CN113062388A - Unmanned cutter suction beam-jet type amphibious walking dredging equipment - Google Patents

Unmanned cutter suction beam-jet type amphibious walking dredging equipment Download PDF

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Publication number
CN113062388A
CN113062388A CN202110299196.9A CN202110299196A CN113062388A CN 113062388 A CN113062388 A CN 113062388A CN 202110299196 A CN202110299196 A CN 202110299196A CN 113062388 A CN113062388 A CN 113062388A
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crawler
main frame
dredging
motor
hydraulic
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陈家旺
朱海
田祯玮
葛勇强
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Zhejiang University ZJU
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Zhejiang University ZJU
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Priority to CN202110299196.9A priority Critical patent/CN113062388A/en
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    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
    • B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
    • B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
    • B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
    • B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
    • B60F3/0015—Arrangement of propulsion or steering means on amphibious vehicles comprising tracks specially adapted therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
    • B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
    • B60F3/0061—Amphibious vehicles specially adapted for particular purposes or of a particular type
    • 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
    • E02F3/9256—Active suction heads; Suction heads with cutting elements, i.e. the cutting elements are mounted within the housing of the suction head
    • E02F3/9268—Active suction heads; Suction heads with cutting elements, i.e. the cutting elements are mounted within the housing of the suction head with rotating cutting elements
    • E02F3/9275—Active suction heads; Suction heads with cutting elements, i.e. the cutting elements are mounted within the housing of the suction head with rotating cutting elements with axis of rotation parallel to longitudinal axis of the suction pipe
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/06—Floating substructures as supports
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
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Abstract

The invention relates to the field of dredging equipment, and aims to provide unmanned cutter-suction beam-jet type amphibious walking dredging equipment. The equipment comprises a dredging mechanism, a traveling and auxiliary operation mechanism, a power transmission mechanism, a main frame and an electric control cabin; wherein, the dredging mechanism comprises a twisting suction head, a slurry pump and a slurry pipe; the advancing and auxiliary operation mechanism comprises a crawler-type travelling mechanism, a propeller thruster, a positioning pile and a buoy; the power transmission mechanism comprises a battery compartment, a motor, a hydraulic gear motor, a hydraulic oil cylinder and a gear transmission part. The invention can be used for long and narrow belt operation in siltation areas such as ports and wharfs, has waterway amphibious operation capability and wider adaptability; the position and the posture of the dredging device can be adjusted in real time by matching with an electric control system, so that the advanced judgment and the system posture control of dangerous states such as side turning and the like can be realized; the amphibious operation can be realized by the track advancing mode and the buoy additionally arranged on the main frame; can ensure the safety of personnel and reduce the manpower input.

Description

Unmanned cutter suction beam-jet type amphibious walking dredging equipment
Technical Field
The invention relates to the field of dredging equipment, in particular to unmanned cutter-suction beam-jet type amphibious walking dredging equipment which takes narrow terrains such as the rear of a port and a wharf and the like as a main operation area.
Background
The port is used as a hub and a junction of land and water transportation, is a window for realizing outward economy, and provides fundamental support for national economic construction and development of outward trade. However, as large-scale port terminals gradually step into aging, security operation guarantee and transformation upgrade of the old port terminals are at the forefront. Port terminals often have a serious problem of silting in siltation areas, which long-term silts are silted up in long narrow strips behind the terminals. Unlike the common silting area which is generally in open sea, the working environment behind the wharf causes great difficulty in the entry of the dredging ship and the dredging operation. Based on the situations that the surface layer of the desilting area is submerged and exposed sometimes, two operation states need to be considered in the advancing operation mode, so that the applicability of the equipment is widened.
The netherlands produced the most primitive cutter suction dredger in 1600 years. After the second war, large-scale economic construction is rapidly developed all over the world, favorable conditions are created for the development of dredging equipment, and new technology, new equipment and new ship types are continuously published. In 1969, the research institute of construction machinery of the north sea development office in japan developed a KAD8C river excavator to meet the demand for river regulation in the north sea area. The cutter-suction type excavating device is arranged on a low-specific-pressure floating box crawler-type traveling chassis and has the double characteristics of a cutter-suction type dredger and an amphibious traveling machine.
