CN110565713A - Underwater dredging robot - Google Patents
Underwater dredging robot Download PDFInfo
- Publication number
- CN110565713A CN110565713A CN201910804600.6A CN201910804600A CN110565713A CN 110565713 A CN110565713 A CN 110565713A CN 201910804600 A CN201910804600 A CN 201910804600A CN 110565713 A CN110565713 A CN 110565713A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- dredging robot
- sucker
- underwater dredging
- sludge
- Prior art date
- 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
Links
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 26
- 239000002002 slurry Substances 0.000 claims abstract description 11
- 239000007921 spray Substances 0.000 claims abstract description 5
- 239000010720 hydraulic oil Substances 0.000 claims description 6
- 239000010865 sewage Substances 0.000 claims description 6
- 239000002689 soil Substances 0.000 claims 1
- 239000010802 sludge Substances 0.000 abstract description 18
- 230000000694 effects Effects 0.000 abstract description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
Classifications
-
- 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
-
- 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
- E02F3/8858—Submerged units
-
- 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
- E02F3/8858—Submerged units
- E02F3/8866—Submerged units self propelled
-
- 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
-
- 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
-
- 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
- E02F3/9243—Passive suction heads with no mechanical cutting means
-
- 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
- E02F3/9243—Passive suction heads with no mechanical cutting means
- E02F3/925—Passive suction heads with no mechanical cutting means with jets
-
- 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
-
- 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
- E02F5/287—Dredgers or soil-shifting machines for special purposes for cleaning watercourses or other ways with jet nozzles
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Structures Of Non-Positive Displacement Pumps (AREA)
Abstract
The invention provides an underwater dredging robot, which is characterized in that nozzles are arranged around a slurry suction cavity to spray high-speed jet flow to cut and disturb sludge, so that the slurry concentration is greatly increased, and meanwhile, a parallel water curtain formed by the high-speed jet flow forms a constant-section negative pressure area, so that the suction effect of a suction disc is ensured; the link mechanism is arranged and matched with the wheel-driven frame body, so that the underwater operation can be conveniently carried out, and the height of the sucking disc is adjusted according to the height of the sludge; the driving wheel formed by the roller and the spiral fins is convenient to walk in the sludge on one hand and prevent the wheel from sinking into the sludge on the other hand, and the sludge can be stirred and dispersed on the other hand, so that the sludge can be sucked conveniently.
Description
Technical Field
The invention relates to the field of underwater dredging equipment, in particular to an underwater dredging robot.
Background
With the increasing importance of our country on environmental protection, the previous dredging method for rivers and lakes in cities is increasingly lagged behind, and the national requirements on the construction method of the environment cannot be met. For example, the old time processing method generally includes: the riverway adopts cofferdam to pump water, then the desilting operation, and the shortcoming is consuming time and wasting force, and efficiency is extremely low. The lake is mainly constructed by a cutter suction dredger, but the cutter suction dredger is easy to cause noise pollution to the surrounding environment. In view of the above disadvantages, some units in our country have also developed some underwater dredging equipment, but the suction port part still adopts a manner that an auger is matched with a liquid suction device, and the sludge with high concentration and strong adhesion is difficult to be directly sucked through the suction port part, so that the defects of low pulp suction concentration and low dredging efficiency exist.
disclosure of Invention
in view of the above, the invention provides an underwater dredging robot which can improve the suction concentration of slurry and has high dredging efficiency.
The technical scheme of the invention is realized as follows: the invention provides an underwater dredging robot which comprises a high-pressure pump, a frame body (4), a driving wheel (3), a centrifugal sewage suction pump (2) and a jet flow sucker mechanism (1), wherein the frame body (4) is respectively connected with the driving wheel (3) and the jet flow sucker mechanism (1), the jet flow sucker mechanism (1) comprises a sucker body (11) and a nozzle (12), a pulp suction cavity (13) is formed in the end face of the sucker body (11), the pulp suction cavity (13) is communicated with the centrifugal sewage suction pump (2), and the nozzle (12) is arranged on the end face of the sucker body (11) and communicated with the high-pressure pump.
On the basis of the technical scheme, preferably, the end face of the sucker body (11) is uniformly provided with a plurality of high-pressure water cavities (14) around the slurry sucking cavity (13), and the nozzle (12) is arranged on the end face of the sucker body (11) and communicated with the high-pressure water cavities (14).
