CN115653038A

CN115653038A - Hydraulic drive's desilting robot

Info

Publication number: CN115653038A
Application number: CN202210873346.7A
Authority: CN
Inventors: 曹衍龙; 王明瑞; 王立忠; 马孝林; 高洋洋; 黄芳; 王敬; 王振; 王浩丞
Original assignee: Zhejiang University ZJU
Current assignee: Zhejiang University ZJU
Priority date: 2022-07-22
Filing date: 2022-07-22
Publication date: 2023-01-31

Abstract

A hydraulic drive desilting robot comprises a frame, wherein a transfer mechanism, a desilting machine and a control system are arranged on the frame; the shifting mechanism is arranged below the frame, and the dredging machine is arranged at the front end of the frame; the migration mechanism enables the equipment to move from one place to another place; the silt remover realizes the crushing, gathering and clearing of the deposited soil and/or undisturbed soil from the current area; the dredging reamer of the dredging machine and the undisturbed soil and/or the silted soil carry out shearing action; the control system sends control instructions to the transfer mechanism and the dredging mechanism and controls the operation of the transfer mechanism and the dredging mechanism; the control system comprises a protective shell, a hydraulic control assembly and an electric control assembly are arranged in the protective shell, the protective shell comprises a barrel, a first end cover and a second end cover, the two end covers are respectively in sealing connection with the barrel, the first end cover is used for installing the hydraulic control assembly, and the second end cover is used for installing the electric control assembly. The invention has the advantages of controllable dredging efficiency, controllable dredging area, controllable dredging depth (dredging amount), controllable dredging quality, stable power and stable control.

Description

Hydraulic drive's desilting machine people

Technical Field

The invention relates to a hydraulically-driven dredging robot.

Background

In recent years, the problem of back silting at the rear of a high-pile wharf of a large port is more serious, and the silting height of a mud surface is increased year by year. Meanwhile, in order to meet the requirement that the berthing water depth of a large ship is continuously increased, the front edge of the wharf is dredged regularly, so that the height difference of the front and back mud surfaces of a wharf pile foundation is continuously increased, the pile foundation is damaged and broken, and serious potential safety hazards exist. According to investigation, the wharfs of ports above ten thousand tons in the coastal area of Zhejiang adopt a high-pile beam-slab type wharf structure type. According to investigation on the silting back condition of more than one hundred high-pile wharfs at berths in the coastal area of Zhejiang, about 90% of wharfs have serious silting problems below and behind the wharfs, wherein the maximum silting height of the rear edge of a part of wharfs reaches 15.5m, the ratio of the underwater bank slope to the underwater bank slope is close to 1. In recent years, accidents of pile foundation instability caused by silt return at the rear of a wharf frequently occur, such as large-area collapse accidents of Fuzhou wharf in 2006, collapse accidents of Ningbo Zhoushan wharf in 2019, collapse accidents of Dongdou wharf in Zhoushan in 2020, casualties and huge direct economic losses are caused, and even more serious accidents are caused to stop operation of the whole port.

At present, the bottleneck problem of dredging and load reducing research at the rear of a wharf is mainly embodied in two aspects: firstly, because pile foundations below the high-pile wharf are densely arranged, a rear water area is narrow, and water depth is limited, the traditional dredging construction facilities cannot enter the rear of the wharf for dredging operation due to size and water depth limitation; secondly, the traditional dredging technology has the problems of need of modification of a construction ship, high cost, low efficiency, aggravation of dredging at the rear part of a wharf after dredging and the like, and has poor dredging and load reducing effects.

At present, research on a port and pier dredging and load reducing technology mainly aims at the front edge of a pier, a harbor pool and a channel, and mainly adopts traditional dredging modes such as a jet dredging ship, a chain bucket dredger, a grab dredger, a cutter suction dredger, a trailing suction dredger, a pneumatic sludge flushing method and the like in the dredging process of a water area at the front edge of the pier and the channel, and adopts manual operation modes mostly, so that the independent walking on a shallow water area and a mudflat behind the pier is difficult to realize. In addition, in the area behind the wharf, due to the fact that pile groups below the high-pile wharf are densely distributed, traditional dredger and dredging ship in narrow water area space are limited by the size of the dredger and cannot enter the rear of the wharf to conduct dredging operation.