In 10 months 1983, the SLXQY-40 type amphibious dredging machine was developed by repeated research and experiments of Changchun machinery institute of Water conservancy and electric Power department and general waterworks of Jiangsu province. The silt remover mainly comprises a reamer, a mud suction pipe, a cutter arm, a swing arm frame, a mud pump, a mud discharge pipe, a positioning system, a travelling mechanism and a mud discharge pipe buoy. In 2017, Ningbo division of the third office of aviation engineering, Inc. of Zhongjiao has adopted the pin-connected panel cutter suction boat to combine from the suction pump work ship according to the pier silting condition, through setting up the quick deloading of deloading ditch, the reasonable construction of organizing accomplishes the desilting task in time.
However, the above-mentioned technology has the problem that the cutter suction vessel is large in size and cannot perform dredging operation amphibious in a waterway, and is not suitable for the requirement that the rear part of the wharf is a main operation area. Based on the problems, the systematic, high-level and scientific dredging and load reducing work must be carried out on the port and the pier, then the silting problem of the port and the pier is effectively relieved, novel dredging and load reducing equipment suitable for a shallow and narrow water area behind the pier is researched and developed, the problem of pile foundation instability caused by serious back silting behind the pier is fundamentally solved, and technical support is provided for ensuring safe operation and transformation upgrading of the large port and the pier. The movement range of the cutter-suction head and the movement control, equipment advancing mode and fixing mode thereof are key technologies for the research of the dredging equipment, and in addition, the consideration of the dredging equipment on how to convey and process the cleaned sludge is included. The power transmission is the key of the land operation, the attitude control is the key of the water operation, and the above is a serious difficulty for carrying out the cutter-suction beam-jet dredging equipment.
Disclosure of Invention
The invention aims to solve the technical problem of overcoming the defects in the prior art and providing the unmanned cutter-suction beam-jet type amphibious walking dredging equipment.
In order to solve the technical problem, the solution of the invention is as follows:
the unmanned cutter suction beam jet type amphibious walking dredging equipment comprises a dredging mechanism, a traveling and auxiliary operation mechanism, a power transmission mechanism, a main frame and an electric control cabin; wherein, the dredging mechanism comprises a twisting suction head, a slurry pump and a slurry pipe; the advancing and auxiliary operation mechanism comprises a crawler-type travelling mechanism, a propeller thruster, a positioning pile and a buoy; the power transmission mechanism comprises a battery compartment, a motor, a hydraulic gear motor, a hydraulic oil cylinder and a gear transmission part; the connection relation of each part is as follows:
the main frame is arranged on a bottom supporting plate of the crawler type traveling mechanism; the front side of the main frame is provided with a two-section folding arm, the upper section of the folding arm is provided with a twisting suction head and a mud pipe, and the mud pipe is connected to a mud pump; two groups of hydraulic oil cylinders are fixedly arranged on two sides of the lower section of the folding arm, and the tail end of a piston rod of each hydraulic oil cylinder is connected with the upper section of the folding arm and is used for driving the folding arm to vertically move; a propeller thruster driven by a first motor is fixedly arranged at the rear side of the main frame, and buoys are respectively and fixedly arranged at the left side and the right side of the main frame; a vertical positioning column is arranged in the center of the main frame, the lower end of the vertical positioning column penetrates through the bottom supporting plate, and the upper end of the vertical positioning column is connected to an oil cylinder piston rod of the other group of hydraulic oil cylinders; a hydraulic gear motor driven by a second motor is connected to each hydraulic oil cylinder and the slurry pump through pipelines, each motor is connected with the battery cabin through a cable, and an MEMS sensor and a wireless communication module are arranged on a main control board in the electric control cabin; the electric control cabin, the battery cabin, the mud pump, the motor and the hydraulic gear motor are all fixed in the accessory placement layer in the main frame.