On the basis of the technical scheme, preferably, the cross section of the pulp sucking cavity (13) is square or round, and the longitudinal section of the pulp sucking cavity is trapezoidal.
On the basis of the technical scheme, preferably, the high-pressure pump absorbs water from the periphery and sprays the water out through the nozzle (12), a high-pressure water curtain is formed around the high-pressure water cavity (14), and a constant-section negative pressure area is formed at the high-pressure water cavity (14).
On the basis of the technical scheme, preferably, the jet flow sucker mechanism (1) further comprises a first connecting rod (16) and a second connecting rod (17), wherein the first connecting rod (16) and the second connecting rod (17) are arranged in parallel, and two ends of the first connecting rod (16) and the second connecting rod (17) are respectively hinged with the frame body (4) and the sucker body (11).
Preferably, the number of the first connecting rods (16) is two, and the hinged point of the two first connecting rods (16) and the sucker body (11) and the hinged point of the second connecting rod (17) and the sucker body (11) form an isosceles triangle.
Preferably, the jet flow sucker mechanism (1) further comprises a hydraulic oil cylinder (15) and a third connecting rod (18), two ends of the third connecting rod (18) are respectively hinged with the two first connecting rods (16), and two ends of the hydraulic oil cylinder (15) are respectively hinged with the third connecting rod (18) and the frame body (4).
On the basis of the technical scheme, preferably, the driving wheel (3) comprises a roller (31) and spiral ribs (32), the spiral ribs (32) are attached to the barrel body of the roller (31) in a clockwise or anticlockwise rotating mode, and the roller (31) is hinged to the frame body (4).
Further preferably, four driving wheels (3) are arranged, two of the four driving wheels are front wheels, the other two driving wheels are rear wheels, the rotating directions of the spiral fins (32) of the driving wheels (3) on two opposite sides are opposite, and the rotating directions of the spiral fins (32) of the two driving wheels (3) on the same side are the same.
Compared with the prior art, the underwater dredging robot has the following beneficial effects:
(1) The nozzles are arranged around the slurry suction cavity to spray high-speed jet flow to cut and disturb sludge, so that the slurry concentration is greatly increased, and meanwhile, a parallel water curtain formed by the high-speed jet flow forms a constant-section negative pressure area, so that the suction effect of the sucking disc is ensured;
(2) The link mechanism is arranged and matched with the wheel-driven frame body, so that the underwater operation can be conveniently carried out, and the height of the sucking disc is adjusted according to the height of the sludge;
(3) The driving wheel formed by the roller and the spiral fins is convenient to walk in the sludge on one hand and prevent the wheel from sinking into the sludge on the other hand, and the sludge can be stirred and dispersed on the other hand, so that the sludge can be sucked conveniently.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a perspective view of an underwater dredging robot of the present invention;
FIG. 2 is a side view of the fluidic sucker mechanism of the present invention;
Fig. 3 is a perspective view of the suction cup body of the present invention.
Detailed Description
the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
As shown in fig. 1, the underwater dredging robot of the present invention comprises a high pressure pump (not shown), a frame body 4, a driving wheel 3, a centrifugal sewage suction pump 2 and a jet flow suction cup mechanism 1.
The frame body 4 provides support, is respectively connected with the driving wheel 3 and the jet flow sucker mechanism 1, and can adopt the existing underwater operation robot frame.
The driving wheel 3 drives the frame body 4 to advance on the one hand, and on the other hand, stirs silt, is convenient for absorb the desilting. Specifically, the driving wheel 3 includes a roller 31 and a spiral rib 32, the spiral rib 32 is attached to the body of the roller 31 in a clockwise or counterclockwise rotation, and the roller 31 is hinged to the frame body 4. The spiral fins 32 prevent the driving wheel 3 from being caught in the sludge and, on the other hand, agitate and disperse the sludge for easy suction. Specifically, the driving wheels 3 are provided with four driving wheels 3, the spiral fins 32 of the driving wheels 3 on two opposite sides have opposite rotating directions, the spiral fins 32 of the two driving wheels 3 on the same side have the same rotating direction, and the two driving wheels on the left side and the right side are respectively driven by a motor-driven chain wheel transmission mechanism.
As shown in fig. 2, the jet sucker mechanism 1 includes a sucker body 11, a nozzle 12, a first link 16, a second link 17, a hydraulic cylinder 15, and a third link 18.