Disclosure of Invention

With the high-speed development of port construction volume in China, a large number of newly built docks and berths are rapidly put into operation. Meanwhile, due to the fact that soil bodies near the wharf are deposited for a long time, the safety performance of the wharf structure is lowered, dense pile groups exist below a high-pile wharf of a port, under the time factor, the influence of tide and storm on mud or berthing upgrading of the wharf and the like needs to be achieved, the deposited soil and the original state soil below the wharf and behind the wharf need to be cleaned and constructed, and due to the fact that the space is narrow, the existing large and medium mature mud digging equipment cannot work. At present, the dredging engineering is mainly implemented by directly sucking a slurry pump and flushing the slurry pump by a manual high-pressure water gun, so that the working efficiency is low, the potential safety hazard is large, and the quality control degree is poor.

The technical scheme adopted by the invention is as follows: the invention aims to provide a dredging robot which is used for dredging deposited soil and undisturbed soil behind and below a port and wharf, can submerge into the water for operation, has stable power and stable control, and can dredge more than 150 cubic meters per hour.

A hydraulically driven desilting robot, comprising: the moving mechanism, the dredging machine and the control system are arranged on the rack; the shifting mechanism is arranged below the frame, and the dredging machine is arranged at the front end of the frame;

the migration mechanism enables the equipment to move from one place to another place;

the silt remover realizes the crushing, gathering and clearing of the silted soil and/or undisturbed soil from the current area; the dredging reamer of the dredging machine and the undisturbed soil and/or the silted soil carry out shearing action;

the control system sends control instructions to the transfer mechanism and the dredging mechanism and controls the operation of the transfer mechanism and the dredging mechanism; the control system comprises a protective shell, a hydraulic control assembly and an electric control assembly are arranged in the protective shell, the protective shell comprises a cylinder body, a first end cover and a second end cover, the two end covers are respectively connected with the cylinder body in a sealing mode, the first end cover is used for installing the hydraulic control assembly, and the second end cover is used for installing the electric control assembly;

the hydraulic control assembly comprises a valve block, a multi-way valve controller and a hydraulic lock, wherein the valve block is arranged on a first end cover, a cantilever beam assembly is arranged on the first end cover and comprises a plurality of cantilevers, the first ends of the cantilevers are fixed with the first end cover, and the second ends of the cantilevers are suspended in the air, wherein the suspended mode means that the cantilevers are not in contact with the cylinder body or the second end cover; the multi-way valve, the multi-way valve controller and the hydraulic lock are fixed on the cantilever assembly through respective mounting brackets, and the multi-way valve, the multi-way valve controller and the hydraulic lock are positioned in the cylinder body; the outer end face of the valve block exposed outside the protective shell is provided with a main oil supply port and a main oil return port, a driving liquid medium enters from the main oil supply port, the driving liquid medium is output from the main oil return port, and the main oil supply port and the main oil return port are respectively arranged on two sides of a reference plane by taking the center plane of the robot in the width direction as the reference plane. When the main oil supply port and/or the main oil return port do not intersect with the reference plane, the main oil supply port and the main oil return port are respectively arranged on two sides of the reference plane. When the main oil supply port and/or the main oil return port intersect with the reference surface, the center of the main oil supply port and the center of the main oil return port are respectively arranged on two sides of the reference surface.

Furthermore, a plurality of sub oil return ports and a plurality of sub oil supply ports are arranged on the inner end face of the valve block, which is positioned in the protective shell, all the sub oil return ports are respectively connected with the main oil return port through respective oil return channels, and all the sub oil supply ports are respectively connected with the main oil supply port through self-supply channels; the sub oil return port is positioned on the same side, the sub oil supply port is positioned on the same side, and the sub oil return port and the sub oil supply port are positioned on two sides of the reference surface.

Further, a main oil discharge port and a sub oil discharge port are arranged on the valve block, the main oil discharge port is located on the outer end face of the valve block, a side connection face is arranged between the inner end face and the outer end face of the valve block, and the sub oil discharge ports are respectively arranged on the connection face and the inner end face; each sub oil discharge port is connected with the main oil discharge port through an oil discharge channel.

