CN114851224A - Remote control type underwater sand raising device - Google Patents
Remote control type underwater sand raising device Download PDFInfo
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- CN114851224A CN114851224A CN202210570604.4A CN202210570604A CN114851224A CN 114851224 A CN114851224 A CN 114851224A CN 202210570604 A CN202210570604 A CN 202210570604A CN 114851224 A CN114851224 A CN 114851224A
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- floating cabin
- underwater
- sand
- control
- wireless communication
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- 239000004576 sand Substances 0.000 title claims abstract description 70
- 238000007667 floating Methods 0.000 claims abstract description 47
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 28
- 230000007246 mechanism Effects 0.000 claims abstract description 24
- 238000004891 communication Methods 0.000 claims abstract description 22
- 238000007664 blowing Methods 0.000 claims description 8
- 238000003384 imaging method Methods 0.000 claims description 5
- 238000005086 pumping Methods 0.000 claims 2
- 230000007613 environmental effect Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000003628 erosive effect Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000001816 cooling Methods 0.000 description 3
- 238000012876 topography Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 description 2
- 239000010705 motor oil Substances 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 108010066057 cabin-1 Proteins 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000008021 deposition Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000011010 flushing procedure Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000008239 natural water Substances 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000013049 sediment Substances 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B3/00—Engineering works in connection with control or use of streams, rivers, coasts, or other marine sites; Sealings or joints for engineering works in general
- E02B3/02—Stream regulation, e.g. breaking up subaqueous rock, cleaning the beds of waterways, directing the water flow
- E02B3/023—Removing sediments
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Ocean & Marine Engineering (AREA)
- Automation & Control Theory (AREA)
- Environmental & Geological Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a remote control type underwater sand raising device which comprises an underwater robot and an overwater extension set, wherein the underwater robot comprises a floating cabin body, a controller, a wireless communication module, a navigation positioning module, a propeller, a detector, a video image acquisition module and a jet sand raising mechanism, wherein the controller, the wireless communication module and the navigation positioning module are fixedly arranged in the floating cabin body; the controller is respectively and electrically connected with the wireless communication module, the navigation positioning module, the propeller, the detector and the jet flow sand raising mechanism, and the wireless communication module is also electrically connected with the video image acquisition module; the water extension set comprises a display control terminal processor and an operation and control system, and the display control terminal processor and the operation and control system are electrically connected with the wireless communication module. When the underwater robot works underwater, all parts work cooperatively to sense the surrounding environment and display the environment at the intelligent control end in the forms of videos, images, numbers and the like, so that the control precision and the working accuracy of the underwater robot are greatly improved, and the control difficulty and the collision risk are reduced.
Description
Technical Field
The invention relates to the technical field of underwater working equipment, in particular to a remote control type underwater sand raising device.
Background
The reservoir solves the problems of water resource shortage, unbalanced supply and demand and the like through reasonable distribution of natural water sources, and brings profound influence on various aspects of social economy and the natural environment. However, over time, the silt deposition of the reservoir affects the sustainable utilization of the reservoir and reduces the water storage capacity of the reservoir, so that the flow regulation capacity of the reservoir is weakened, and the benefits of reservoir water supply, energy, flood control and the like are reduced. 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 methods generally include: the riverway adopts cofferdams to pump water, and then the desilting operation, the shortcoming is that consuming time and wasting force, 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.
The patent (application number: 201120033884.7) discloses an underwater sand production device, which comprises a motor, a sand pump, a sand raising pipe, a sand flushing pipe, a sand sucking pipe, a motor oil cooling seal cover and a magnetic coupling, wherein the motor is arranged in an oil cooling seal cavity in the motor oil cooling seal cover; the motor is in transmission connection with the sand pump through a magnetic coupler.
The underwater sand mining device in the scheme has the advantages that the pollution to the surrounding environment is large due to the rough operation mode, the intelligent degree is low, the underwater environment condition cannot be sensed in real time, the operation is not flexible, and the sand cleaning efficiency is low.
Disclosure of Invention
The invention aims to overcome the technical defects, provides a remote control type underwater sand raising device, and solves the technical problems that the sand raising device in the prior art has rough operation mode, causes large pollution to the surrounding environment, has low intelligent degree, cannot sense the underwater environment condition in real time, is inflexible in operation and has low sand cleaning efficiency.