In the crawler-type traveling mechanism, an inner support of a crawler is formed by a crawler girder, a spring, a tension wheel and a thrust wheel, and a transmission and steering mechanism is formed by a differential mechanism, a conical gear, a wheel shaft, a transmission rod, a transmission gear and a motor; the springs are arranged between the crawler support and the crawler beam, the supporting wheels are respectively arranged between the crawler and the crawler support and between the crawler and the crawler beam, and the tensioning wheels at the two ends of the crawler are respectively connected by two wheel shafts and are used for driving the crawler to run.
In the invention, the center of the bottom supporting plate is provided with an annular chassis, and the bottom of the main frame is movably arranged on the chassis through a bearing and can rotate relatively under the drive of the hydraulic oil cylinder and the gear transmission component.
According to the invention, the lower section of the folding arm is arranged on the front side of the main frame through a joint component, a group of hydraulic oil cylinders are fixedly arranged on two sides of the joint component, and the tail end of a piston rod of each hydraulic oil cylinder is connected with the lower section of the folding arm to drive the folding arm to transversely move.
In the invention, a reamer is arranged at the front end of the twisting suction head and consists of a bottom ring, a hub, a cutter arm and cutter teeth; the twisting suction head is connected to the hydraulic gear motor through a pipeline and drives the reamer to operate in a hydraulic mode.
In the invention, a lifting ring for lifting is arranged at the top of the main frame.
In the invention, a camera for real-time monitoring is arranged on the front side of the main frame.
According to the invention, the crawler type travelling mechanism is internally provided with the locking mechanism for locking the tensioning wheel to prevent the crawler from slipping.
In the invention, the gap between the battery and the bulkhead is filled with insulating oil for water resistance.
In the invention, a waterproof O-shaped rubber sealing ring is arranged between a cabin wall of an electric control cabin and a sealing cover thereof; an antenna is fixedly arranged outside the cabin wall of the electric control cabin and is connected to the wireless communication module on the main control panel through a cable.
Compared with the prior art, the invention has the beneficial effects that:
1. the unmanned cutter-suction beam-jet type amphibious walking desilting equipment can be used for long and narrow belt operation in desilting areas such as ports and wharfs, has waterway amphibious operation capacity and wider adaptability;
2. according to the invention, the MEMS sensor is used for dredging equipment for the first time, the position and the posture of the dredging device can be adjusted in real time by matching with an electric control system, and the advanced judgment and system posture control on dangerous states such as side turning and the like can be realized;
3. the invention utilizes a plurality of hydraulic cylinders to drive the folding arm and the main frame, so that the reamer at the end part of the reaming suction head can reach any place on the surface layer of the dredging operation area;
4. the sludge pipeline is connected with the twisting suction head and the slurry pump, so that the real-time collection and transmission of the sludge can be realized, and the sludge is conveyed to the rear or a stacking field to realize the real-time treatment of the sludge;
5. the crawler traveling mode enables the road operation to have good adaptability, the buoys additionally arranged on the two sides of the main frame can normally travel during the water operation, the water surface positioning can be realized through the positioning piles, and the amphibious operation is well realized;
6. remote control can be realized through the cooperation of the camera, the wireless communication module and the antenna; the operator does not need to enter the operation area in person like the traditional dredging equipment, so that the safety of personnel can be ensured, and the investment of human resources can be reduced.
Drawings
FIG. 1 is a main structure of the cutter-suction-beam dredging device at the rear of the wharf in the invention;
FIG. 2 is a schematic view of a traveling mechanism of the dredging device with cutter suction and beam jet at the rear of the wharf;
FIG. 3 is a side view of the track base of the cutter-suction-beam dredging device behind the wharf in the invention;
FIG. 4 is a main frame of the dredging apparatus with cutter-suction beam jet at the rear of the wharf;
FIG. 5 is a cutter suction head of the cutter suction beam jet dredging device at the rear of the wharf in the invention;
FIG. 6 shows an oil-filled battery compartment of the apparatus for dredging by twisting, absorbing and jetting at the rear of the wharf.