Furthermore, the inner end surface of the valve block is provided with four sub oil return ports and three sub oil supply ports, the four sub oil return ports are respectively called an oil return port A, an oil return port B, an oil return port C and an oil return port D, and the three sub oil supply ports are respectively called an oil supply port A, an oil supply port B and an oil supply port C;

the three sub oil unloading ports are respectively called an oil unloading port A, an oil unloading port B and an oil unloading port C, the oil unloading port A and the oil unloading port B are positioned on the connecting surface of the valve block, and the oil unloading port C is positioned on the inner end surface of the valve block.

The number of the multi-way valves is two, namely a multi-way valve A and a multi-way valve B; the number of the hydraulic locks is two, namely a bidirectional hydraulic lock A and a bidirectional hydraulic lock B.

Further, the multi-way valve A comprises two working modules A which are connected in parallel, and the two working modules A are respectively called a first working module A and a second working module A;

the port A of the first working module A is connected with an oil inlet of a dredging pump motor of a dredging machine, the port B of the first working module B is connected with an oil outlet of the dredging pump motor of the dredging machine, and an oil drainage port of the dredging pump motor is connected with an oil discharge port A;

the port A of the second working module A is connected with an oil inlet of a spiral reamer motor A of the dredging machine through a pipeline A, the port B of the second working module A is connected with an oil outlet of the spiral reamer motor A through a pipeline B, and an oil drainage port of the spiral reamer motor A is connected with an oil discharge port B;

the pipeline A is provided with a three-way joint A, and the third end of the three-way joint A is connected with an oil outlet of a spiral reamer motor B of a dredging machine; a three-way joint B is arranged on the pipeline B, and the third end of the three-way joint B is connected with an oil inlet of a spiral reamer motor B of the dredging machine; an oil drain port of a spiral reamer motor B of the dredging machine is connected with an oil discharge port B; the spiral reamer motor A and the spiral reamer motor B have opposite rotation directions, so that soil crushing and dredging of the dredging machine are realized;

the Ls port of the multi-way valve A is connected with the Lx port of the multi-way valve B, the T0 port of the multi-way valve A is connected with the oil return pipeline of the valve block control oil of the multi-way valve A, the T1 port of the multi-way valve A is connected with the oil return port A of the valve block, the T2 port of the multi-way valve A is connected with the oil return port B of the valve block, and the P port of the multi-way valve A is connected with the oil supply port A of the valve block.

Further, the multi-way valve B comprises four working modules B connected in parallel, and the four working modules B are respectively called a first working module B, a second working module B, a third working module B and a fourth working module B; the port A of the first working module B is connected with the port A of the left walking motor of the transfer mechanism, and the port B of the first working module B is connected with the port B of the left walking motor of the transfer mechanism;

the port A of the second working module B is connected with the port A of the right walking motor of the migration mechanism, and the port B of the second working module B is connected with the port B of the right walking motor of the migration mechanism; the T port of the right walking motor is connected with the T port of the left walking motor and then connected with the oil discharge port A; a Pb port of the right-side walking motor is connected with a Pb port of the left-side walking motor and then connected with a Pb port of the brake valve, and a Ps port of the right-side walking motor is connected with a Ps port of the left-side walking motor and then connected with a walking motor brake displacement control oil distribution circuit;

the port A of the third working module B is connected with the port V1 of the bidirectional hydraulic lock A, and the port B of the third working module B is connected with the port V2 of the bidirectional hydraulic lock B; a C1 port of the bidirectional hydraulic lock A is connected with a rodless cavity of the left posture adjusting hydraulic cylinder, and a C2 port of the bidirectional hydraulic lock A is connected with a rod cavity of the left posture adjusting hydraulic cylinder; the left attitude adjusting hydraulic cylinder is connected between the dredging machine and the rack, and realizes pitching adjustment of the dredging machine;

the port B of the fourth working module B is connected with the port V2 of the bidirectional hydraulic lock B; a port C1 of the bidirectional hydraulic lock B is connected with a rodless cavity of the right posture adjusting hydraulic cylinder, and a port C2 of the bidirectional hydraulic lock B is connected with a rod cavity of the right posture adjusting hydraulic cylinder; the right attitude adjusting hydraulic cylinder is connected between the dredging machine and the rack, and realizes pitching adjustment of the dredging machine;

the Ls port of the multi-way valve B is blocked, the P port of the multi-way valve B is connected with the oil supply port B, and the T port of the multi-way valve B is connected with the oil return port C.