In order to achieve the technical purpose, the technical scheme of the invention provides a remote control type underwater sand raising device, which comprises:
the underwater robot comprises a floating cabin body, a controller, a wireless communication module, a navigation positioning module, a propeller, a detector, a video image acquisition module and a jet flow sand raising mechanism, wherein the controller, the wireless communication module and the navigation positioning module are fixedly arranged in the floating cabin body; the controller is respectively electrically connected with the wireless communication module, the navigation positioning module, the propeller, the detector and the jet flow sand raising mechanism, and the wireless communication module is also electrically connected with the video image acquisition module;
the water extension comprises a display and control terminal processor and an operation and control system, wherein the display and control terminal processor and the operation and control system are electrically connected with the wireless communication module.
Furthermore, the navigation positioning module comprises an ultrasonic radar positioning module and a big dipper + GPS dual-mode positioning module.
Furthermore, the thrusters comprise thrusting propellers symmetrically arranged at two sides of the tail of the floating cabin.
Further, the propeller also comprises suspended propellers arranged at the top of the floating cabin body or at two ends of the floating cabin body or at two sides of the floating cabin body.
Further, survey including fixed mounting a plurality of be used for generating the three-dimensional imaging sonar of the environmental topography under water map, a plurality of be used for surveying forward looking sonar and the multi-beam detection instrument of keeping away the barrier around the outer wall of the floating cabin body.
Further, the video image acquisition module is used for acquiring videos or images around the underwater robot.
Furthermore, the efflux raises husky mechanism and is in including fixed setting respectively the inside pump body of the internal portion of the floating cabin is in with fixed setting the outside jet nozzle of the floating cabin, the water inlet of the pump body pass through the pipeline with the outside water source of the floating cabin communicates with each other, the export of the pump body pass through the pipeline with jet nozzle connects.
Furthermore, a plurality of conical and straight nozzles are fixedly arranged on the jet flow nozzle.
Further, the floating cabin body is fixed with shower nozzle adjustment mechanism, shower nozzle adjustment mechanism includes the lift driving piece and fixes the setting and is in the rotation driving piece of lift driving piece output, the output of rotation driving piece with jet nozzle fixed connection, the lift driving piece is used for adjusting jet nozzle's height, it is used for adjusting to rotate the driving piece the orientation of nozzle on the jet nozzle to adjust the efflux angle.
Furthermore, a plurality of supporting legs are fixedly mounted at the bottom of the floating cabin.
Compared with the prior art, the invention has the beneficial effects that:
in the remote control formula device of blowing sand under water, among the underwater robot navigation orientation module can acquire positional information, the detector can acquire environmental topography under water, video image acquisition module can acquire the video or the image in the certain limit, wireless communication module can with the various information transmission who acquires extremely show on the control terminal processor, the staff on the surface of water can pass through show the information that control terminal processor shows and control system is in order to control the underwater robot reachs appointed work area, efflux blowing sand mechanism can produce the efflux in order to carry out the work of blowing sand in this work area to move and bring into low reaches through rivers with the silt of riverbed bottom, and can not produce the noise hardly, also less to the pollution of environment.
Drawings
FIG. 1 is a schematic block diagram of a remote-control underwater sand throwing device provided by the invention;
FIG. 2 is a schematic diagram of the configuration of an underwater robot in an embodiment of the present invention;
fig. 3 is a schematic structural diagram of the underwater robot with the floating cabin removed in the embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
The invention provides a remote control type underwater sand raising device which is structurally shown in figures 1 and 2 and comprises an underwater robot 1 and an above-water extension machine 2, wherein the underwater robot 1 comprises a floating cabin body 11, a controller 12 fixedly arranged in the floating cabin body 11, a wireless communication module 13, a navigation positioning module 14, a propeller 15, a detector 16, a video image acquisition module 17 and a jet flow sand raising mechanism 18, wherein the propeller 15, the detector 16, the video image acquisition module 17 and the jet flow sand raising mechanism 18 are arranged outside the floating cabin body 11; the controller 12 is electrically connected to the wireless communication module 13, the navigation positioning module 14, the propeller 15, the detector 16 and the jet flow sand raising mechanism 18, respectively, and the wireless communication module 13 is also electrically connected to the video image acquisition module 17; extension 2 on water includes apparent accuse terminal processor 21 and control system 22, show accuse terminal processor 21 with control system 22 all with wireless communication module 13 electric connection.
