
These modifications or improvements without departing from theon the basis of the spirit of the present invention are fallen within the scope of the claimed invention.
Claims (10)
1. propeller driving swings and twists suction dredging robot, it is characterised in that: include: platform framework (9), hull (1),
Screw propeller, the Jiao Xi mechanism that swings (4), dredging mechanism (7), pumping mechanism, control unit and visual unit；
Walking mechanism of the hull (1) as the dredging robot is arranged in the platform framework (9) bottom；The spiral shell
It revolves paddle propeller and provides power under the control of described control unit for hull (1) is forward；The hull (1) is internally provided with floating
Case (14)；
Described swing Jiao Xi mechanism (4) are arranged in the hull (1) front end, comprising: rotating base (17), mounting base
(18), telescopic arm (20) and twisting sucker head (21)；The rotating base (17) is arranged on the hull (1), for driving left and right
Jiao Xi mechanism is swung to swing within the scope of set angle；The mounting base (18) is fixed on rotating base (17), described
One end of telescopic arm (20) and the mounting base (18) pin joint, the other end connect twisting sucker head (21)；The twisting sucker head (21) includes:
Cover (22), spiral twisting sucker head (23) and motor (25)；The cover (22) is bottom opening, and the right and left is provided with notch
Hollow structure, the spiral twisting sucker head (23) setting is internal in the cover (22), and the spiral twisting sucker head (23) is in fixation
It is rotated under the driving of the motor (25) around vertical direction；The motor (25) is fixed on the cover (22)；
The pumping mechanism is arranged on the hull (1), with suction silt particle pipe (24) phase being arranged at the top of the cover (22)
Even, the pumping mechanism is used for the sludge pumping of the twisting sucker head (21) strand suction to ground；
The dredging mechanism (7) includes mechanical arm (45) and collects basket (6), is carried out clearly in described swing Jiao Xi mechanism (4)
Before becoming silted up or after dredging, telescopic arm (20) and twisting sucker head (21) are removed from the mounting base (18), on the mounting base (18)
It installs mechanical arm (45)；Collection basket (6) setting is at the top of the platform framework (9)；The mechanical arm (45) is in the control
The control of unit processed completes picking action in setting position, and is put into object is picked up in the collection basket (6)；The rotating base
(17) and mechanical arm (45) is controlled by described control unit；
Image of the visual unit for environment where obtaining dredging robot in real time, and be transmitted to by photoelectric compound cable
The host computer on ground；Described control unit receives the instruction of the host computer, controls the screw propeller, swing strand
Inhale mechanism (4) and dredging mechanism (7) work.
2. propeller driving as described in claim 1, which swings, twists suction dredging robot, it is characterised in that: further include preventing
Guiding device is hit, the anticollision guiding device includes the anticollision wheel group being symmetricly set at left and right sides of the platform framework (9), often
The anticollision group of side includes more than two anticollision wheels (47) being located in same vertical plane, and the axis of the anticollision wheel (47) is along vertical
Direction.
3. propeller driving as claimed in claim 1 or 2, which swings, twists suction dredging robot, it is characterised in that: described
Visual unit includes: preposition sonar (39), preposition illumination camera unit (40), postposition front lit/camera unit (41) and postposition
Illumination/camera unit (42) afterwards；Wherein the preposition sonar (39) is arranged in platform framework (15) front center, in the platform
Each side setting preposition illumination/camera unit (40) of one camera lens towards front of front end on frame (15), described
Postposition front lit/camera unit (41) and camera lens of the camera lens towards front is respectively set in the middle position of platform framework (15) rear end
Illumination/camera unit (42) after towards the postposition at rear.
4. propeller driving as claimed in claim 1 or 2, which swings, twists suction dredging robot, it is characterised in that: in institute
State internal each side two buoyancy tanks (14) of setting of hull (1), arrangement before and after two buoyancy tanks (14) of every side, wherein before being located at
Two buoyancy tanks in face are connected to, and are located at subsequent two buoyancy tanks and are connected to；Two interconnected buoyancy tanks share a plumbing mechanism.
5. propeller driving as claimed in claim 1 or 2, which swings, twists suction dredging robot, it is characterised in that: in institute
It states hull (1) and more than one supporting mechanism (16) is each side set, the supporting mechanism (16) is telescopic oil cylinder, cylinder body
End is connected with hull (1), and when the hull (1) is in driving status, the supporting mechanism (16) is shunk, when the dredging machine
When people starts dredging work, the supporting mechanism (16) is stretched out, and is supported on the culvert metope of respective side.