Further, an L port of the brake valve is connected with an oil discharge port C of the valve block, a P port of the brake valve is connected with an oil supply port C of the valve block, a Pb port of the brake valve is connected with a Pb port of the right-side walking motor and a Pb port of the left-side walking motor, and a T port of the brake valve is connected with an oil return port D.

The invention has the beneficial effects that:

1. can suspend underwater under the condition of soft silted soil and undisturbed soil to stably carry out desilting operation

2. Can submerge into the water bottom for dredging operation, and can flexibly enter narrow spaces such as wharf pile groups and the like.

3. Can suspend underwater under the condition of soft silted soil and undisturbed soil, and stably carry out dredging operation.

4. The device is used for dredging the silted soil and undisturbed soil at the rear and below the port and wharf, can submerge for operation, and has the advantages of dredging amount reaching more than 150 cubic meters per hour, stable power and stable control.

Drawings

FIG. 1 is a perspective view of an angle of the present invention.

Fig. 2 is a perspective view of another angle of the present invention.

Fig. 3 is a side view of the present invention.

Fig. 4 is a schematic structural view of the dredging machine.

Fig. 5 is a schematic structural diagram of a first buoyancy mechanism of the dredging robot.

FIG. 6 is a schematic diagram of the internal structure of the first buoyancy mechanism box of the dredging robot.

Fig. 7 is a schematic structural diagram of a dredging robot provided with a second type of buoyancy mechanism.

Fig. 8a is a schematic view of the second buoyancy mechanism airbag filling state.

FIG. 8b is a schematic diagram of the second buoyancy mechanism bladder in a no-pressure state.

Fig. 9 is a perspective view of the control system of the dredging robot at one angle.

Fig. 10 is a perspective view of another angle of the dredging robot control system.

Fig. 11 is an internal structure schematic diagram of the dredging robot control system.

Fig. 12 is a perspective view of the dredging robot valve block at an angle.

Fig. 13 is a perspective view of another angle of the dredging robot valve block.

Fig. 14 is a piping diagram of a hydraulic system of the dredging robot valve block.

FIG. 15 is a piping diagram of a hydraulic system of a brake valve of the dredging robot.

Fig. 16 is a piping diagram of a hydraulic system of the dredging robot multi-way valve B.

Fig. 17 is a piping diagram of a hydraulic system of the dredging robot multi-way valve a.

Description of reference numerals:

in FIGS. 1-7: 1. a frame; 101. a dredging machine mounting part; 2. dredging machines; 201. dredging a reamer; 202. a knife cover; 203. a mud pipe interface; 205. a soil crushing and collecting part; 206. a support arm; 3. a movable support arm; 4. a migration mechanism; 41. a driving wheel; 42. a loading wheel; 43. an inducer; 44. a belt supporting wheel; 45. a flexible track; 5. a buoyancy mechanism; 501. a box body; 502. a sealable chamber; 503. a partition plate; 504. (ii) a A connecting portion; 505. an inflation inlet; 506. a water charging and discharging port; 507. a floating plate group; 508. a buoyancy unit; 509. a cage; 6. a control system; 601. a barrel; 602. a first end cap; 603. a second end cap; 604. a cantilever; 605. a multi-way valve A; 606. A multi-way valve B; 607. a hydraulic lock; 608. a multi-way valve controller; 609. a valve block; 609-1, a main oil supply port; 609-1A, an oil supply port A;609-1B, an oil supply port B;609-1C, an oil supply port C;609-2, a main oil return port; 609-2A and an oil return port A;609-2B and an oil return port B;609-2C and an oil return port C;609-2D, an oil return port D;609-3, a main oil discharge port; 609-3A, an oil discharge port A; 609-3B, an oil discharge port B;609-3C, an oil discharge port C;609-4, a fabrication hole; 609-5, mounting a threaded hole; 610. passing a plate joint; 611. a sonar bracket; 612. a single-beam sonar; 613. a pressure sensor; 614. an IMU; 615. a control component; 616. a sealing groove; 7. connecting a mud conveying pipe; 8. a dredging pump.