In the remote control formula device of blowing sand under water, in the underwater robot 1 navigation orientation module 14 can acquire positional information, detector 16 can acquire the environmental topography under water, video image acquisition module 17 can acquire the video or the image in the certain limit, wireless communication module 13 can with the various information transmission who acquires extremely on the display control terminal processor 21, the staff on the surface of water can pass through the information that display control terminal processor 21 shows is controlled control system 22 is in order to control underwater robot 1 reachs appointed work area, efflux mechanism 18 can produce the efflux in order to carry out the work of blowing sand in this work area to the silt of riverbed bottom is blown and is brought into low reaches through rivers to can not produce the noise hardly, also less to the pollution of environment.
When the underwater robot 1 works underwater, all parts work cooperatively to sense the surrounding environment and display the surrounding environment at the intelligent control end in the forms of videos, images, numbers and the like, so that the control precision and the working accuracy of the underwater robot 1 are greatly improved, and the control difficulty and the collision danger are reduced.
As a specific embodiment, the controller 12 selects a high-performance and low-power-consumption S3C1440 microprocessor, selects an integrated control board based on an S3C1440de ARM9 processor to ensure the stability of the system, and simultaneously selects an STM32 integrated control board based on an STM32F103VCT6 processor, and the STM32 integrated control board mainly serves as a drive control center to mainly complete the work control such as attitude control and information acquisition of the underwater robot 1. When the controller 12 in the underwater robot 1 receives the instruction transmitted by the water extension 2, the received instruction is transmitted to the STM32 integrated control board through the serial port, so that the STM32 integrated control board makes a relevant response.
As a preferred embodiment, the navigation positioning module 14 includes an ultrasonic radar positioning module and a big dipper + GPS dual-mode positioning module.
In a preferred embodiment, the propellers 15 comprise propeller propellers 151 symmetrically arranged at two sides of the tail of the floating cabin 11. As a preferred embodiment, the propeller 15 further includes a floating propeller 152 disposed at the top of the floating cabin 11, or at both ends thereof, or at both sides thereof. As a specific embodiment, in order to realize the propulsion propeller 151 and the floating propeller 152, a power system corresponding to the propulsion propeller 151 and the floating propeller 152 is fixedly arranged in the floating cabin 11, and the power system is similar to a power system of a propeller on a ship, and therefore, details about the composition of the power system are not described herein again.
When the underwater robot 1 needs to turn, the two propulsion propellers 151 are controlled to operate at different rotating speeds, and at this time, the underwater robot 1 turns towards the side of the propulsion propeller 151 with the lower rotating speed. When the posture of the underwater robot 1 needs to be adjusted, the two floating propellers 152 are controlled to operate at different rotating speeds, and at this time, the underwater robot 1 sinks and tilts towards one side or one end of the floating propeller 152 with a lower rotating speed.
As a preferred embodiment, the detector 16 includes a plurality of three-dimensional imaging sonars for generating a topographic map of the underwater environment, a plurality of forward looking sonars for detecting obstacles, and a multi-beam detector fixedly installed around the outer wall of the floating cabin 11. The three-dimensional imaging sonar transmits detected data to the controller 12 and can distinguish the position of an obstacle in the environment within a certain range underwater after being analyzed by the controller 12, and the environmental information is detected in an all-around mode. The detector 16 can detect an underwater environment topographic map so as to further autonomously plan an operation path, obtain the water depth of an operation area, evaluate whether the sand raising operation depth meets requirements, evaluate the river (lake) bed condition after the sand raising operation, mark an area needing further river bed leveling, further level after the sand raising operation is finished, and simultaneously have the function of detecting dynamic obstacles to avoid obstacles. The positioning navigation module adopts an Inertial Navigation System (INS) and is used for guiding the sand raising operation to be carried out along an intelligent planning path.
In a preferred embodiment, the video image capturing module 17 is configured to capture a video or an image of the surroundings of the underwater robot 1.