As shown in figure 3, the end face of the sucker body 11 is provided with a pulp suction cavity 13, and the pulp suction cavity 13 is communicated with the centrifugal sewage suction pump 2. A vacuum suction effect is provided by the centrifugal suction pump 2, which sucks the sludge through the pulp suction chamber 13 and conveys it away through the sewage drain.
The nozzle 12 is arranged on the end face of the sucker body 11 and communicated with a high-pressure pump, the high-pressure pump absorbs water from the periphery and sprays the water out through the nozzle 12, a high-pressure water curtain is formed around the high-pressure water cavity 14, and an equal-section negative pressure area is formed at the high-pressure water cavity 14. The high-speed jet flow cuts and disturbs the sludge, the slurry concentration is greatly increased, and meanwhile, a parallel water curtain formed by the high-speed jet flow forms a negative pressure area with a uniform section, so that the suction effect of the slurry suction cavity 13 is ensured. Specifically, the end face of the sucker body 11 is uniformly provided with a plurality of high-pressure water cavities 14 around the slurry suction cavity 13, and the nozzle 12 is arranged on the end face of the sucker body 11 and communicated with the high-pressure water cavities 14. Specifically, the cross section of the pulp suction cavity 13 is square or circular, and the longitudinal section of the pulp suction cavity is trapezoidal. Of course, the shape of the pulp suction chamber 13 can adopt other structures known in the art.
In order to adjust the sucker body 11 conveniently, the sucker body is opposite to the silt with different heights. The first connecting rod 16 and the second connecting rod 17 are arranged in parallel, and two ends of the first connecting rod and the second connecting rod are respectively hinged with the frame body 4 and the sucker body 11. Specifically, first connecting rod 16 is provided with two, and the pin joint of two first connecting rods 16 and sucking disc body 11 and the pin joint of second connecting rod 17 and sucking disc body 11 form isosceles triangle, so, sucking disc body 11's location is more stable. The bicycle frame further comprises a hydraulic oil cylinder 15 and a third connecting rod 18 as a driving part, two ends of the third connecting rod 18 are respectively hinged with the two first connecting rods 16, and two ends of the hydraulic oil cylinder 15 are respectively hinged with the third connecting rod 18 and the frame body 4.
The underwater dredging robot can adapt to various sludge conditions, can improve the suction concentration of slurry, has high dredging efficiency, and can adapt to the dredging work of different river channels or lakes; in addition, the device can be operated in deep water, has low noise and does not influence channel navigation.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. The utility model provides an underwater dredging robot, its includes high-pressure pump, car frame body (4), drive wheel (3), centrifugal soil pick-up pump (2) and efflux sucking disc mechanism (1), and drive wheel (3) and efflux sucking disc mechanism (1), its characterized in that are connected respectively in car frame body (4): the jet flow sucker mechanism (1) comprises a sucker body (11) and a nozzle (12), a pulp suction cavity (13) is formed in the end face of the sucker body (11), the pulp suction cavity (13) is communicated with the centrifugal sewage suction pump (2), and the nozzle (12) is arranged on the end face of the sucker body (11) and communicated with the high-pressure pump.
2. An underwater dredging robot as claimed in claim 1, wherein: the end surface of the sucker body (11) is uniformly provided with a plurality of high-pressure water cavities (14) around the slurry sucking cavity (13), and the nozzle (12) is arranged on the end surface of the sucker body (11) and communicated with the high-pressure water cavities (14).
3. an underwater dredging robot as claimed in claim 1, wherein: the cross section of the pulp suction cavity (13) is square or round, and the longitudinal section of the pulp suction cavity is trapezoidal.
4. An underwater dredging robot as claimed in claim 1, wherein: the high-pressure pump absorbs water from the periphery and sprays the water through the nozzle (12), a high-pressure water curtain is formed around the high-pressure water cavity (14), and a negative pressure area with a uniform section is formed at the high-pressure water cavity (14).
5. an underwater dredging robot as claimed in claim 1, wherein: the jet flow sucker mechanism (1) further comprises a first connecting rod (16) and a second connecting rod (17), wherein the first connecting rod (16) and the second connecting rod (17) are arranged in parallel, and two ends of the first connecting rod and the second connecting rod are respectively hinged with the trolley frame body (4) and the sucker body (11).
6. An underwater dredging robot as claimed in claim 5, wherein: the two first connecting rods (16) are arranged, and the hinged point of the two first connecting rods (16) and the sucker body (11) and the hinged point of the second connecting rod (17) and the sucker body (11) form an isosceles triangle.