In FIGS. 9-12: (1) a transition joint; (2) a brake oil outlet pipe; (3) passing through a plate joint; (4) a brake loop oil return pipe; (5) a brake oil discharge loop oil pipe; (6) a brake pressure oil pipe; (7) the PVG32 controls the oil return line; (8) a PVG32 pressure oil line; (9) a PVG32 return line; (10) a transition joint; (11) a transition joint; (12) passing through a plate joint; (13) an oil supply pipeline of a traveling motor in the control box; (14) an oil supply pipeline of the walking motor outside the control box; (15) a transition joint; (16) a transition joint; (17) a walking motor oil return pipe; (18) a transition joint; (19) a transition joint; (20) a walking motor brake control oil distribution way; (21) a walking motor displacement control oil distribution way; (22) a transition joint; (23) controlling an attitude adjusting hydraulic cylinder working oil circuit A in the box; (24) passing the plate joint; (25) controlling an attitude adjusting hydraulic cylinder working oil way B in the box; (26) controlling the outer posture of the box to adjust a working oil way of the hydraulic cylinder; (27) an exhaust pressure tap; (28) none; (29) an LS valve block connecting pipeline; (30) the PVG100 valve block controls an oil return line; (31) heavy duty SAE11/4 split flange; (32) heavy duty flange joints; (33) PVG100 pressure oil line; (34) a transition joint; (35) PVG100 return line 1; (36) PVG100 return line 2; (37) a three-way transition joint; (38) a transition joint; (39) a transition joint; (40) a transition joint; (41) a spiral reamer pressure oil way; (42) passing the plate joint; (43) a three-way joint; (44) a pressure oil way of the spiral reamer A; (45) a pressure oil way of the spiral reamer B; (46) a three-way joint; (47) valve block B oil drainage pipeline 2; (48) a transition joint; (49) the valve block B oil drainage pipeline 3; (50) a valve block B oil drainage pipeline 1; (51) a transition joint; (52) a transition joint; (53) the valve block B oil drainage pipeline 4; (54) valve block B drain line 5; (55) a transition joint; (56) none; (57) a transition joint; (58) a transition joint; (59) a transition joint; (60) a transition joint; (61) a transition joint; (62) a walking motor oil drainage pipeline; (63) a transition joint; (64) a transition joint; (65) a brake pressure line; (66) a transition joint; (67) the traveling motor displacement control oil pipeline; (68) a transition joint; (69) the pressure pipeline of the motor of the desilting pump controls the indoor section; (70) passing the plate joint; (71) the control chamber outer section of the motor pressure pipeline of the dredging pump; (72) none; (73) a three-way transition joint.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood 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 derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the orientations or positional relationships indicated as the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., appear based on the orientations or positional relationships shown in the drawings only for the convenience of describing the present invention and simplifying the description, but not for indicating or implying that the referred devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third," if any, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" should be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Dredging robot

The dredging robot in the invention is an operating robot which can submerge into the sea water or the lake or river water to carry out the dredging operation of silting soil and crushing and extracting original state soil from the original position.

A dredging robot, comprising: the device comprises a rack 1, wherein a transfer mechanism 4, a dredging machine 2 and a control system 6 are arranged on the rack 1; the transfer mechanism 4 is arranged below the frame 1, and the dredging machine 2 is arranged at the front end of the frame 1;

the transfer mechanism 4 realizes the movement of the equipment from one place to another place;

the silt remover 2 realizes the crushing, gathering and clearing of the silted soil and/or undisturbed soil from the current area; the dredging reamer of the dredging machine and undisturbed soil and/or deposited soil are subjected to a shearing action;

the control system 6 sends a control command to the transfer mechanism 4 and the dredging mechanism 2 and controls the operation thereof.