As shown in fig. 3, which is a schematic structural diagram of the underwater robot in the embodiment of the present invention after the floating cabin 1 is removed, as a preferred embodiment, the jet sand raising mechanism 18 includes a pump body 181 fixedly disposed inside the floating cabin 11 and a jet nozzle 182 fixedly disposed outside the floating cabin 11, a water inlet of the pump body 181 is communicated with a water source outside the floating cabin 11 through a pipeline, and an outlet of the pump body 181 is connected with the jet nozzle 182 through a pipeline.
In a preferred embodiment, a plurality of straight cone nozzles are fixedly arranged on the jet nozzle 182.
As a preferred embodiment, the floating cabin 11 is further fixedly provided with a nozzle adjusting mechanism 19, the nozzle adjusting mechanism 19 includes a lifting driving member 191 and a rotating driving member 192 fixedly disposed at an output end of the lifting driving member 191, an output end of the rotating driving member 192 is fixedly connected to the jet nozzle 182, the lifting driving member 191 is used for adjusting the height of the jet nozzle 182, and the rotating driving member 192 is used for adjusting the orientation of the nozzle on the jet nozzle 182 to adjust the jet angle, so that the erosion of the sand bed reaches the design requirement. As a specific example, the lifting driving member 191 is a telescopic rod driven by hydraulic (or pneumatic) pressure, and the rotating driving member 192 may be a motor.
The height and the angle of the jet flow nozzle 182 can be adjusted by the nozzle adjusting mechanism 19 according to the underwater environment (such as silt thickness), the position of the jet flow nozzle 182 and the angle of the nozzle are adjusted, so that the sand bed erosion reaches the set condition (such as the set depth), and the sand raising efficiency is improved.
As a preferred embodiment, a plurality of supporting legs 110 are further fixedly mounted at the bottom of the floating cabin 11, so that the underwater robot 1 can stay on a river bed when performing sand raising operation, and power consumption of the underwater robot in maintaining a suspended state is reduced. And the height of the supporting leg 110 can be selected according to actual needs to avoid the sand blowing from adversely affecting the underwater robot 1.
For the convenience of understanding the present invention, the operation principle of the present solution is described in detail below with reference to fig. 1 to 3:
during operation, the underwater robot 1 sinks, the three-dimensional imaging sonar generates an underwater environment topographic map and transmits the underwater environment topographic map to the controller 12 in the sinking process, meanwhile, the navigation positioning module 14 works to transmit information such as longitude and latitude positioning and traveling direction back to the display and control terminal processor 21, and the position state information of the underwater robot 1 is displayed on the display and control terminal processor 21 in the form of map positioning points.
When the underwater robot 1 sinks to the working depth, the controller 12 outputs a PWM signal to the floating propeller 152, so that the underwater robot 1 maintains a floating posture. Meanwhile, the controller 12 controls the jet flow sand raising mechanism 18 to start sand raising, the lifting driving piece 191 is started to lower the jet flow nozzle 182, so that the sand bed erosion meets the working requirement, and the pump body 181 sprays pumped water through the jet flow nozzle 182 to destroy the soil mass on the river (lake) bed for sand raising.
The display control terminal processor 21 receives, analyzes, processes and displays the data and video signals sent by the underwater robot 1 in real time through the wireless transmission module, and processes, stores and records the acquired data. The display control terminal processor 21 can also process the detected information to obtain an image self-planning sand raising advancing route, continue to work when the sand raising depth does not reach the planning depth, stop the sand raising operation at the position when the sand raising depth reaches the planning depth, and then move to the next sand raising point to start the operation. In addition, the worker can also operate the remote-control type underwater sand raising device autonomously through the control system 22 to work or select a path.