7. An underwater dredging robot as claimed in claim 6, wherein: the jet flow sucker mechanism (1) further comprises a hydraulic oil cylinder (15) and a third connecting rod (18), two ends of the third connecting rod (18) are respectively hinged with the two first connecting rods (16), and two ends of the hydraulic oil cylinder (15) are respectively hinged with the third connecting rod (18) and the frame body (4).
8. An underwater dredging robot as claimed in claim 1, wherein: the driving wheel (3) comprises a roller (31) and spiral ribs (32), the spiral ribs (32) rotate clockwise or anticlockwise and are attached to the roller body of the roller (31), and the roller (31) is hinged with the frame body (4).
9. An underwater dredging robot as claimed in claim 8, wherein: the driving wheels (3) are provided with four driving wheels, two of the driving wheels are front wheels, the other two driving wheels are rear wheels, the rotating directions of the spiral fins (32) of the driving wheels (3) on two opposite sides are opposite, and the rotating directions of the spiral fins (32) of the two driving wheels (3) on the same side are the same.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910804600.6A CN110565713A (en) | 2019-08-28 | 2019-08-28 | Underwater dredging robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910804600.6A CN110565713A (en) | 2019-08-28 | 2019-08-28 | Underwater dredging robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110565713A true CN110565713A (en) | 2019-12-13 |
Family
ID=68776607
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910804600.6A Pending CN110565713A (en) | 2019-08-28 | 2019-08-28 | Underwater dredging robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110565713A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112575836A (en) * | 2020-12-03 | 2021-03-30 | 浙江理工大学 | Cavitation jet sludge cleaning device |
| CN115478577A (en) * | 2022-09-27 | 2022-12-16 | 安徽省佳鑫建筑工程有限公司 | River channel dredging device and dredging method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101672049A (en) * | 2009-09-25 | 2010-03-17 | 水利部交通部电力工业部南京水利科学研究院 | Integrated silt loosening and sucking device for removing silt |
| CN201534985U (en) * | 2009-09-25 | 2010-07-28 | 水利部交通部电力工业部南京水利科学研究院 | Integrated device for loosening and sucking slush |
| CN101864782A (en) * | 2010-06-10 | 2010-10-20 | 江苏省水利机械制造有限公司 | Underwater dredging machine |
| US8056677B1 (en) * | 2009-07-23 | 2011-11-15 | Roberts Equipment, Inc. | Lift system with articulably joined subchassis |
| CN108425395A (en) * | 2018-05-16 | 2018-08-21 | 河北工业大学 | A kind of underwater desilting machine people and its system |
| CN211037098U (en) * | 2019-08-28 | 2020-07-17 | 三川德青科技有限公司 | Underwater dredging robot |
-
2019
- 2019-08-28 CN CN201910804600.6A patent/CN110565713A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8056677B1 (en) * | 2009-07-23 | 2011-11-15 | Roberts Equipment, Inc. | Lift system with articulably joined subchassis |
| CN101672049A (en) * | 2009-09-25 | 2010-03-17 | 水利部交通部电力工业部南京水利科学研究院 | Integrated silt loosening and sucking device for removing silt |
| CN201534985U (en) * | 2009-09-25 | 2010-07-28 | 水利部交通部电力工业部南京水利科学研究院 | Integrated device for loosening and sucking slush |
| CN101864782A (en) * | 2010-06-10 | 2010-10-20 | 江苏省水利机械制造有限公司 | Underwater dredging machine |
| CN108425395A (en) * | 2018-05-16 | 2018-08-21 | 河北工业大学 | A kind of underwater desilting machine people and its system |
| CN211037098U (en) * | 2019-08-28 | 2020-07-17 | 三川德青科技有限公司 | Underwater dredging robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112575836A (en) * | 2020-12-03 | 2021-03-30 | 浙江理工大学 | Cavitation jet sludge cleaning device |
| CN115478577A (en) * | 2022-09-27 | 2022-12-16 | 安徽省佳鑫建筑工程有限公司 | River channel dredging device and dredging method thereof |
| CN115478577B (en) * | 2022-09-27 | 2024-04-09 | 安徽省佳鑫城市建设集团有限公司 | River dredging device and dredging method thereof |
| CN115478577B8 (en) * | 2022-09-27 | 2024-04-30 | 安徽佳鑫城市建设集团有限公司 | River dredging device and dredging method thereof |
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