In the figure, a twisting suction head 1, a crawler type traveling mechanism 2, a hydraulic oil cylinder 3, a slurry pump 4, a main frame 5, a motor 6, a low-voltage junction box 7, an electric control cabin 8, a valve box 9, a power supply 10, a bevel gear 11, a tension pulley 12, a chassis 13, a bottom support plate 14, a crawler 15, a large-thrust wheel 16, a small-thrust wheel 17, a crawler support 18, a spring 19, a crawler girder 20, a lifting ring 21, an accessory placement layer 22, a protective pad 23, a cylinder piston rod 24, a mud pipe clamp plate 25, a mud pipe 26, a reamer 27, a switch 28, a long rod 29, a switching joint 30, a positioning column 31 and a folding arm 32 are arranged.
Detailed Description
The following examples are presented to enable those skilled in the art to more fully understand the present invention and are not intended to limit the invention in any way. Although various technical features are not shown in the drawings (such as a propeller, a battery compartment, a hydraulic gear motor, an axle, a transmission rod, a transmission gear, etc.), the technical features are not obvious from the knowledge and learning ability of those skilled in the art, and thus, the technical essence of the present invention is not influenced.
As shown in fig. 1, the unmanned cutter suction beam jet type amphibious walking dredging device comprises a dredging mechanism, a traveling and auxiliary operation mechanism, a power transmission mechanism, a main frame 5 and an electric control cabin 8; wherein, the dredging mechanism comprises a twisting suction head 1, a slurry pump 4 and a slurry pipe 26; the advancing and auxiliary operation mechanism comprises a crawler-type travelling mechanism 2, a propeller thruster, a positioning pile 31 and a buoy; the power transmission mechanism comprises a battery compartment, a motor 6, a hydraulic gear motor, a hydraulic oil cylinder and a gear transmission part.
The top of the main frame 5 is provided with a hanging ring 21 for hoisting, and the front side of the top of the main frame is provided with a camera for real-time monitoring. A two-section folding arm 32 is arranged at the front side of the main frame 5, the upper section of the folding arm is provided with a twisting suction head 1 and a slurry pipe 26, and the slurry pipe 26 is fixed on the upper section of the folding arm by a slurry pipe clamp plate 25 and is connected to the vertical slurry pump 4; the front end of the twisting suction head 1 is provided with a reamer which consists of a bottom ring, a hub, a cutter arm and cutter teeth; the reaming suction head 1 is connected to a hydraulic gear motor through a pipeline and drives a reamer to operate in a hydraulic mode.
Two groups of hydraulic oil cylinders 3 are fixedly arranged on two sides of the lower section of the folding arm, and the tail ends of the oil cylinder piston rods of the hydraulic oil cylinders are connected with the upper section of the folding arm and are used for driving the folding arm 32 to vertically move; the lower section of the folding arm is arranged on the front side of the main frame 5 through a joint component, a third group of hydraulic oil cylinders are fixedly arranged on two sides of the joint component, and the tail ends of piston rods of the hydraulic oil cylinders are connected with the lower section of the folding arm to drive the folding arm 32 to transversely move.
A propeller thruster driven by a first motor is fixedly arranged at the rear side of the main frame 5, and buoys welded by high-strength corrosion-resistant steel plates are fixedly arranged at the left side and the right side of the main frame 5 respectively; a vertical positioning column 31 is arranged in the center of the main frame 5, the lower end of the vertical positioning column penetrates through the bottom supporting plate 14, and the upper end of the vertical positioning column is connected to an oil cylinder piston rod of the fourth group of hydraulic oil cylinders; a hydraulic gear motor driven by a second motor is connected to each hydraulic oil cylinder and the mud pump 4 through pipelines, each motor is connected with the battery cabin through a cable, and an MEMS sensor and a wireless communication module are arranged on a main control board in the electric control cabin 8; the electronic control cabin 8, the battery cabin, the mud pump 4, the motors and the hydraulic gear motor are all fixed in the accessory placement layer 22 in the main frame 5. The battery compartment is filled with insulating oil for waterproofing in the gap between the battery and the compartment wall. An O-shaped rubber sealing ring for water prevention is arranged between the cabin wall of the electric control cabin 8 and the sealing cover thereof; an antenna is fixedly arranged outside the cabin wall of the electric control cabin 8 and is connected to the wireless communication module on the main control board through a cable.