In some embodiments, the control system 6 includes a protective shell, a hydraulic control component 615 and an electric control component are disposed inside the protective shell, the protective shell includes a cylinder 601, a first end cap 602 and a second end cap 603, the two end caps are respectively connected with the cylinder 601 in a sealing manner, the first end cap 602 is used for mounting the hydraulic control component, and the second end cap 603 is used for mounting the electric control component;

the hydraulic control assembly comprises a valve block 609, a multi-way valve controller 608 and a hydraulic lock 607, wherein the valve block 609 is arranged on a first end cover 602, a suspension beam assembly is arranged on the first end cover 602, the suspension beam assembly comprises a plurality of suspension arms 604, the first ends of the suspension arms 604 are fixed with the first end cover 602, and the second ends of the suspension arms 604 are suspended, which means that the suspension arms are not in contact with the cylinder 601 and/or the second end cover 603; the multi-way valve, the multi-way valve controller 608 and the hydraulic lock 607 are fixed on the cantilever assembly through respective mounting brackets, and the multi-way valve, the multi-way valve controller 608 and the hydraulic lock 607 are positioned in the cylinder 601; the outer end face of the valve block 609 exposed outside the protective shell is provided with a main oil supply port 609-1 and a main oil return port 609-2, a driving liquid medium enters from the main oil supply port 609-1, the driving liquid medium is output from the main oil return port 609-2, and the main oil supply port 609-1 and the main oil return port 609-2 are respectively arranged on two sides of a reference plane by taking the central plane of the robot in the width direction as the reference plane. When the main oil supply port 609-1 and/or the main oil return port 609-2 do not intersect with the reference plane, the main oil supply port 609-1 and the main oil return port 609-2 are respectively arranged on two sides of the reference plane. When the main oil supply port 609-1 and/or the main oil return port 609-2 intersect the reference plane, the center of the main oil supply port 609-1 and the center of the main oil return port 609-2 are on both sides of the reference plane, respectively. The hydraulic driving dredging robot has stable power and stable control, and can provide continuous and stable power with dredging amount of more than 150 cubic meters per hour for the dredging robot.

In some embodiments, the inner end surface of the valve block 609 in the protective shell is provided with a plurality of sub oil return ports and a plurality of sub oil supply ports, all the sub oil return ports are respectively connected with the main oil return port 609-2 through respective oil return passages, and all the sub oil supply ports are respectively connected with the main oil supply port 609-1 through self passages; the sub oil return port is positioned on the same side, the sub oil supply port is positioned on the same side, and the sub oil return port and the sub oil supply port are positioned on two sides of the reference surface.

In some embodiments, the valve block 609 is provided with a main oil discharge port 609-3 and a sub oil discharge port, the main oil discharge port 609-3 is located on the outer end face of the valve block 609, a side connection face is arranged between the inner end face and the outer end face of the valve block 609, and the sub oil discharge port is respectively arranged on the connection face and the inner end face; each sub oil discharge port is connected with the main oil discharge port 609-3 through an oil discharge passage.

As shown in fig. 8 to 9, in some embodiments, the control system 6 includes a protective casing, a hydraulic control component 615 and an electric control component are disposed inside the protective casing, the protective casing includes a cylinder 601, a first end cap 602 and a second end cap 603, and the two end caps are respectively connected to the cylinder 601 in a sealing manner; a sonar bracket 611 is arranged at the top of the first end cover 602, and a single-beam sonar 612 is arranged on the sonar bracket 611; an IMU614 is arranged at the bottom of the cylinder body 601, and a pressure sensor 613 is arranged at the top of the cylinder body 601 close to the sonar support 611;

as shown in fig. 11 to 16, an oil supply passage, an oil return passage and an oil discharge passage are arranged in the valve block 609, the oil supply passage is formed by communicating an oil supply port a609-1A, an oil supply port B609-1B, an oil supply port C609-1C and a main oil supply port 609-1, wherein the oil supply port a609-1A is connected with a multi-way valve a060, and the multi-way valve a606 is connected with a dredging pump motor, a helical reamer motor a and a helical reamer motor B to provide power required by the dredging pump, the helical reamer a and the helical reamer B; the oil supply port B is connected with a multi-way valve B, and the multi-way valve B605 is connected with a left walking motor, a right walking motor, a left posture adjusting hydraulic cylinder and a right posture adjusting hydraulic cylinder to provide power required by walking and posture adjustment; the oil supply port C is connected with a brake valve and provides power required by the brake valve; the main oil supply port is connected with an external hydraulic power system to provide power for the whole device; the oil return channel is formed by communicating an oil return port A, an oil return port B, an oil return port C, an oil return port D and a main oil return port; the oil return port A and the oil return port B are oil return channels of the multi-way valve A, the oil return port C is an oil return channel of the multi-way valve B, the main oil return port is an oil return channel of the whole system, and hydraulic oil returns to an oil tank of the hydraulic power system through the main oil return port.