6. propeller driving as claimed in claim 1 or 2, which swings, twists suction dredging robot, it is characterised in that: in institute
It states to be provided at left and right sides of hull (1) and collects basket (27).
7. propeller driving as claimed in claim 1 or 2, which swings, twists suction dredging robot, it is characterised in that: described
The Jiao Xi mechanism that swings (4) further includes support cylinder (19), and the cylinder body end of the support cylinder (19) is fixed on the installation
On seat (18), tailpiece of the piston rod is connected with the telescopic arm (20), when the Jiao Xi mechanism that swings works, the support cylinder
(19) it is in free extension state.
8. propeller driving as claimed in claim 1 or 2, which swings, twists suction dredging robot, it is characterised in that: in institute
It states and connects giant on mechanical arm (45), the giant is connected by water pipe with the high pressure cleaning pump on ground, is formed clear
System is washed, is cleared up for the flushing to mud and the progress of metope attachment.
9. propeller driving as claimed in claim 1 or 2, which swings, twists suction dredging robot, it is characterised in that: in institute
The end installation shovel scraper plate for stating mechanical arm (45), forms shovel and scrapes system, scrape side wall attachment for shoveling.
10. propeller driving as claimed in claim 1 or 2, which swings, twists suction dredging robot, it is characterised in that: in institute
The indentation, there for stating cover (22) the right and left in twisting sucker head (21) is provided with door to be opened/closed, and twisting sucker head (21) swings strand
During silt dredging mud, when the twisting sucker head (21) is swung to the left, the door of left side indentation, there is opened, and the door of right side indentation, there closes
It closes；When the twisting sucker head (21) is swung to the right, the door of right side indentation, there is opened, and the door of left side indentation, there is closed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201811457184.9A CN109577396B (en) | 2018-11-30 | 2018-11-30 | Cutter-suction type dredging robot driven by propeller to swing left and right |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811457184.9A CN109577396B (en) | 2018-11-30 | 2018-11-30 | Cutter-suction type dredging robot driven by propeller to swing left and right |
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| CN109577396A true CN109577396A (en) | 2019-04-05 |
| CN109577396B CN109577396B (en) | 2021-05-07 |
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| CN201811457184.9A Expired - Fee Related CN109577396B (en) | 2018-11-30 | 2018-11-30 | Cutter-suction type dredging robot driven by propeller to swing left and right |
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| CN110076149A (en) * | 2019-06-09 | 2019-08-02 | 云南明湖环境科技有限公司 | Sewage conduct walks dredging robot |
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| CN110227693A (en) * | 2019-05-24 | 2019-09-13 | 江苏科技大学 | A kind of underwater kit of dismantling cleaning submerged pipeline |
| CN110454459A (en) * | 2019-09-20 | 2019-11-15 | 河北工业大学 | A kind of hydraulic system of underwater desilting machine people |
| CN111206636A (en) * | 2020-03-12 | 2020-05-29 | 广东新拓计算机科技有限公司 | River channel dredging robot and unmanned ship |
| CN113062388A (en) * | 2021-03-21 | 2021-07-02 | 浙江大学 | Unmanned cutter suction beam-jet type amphibious walking dredging equipment |
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| CN110227693A (en) * | 2019-05-24 | 2019-09-13 | 江苏科技大学 | A kind of underwater kit of dismantling cleaning submerged pipeline |
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| CN110076149B (en) * | 2019-06-09 | 2023-12-15 | 云南明湖环境科技有限公司 | Sewage pipeline running dredging robot |
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| CN111206636A (en) * | 2020-03-12 | 2020-05-29 | 广东新拓计算机科技有限公司 | River channel dredging robot and unmanned ship |
| WO2021248738A1 (en) * | 2020-06-12 | 2021-12-16 | 长沙矿冶研究院有限责任公司 | Underwater sandstone cleaning device |
| CN113062388A (en) * | 2021-03-21 | 2021-07-02 | 浙江大学 | Unmanned cutter suction beam-jet type amphibious walking dredging equipment |
| CN114575404B (en) * | 2022-03-25 | 2023-05-02 | 北京金河生态科技有限公司 | Underwater dredging robot |
| CN114575404A (en) * | 2022-03-25 | 2022-06-03 | 北京金河生态科技有限公司 | Underwater dredging robot |
| CN116657690A (en) * | 2023-07-21 | 2023-08-29 | 深之蓝海洋科技股份有限公司 | Underwater adsorbate cleaning device and robot |
| CN116657690B (en) * | 2023-07-21 | 2023-10-31 | 深之蓝海洋科技股份有限公司 | Underwater adsorbate cleaning device and robot |
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