The main frame 5 is arranged on a bottom support plate 14 of the crawler type travelling mechanism 2; the center of the bottom support plate 14 is provided with an annular chassis 13, and the bottom of the main frame 5 is movably mounted on the chassis 13 through a bearing and can rotate relatively under the drive of a fifth group of hydraulic oil cylinders and a gear transmission component.
In the crawler-type traveling mechanism 2, an inner support of a crawler 15 is formed by a crawler girder 20, a spring 19, a tension wheel 12, a large thrust wheel 16 and a small thrust wheel 17, and a transmission and steering mechanism is formed by a differential mechanism, a conical gear 11, a wheel shaft, a transmission rod, a transmission gear and a motor; the spring 19 is arranged between the crawler support 118 and the crawler beam 20, the small thrust wheel 17 is arranged between the crawler 15 and the crawler support 18, the large thrust wheel 16 is arranged between the crawler 15 and the crawler beam 20, and the tension wheels 12 at two ends of the crawler 15 are respectively connected by two wheel shafts and are used for driving the crawler 15 to run. A locking mechanism is provided in the crawler type traveling mechanism 2 for locking the tension pulley 12 to prevent the crawler 15 from slipping.
Further description is as follows:
in the invention, the crawler 15 provides stable conditions for advancing under the road operation, and the MEMS attitude sensor and the steering mechanism are matched to realize the real-time acquisition and adjustment of the attitude of the pair-twisting suction beam dredging equipment. When the wheel type travelling equipment is used for road-inhabiting operation, the surface of a soil layer in a silt return area is relatively soft, so that the wheel type travelling equipment is relatively difficult to travel on the soft soil surface layer; the direction of travel and speed are difficult to accurate control, take place occasionally in the condition of skidding, adopt the track to have better efficiency of marcing in the mire district. By adopting the mode of an additional buoy, when the aquatic operation is carried out under the condition of rising tide, the whole dredging device is in a floating state under the buoy; the propeller driven by the motor is used for realizing advancing, and the positioning column 31 is driven by the hydraulic oil cylinder after the propeller reaches an operation area, so that the whole equipment carries out desilting operation by taking the positioning column 31 as a rotation center. The buoy and the propeller can be assembled or disassembled according to the actual conditions of the operation area.
The invention relates to a cutter suction head 1 which is a core component of cutter suction beam jet dredging equipment, aiming at the problem that the whole dredging equipment is difficult to move under the condition of narrow operation terrain, a fixed component folding arm 32 of the cutter suction head is designed into a mode of position adjustment so as to realize the targeted dredging work of a moving dead angle. The twisting suction head 1 is arranged on the folding arm 32, the vertical bending of the folding arm 32 is carried out by two hydraulic cylinders, the movement of the twisting suction head 1 in a vertical plane can be realized, and the boundary line between the vertical plane and the ground is the linear range within which the twisting suction head can operate. In addition, a third hydraulic cylinder is used for taking charge of the left and right movement of the integral folding arm; the line moves into the face, can realize the desilting operation of whole topography surface plane.
In the power system of the invention, a first electric motor is used for driving a propeller, and a second electric motor 6 is used for driving a hydraulic gear motor which is connected to each hydraulic oil cylinder and the mud pump 4 through pipelines. The twisting suction head 1 needs to provide huge torque, and a hydraulic system with high energy density needs to be adopted. The mud pump 4 is a key device for hydraulic mud conveying, and the performance of the mud pump directly influences the production efficiency. The invention adopts the hydraulic gear motor to drive, when the conveying working condition (conveying distance and discharging height) changes, the rotating speed of the mud pump 4 can be conveniently adjusted, so that the mud pump always works in a higher efficiency area.
The reamer 27 is an important part for breaking the soil of the cutter-suction beam dredging equipment, and the working capacity and the application range of the cutter-suction dredging ship are determined by the rotating power of the reamer 27 to a large extent. The type, diameter, height, rotational speed and cutting power of the reamer 27 directly influence the sludge throughput of the cutter suction device. The reamer 27 needs to have both cutting and crushing capabilities to ensure good mixing of the cut dredged soil with the seawater. For this purpose, the reamer head 1 of the present invention is connected to a hydraulic gear motor through a pipeline, and a reamer is driven to operate in a hydraulic mode. The reamer 27 is composed of four parts, namely a bottom ring, a hub, a cutter arm and cutter teeth, and has the characteristics of simple and reliable structure, convenience in disassembly, assembly and maintenance, good wear resistance, long service life and the like.