The remote control type underwater sand raising device provided by the invention has the following beneficial effects:
(1) in the remote control type underwater sand raising device, the navigation positioning module 14 in the underwater robot 1 can acquire position information, the detector 16 can acquire an underwater environment topographic map, the video image acquisition module 17 can acquire videos or images within a certain range, the wireless communication module 13 can transmit various acquired information to the display and control terminal processor 21, workers on the water surface can control the control system 22 through the information displayed by the display and control terminal processor 21 to control the underwater robot 1 to reach a specified working area, and the jet flow sand raising mechanism 18 can generate jet flow in the working area to carry out sand raising work, so that sediment at the bottom of a river bed is raised and brought downstream through water flow, noise is hardly generated, and the pollution to the environment is small;
(2) the height and the angle of the jet flow nozzle 182 can be adjusted by the nozzle adjusting mechanism 19 according to the underwater environment (such as silt thickness), the position of the jet flow nozzle 182 and the angle of the nozzle are adjusted, so that the sand bed erosion reaches the set condition (such as the set depth), and the sand raising efficiency is improved.
The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. The utility model provides a remote control formula is sand device that raises sand under water which characterized in that includes:
the underwater robot comprises a floating cabin body, a controller, a wireless communication module, a navigation positioning module, a propeller, a detector, a video image acquisition module and a jet flow sand raising mechanism, wherein the controller, the wireless communication module and the navigation positioning module are fixedly arranged in the floating cabin body; the controller is respectively electrically connected with the wireless communication module, the navigation positioning module, the propeller, the detector and the jet flow sand raising mechanism, and the wireless communication module is also electrically connected with the video image acquisition module;
the water extension comprises a display and control terminal processor and an operation and control system, wherein the display and control terminal processor and the operation and control system are electrically connected with the wireless communication module.
2. The remote-control underwater sand blowing device as claimed in claim 1, wherein the navigation and positioning module comprises an ultrasonic radar positioning module and a Beidou + GPS dual-mode positioning module.
3. The remote-control underwater sand raising device as claimed in claim 1, wherein the thrusters comprise thrusting propellers symmetrically arranged at two sides of the tail of the floating cabin.
4. The remote-control underwater sand raising device as claimed in claim 1, wherein the propeller further comprises suspended propellers arranged at the top of the floating cabin body or at two ends of the floating cabin body or at two sides of the floating cabin body.
5. The remote-control underwater sand raising device according to claim 1, wherein the detector comprises a plurality of three-dimensional imaging sonars fixedly installed around the outer wall of the floating cabin body and used for generating an underwater environment topographic map, a plurality of forward looking sonars used for detecting obstacle avoidance and a multi-beam detector.
6. The remote-controlled underwater sand blowing device according to claim 1, wherein the video image acquisition module is used for acquiring videos or images around the underwater robot.
7. The remote-control underwater sand pumping device according to claim 1, wherein the jet sand pumping mechanism comprises a pump body and a jet nozzle, the pump body is fixedly arranged inside the floating cabin body, the jet nozzle is fixedly arranged outside the floating cabin body, a water inlet of the pump body is communicated with a water source outside the floating cabin body through a pipeline, and an outlet of the pump body is connected with the jet nozzle through a pipeline.
8. The remote-control underwater sand raising device as claimed in claim 7, wherein a plurality of conical and straight nozzles are fixedly arranged on the jet flow nozzle.
9. The remote-control underwater sand raising device according to claim 7, wherein the floating cabin is further fixedly provided with a nozzle adjusting mechanism, the nozzle adjusting mechanism comprises a lifting driving piece and a rotating driving piece fixedly arranged at an output end of the lifting driving piece, an output end of the rotating driving piece is fixedly connected with the jet flow nozzle, the lifting driving piece is used for adjusting the height of the jet flow nozzle, and the rotating driving piece is used for adjusting the orientation of a nozzle on the jet flow nozzle so as to adjust the jet flow angle.
10. The remote-control underwater sand raising device as claimed in claim 1, wherein a plurality of support legs are fixedly mounted at the bottom of the floating cabin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210570604.4A CN114851224B (en) | 2022-05-24 | 2022-05-24 | Remote control underwater lifter Sha Zhuangzhi |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210570604.4A CN114851224B (en) | 2022-05-24 | 2022-05-24 | Remote control underwater lifter Sha Zhuangzhi |
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| Publication Number | Publication Date |
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| CN114851224A true CN114851224A (en) | 2022-08-05 |
| CN114851224B CN114851224B (en) | 2024-04-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210570604.4A Active CN114851224B (en) | 2022-05-24 | 2022-05-24 | Remote control underwater lifter Sha Zhuangzhi |
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|---|---|
| CN114851224B (en) | 2024-04-09 |
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