The crawler-type travelling mechanism 2 is a main executing component of the cutter-suction beam-jet dredging equipment, the tensioning wheel 12 drives the crawler 15 to rotate, and the crawler 15 rotates to drive the whole equipment to move forwards. The spring 19 plays a role in shock absorption during traveling, the track support 18 forms a rigid framework of the track, and the combination of the rigid framework and the flexible structure of the track 15 enables the track to bear pressure and have good terrain adaptability.
The electric control cabin 8 is a main control part of the cutter suction beam jet dredging equipment and controls the advancing, the steering, the rotating speed of a slurry pump and the like of the equipment. The attitude control of the equipment is to acquire the three-dimensional position attitude by using an MEMS sensor, and the attitude is adjusted by adopting the crawler belt 15 or the propeller under different operating conditions. And processing the acquired attitude information, analyzing dangerous conditions such as slipping, sinking and the like, and performing characteristic marking for later dangerous state identification. In addition, the camera is used for carrying out related action judgment according to the virtual first visual angle of the driver, and the remote control dredging equipment is used for cleaning difficult dead corners. The remote operation of the dredging equipment is realized by arranging a wireless communication module in the electric control cabin 8.
A switch 28, a long rod 29 and an adapter 30 are arranged outside the battery cabin; wherein, the switch 28 controls the on and off of the power supply; the long rod 29 is used for limiting the end cover of the oil-filled battery compartment to realize lateral opening and closing; the adapter 30 is used for connecting the oil-filled battery cabin with external power supply. The low-voltage junction box 7 is used for wiring a control circuit of the cutter suction beam dredging equipment. The valve box 9 is used for a hydraulic system of the cutter suction beam dredging equipment. The protection pad 23 is used to prevent impact damage deformation of the main frame of the cutter suction beam irradiating apparatus.
In the cutter suction beam jet dredging equipment, the mud pump 4 and the cutter suction head 1 are main weight sources, and the weight and the installation position of the electric control cabin 8, the battery cabin, the mud pump 4, each motor, the hydraulic gear motor and other components are reasonably arranged in the accessory placing layer 22, so that the gravity center of the equipment can be reduced and the equipment can run stably. In view of the strong reaction force of the twisting head 1, slipping is prevented by mounting a locking mechanism on the crawler-type running gear 2. During the operation in water, adopt guide pile 31 to fix a position in order to assist the operation.
An example of the operation process of the cutter suction beam jet dredging equipment is as follows:
1. twisting, absorbing and beam-jetting dredging equipment is placed below a target port desilting area;
2. the method comprises the following steps of (1) utilizing a crawler or a propeller to advance to an operation area, which is generally a long and narrow back desilting area behind a port;
3. determining an operation mode according to an operation environment (port water level), moving by using a buoy and a propeller during water operation, and inserting positioning pile fixing equipment downwards; the advancing direction and the speed of the crawler belt are controlled during road operation, and the crawler belt moves on an exposed seabed;
4. the hydraulic oil cylinder is remotely controlled to realize the direction adjustment and the action control of the twisting and sucking head; the reamer is used for mixing the sludge and the seawater to form a suspension. And pumping the suspension by using a mud pump, collecting and treating the sludge, filtering and treating the sludge in a pipeline, and finally accumulating the sludge in a wharf for treatment or bringing the sludge back to the sea by using the seawater behind the wharf.
5. And after the dredging operation is finished, the crawler or the propeller is utilized to move to the shore, and the operation is finished.

Claims (10)

1. An unmanned cutter suction beam jet type amphibious walking desilting device is characterized by comprising a desilting mechanism, a traveling and auxiliary operation mechanism, a power transmission mechanism, a main frame and an electric control cabin; wherein, the dredging mechanism comprises a twisting suction head, a slurry pump and a slurry pipe; the advancing and auxiliary operation mechanism comprises a crawler-type travelling mechanism, a propeller thruster, a positioning pile and a buoy; the power transmission mechanism comprises a battery compartment, a motor, a hydraulic gear motor, a hydraulic oil cylinder and a gear transmission part; the connection relation of each part is as follows:
the main frame is arranged on a bottom supporting plate of the crawler type traveling mechanism; the front side of the main frame is provided with a two-section folding arm, the upper section of the folding arm is provided with a twisting suction head and a mud pipe, and the mud pipe is connected to a mud pump; two groups of hydraulic oil cylinders are fixedly arranged on two sides of the lower section of the folding arm, and the tail end of a piston rod of each hydraulic oil cylinder is connected with the upper section of the folding arm and is used for driving the folding arm to vertically move; a propeller thruster driven by a first motor is fixedly arranged at the rear side of the main frame, and buoys are respectively and fixedly arranged at the left side and the right side of the main frame; a vertical positioning column is arranged in the center of the main frame, the lower end of the vertical positioning column penetrates through the bottom supporting plate, and the upper end of the vertical positioning column is connected to an oil cylinder piston rod of the other group of hydraulic oil cylinders; a hydraulic gear motor driven by a second motor is connected to each hydraulic oil cylinder and the slurry pump through pipelines, each motor is connected with the battery cabin through a cable, and an MEMS sensor and a wireless communication module are arranged on a main control board in the electric control cabin; the electric control cabin, the battery cabin, the mud pump, the motor and the hydraulic gear motor are all fixed in the accessory placement layer in the main frame.
2. The dredging device according to claim 1, wherein in the crawler-type traveling mechanism, an inner support of the crawler is formed by a crawler beam, a spring, a tension wheel and a thrust wheel, and a transmission and steering mechanism is formed by a differential, a conical gear, a wheel shaft, a transmission rod, a transmission gear and a motor; the springs are arranged between the crawler support and the crawler beam, the supporting wheels are respectively arranged between the crawler and the crawler support and between the crawler and the crawler beam, and the tensioning wheels at the two ends of the crawler are respectively connected by two wheel shafts and are used for driving the crawler to run.
3. The dredging device of claim 1, wherein the bottom support plate is provided with an annular base plate at the center, and the bottom of the main frame is movably mounted on the base plate through a bearing and can rotate relatively under the drive of the hydraulic oil cylinder and the gear transmission component.
4. The dredging device of claim 1, wherein the lower section of the folding arm is mounted on the front side of the main frame through a joint component, a group of hydraulic cylinders are fixedly arranged on two sides of the joint component, and the tail ends of piston rods of the hydraulic cylinders are connected with the lower section of the folding arm for driving the folding arm to move transversely.
5. The dredging device of claim 1, wherein a reamer is arranged at the front end of the reamer head, and the reamer consists of a bottom ring, a hub, a cutter arm and cutter teeth; the twisting suction head is connected to the hydraulic gear motor through a pipeline and drives the reamer to operate in a hydraulic mode.
6. The dredging device of claim 1, wherein a lifting ring for lifting is arranged at the top of the main frame.
7. The dredging device of claim 1, wherein a camera for real-time monitoring is arranged at the front side of the main frame.
8. The dredging apparatus of claim 1, wherein a locking mechanism is provided in the crawler-type traveling mechanism for locking the tension wheel to prevent the crawler from slipping.
9. The dredging arrangement as claimed in claim 1, wherein the battery compartment is filled with insulating oil for waterproofing in the gap between the battery and the compartment wall.
10. The dredging device of claim 1, wherein an O-shaped rubber sealing ring for water prevention is arranged between the cabin wall of the electric control cabin and the sealing cover of the electric control cabin; an antenna is fixedly arranged outside the cabin wall of the electric control cabin and is connected to the wireless communication module on the main control panel through a cable.
CN202110299196.9A 2021-03-21 2021-03-21 Unmanned cutter suction beam-jet type amphibious walking dredging equipment Pending CN113062388A (en)

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Application publication date: 20210702