In some embodiments, the multiplex valve a606 includes two work modules a in parallel, referred to as a first work module a and a second work module a, respectively;

In some embodiments, the multi-way valve B comprises four working modules B connected in parallel, which are respectively referred to as a first working module B, a second working module B, a third working module B and a fourth working module B; the port A of the first working module B is connected with the port A of the left walking motor of the migration mechanism, and the port B of the first working module B is connected with the port B of the left walking motor of the migration mechanism;

the port A of the second working module B is connected with the port A of the right walking motor of the migration mechanism, and the port B of the second working module B is connected with the port B of the right walking motor of the migration mechanism; the T port of the right walking motor is connected with the T port of the left walking motor and then connected with the oil discharge port A; the Pb port of the right walking motor is connected with the Pb port of the left walking motor and then connected with the Pb port of the brake valve, and the Ps port of the right walking motor is connected with the Ps port of the left walking motor and then connected with a brake displacement control oil distribution path of the walking motor;

the port A of the third working module B is connected with the port V1 of the bidirectional hydraulic lock A, and the port B of the third working module B is connected with the port V2 of the bidirectional hydraulic lock B; the C1 port of the bidirectional hydraulic lock A is connected with the rodless cavity of the left posture adjusting hydraulic cylinder, and the C2 port of the bidirectional hydraulic lock A is connected with the rod cavity of the left posture adjusting hydraulic cylinder; the left attitude adjusting hydraulic cylinder is connected between the dredging machine and the rack, and realizes pitching adjustment of the dredging machine;

the port B of the fourth working module B is connected with the port V2 of the bidirectional hydraulic lock B; a port C1 of the bidirectional hydraulic lock B is connected with a rodless cavity of the right posture adjusting hydraulic cylinder, and a port C2 of the bidirectional hydraulic lock B is connected with a rod cavity of the right posture adjusting hydraulic cylinder; the right attitude adjusting hydraulic cylinder is connected between the dredging machine and the rack, and realizes the pitching adjustment of the dredging machine;

An L port of the brake valve is connected with an oil discharge port C of the valve block, a P port of the brake valve is connected with an oil supply port C of the valve block, a Pb port of the brake valve is connected with a Pb port of the right-side walking motor and a Pb port of the left-side walking motor, and a T port of the brake valve is connected with an oil return port D.

In some embodiments, a dredging tool comprises a dredging reamer 201, a cutter cover 202, a mud pipe interface 203 and a driving motor 204; the dredging reamer 201 is provided with a main shaft and a mud guide plate which is arranged concentrically with the main shaft, and the mud guide plate is spirally arranged along the outer end face of the main shaft; the cutter cover 202 is provided with two end plates and a cutter cover housing connected with the two end plates, two ends of a main shaft of the dredging reamer 201 are respectively supported by the end plates of the cutter cover 202, the driving motor 204 is arranged on the end plates, and the mud conveying pipe interface 203 is arranged on the cutter cover housing; the ratio of the pitch of the mud guide plate to the minimum distance from the outer edge of the mud guide plate to the inner wall of the cutter cover shell is 50. The dredging machine can carry out quantitative automatic cleaning construction on underwater deposited soil and/or undisturbed soil in a designated area, has controllable dredging quality, and can provide the capability of crushing the deposited soil and the undisturbed soil with the dredging amount reaching more than 150 cubic meters per hour for a dredging robot.

During underwater dredging operation, the driving motor 204 drives the main shaft to rotate, and the mud guide plate arranged along the outer thread of the main shaft shears the deposited soil and/or undisturbed soil and gathers the soil in the cutter cover shell area through rotary cutting motion, so that the sheared soil or mud is conveniently removed. Lead mud board and the cooperation of sword cover shell, can cut up silt and/or original state soil fast, avoid appearing leading mud board, main shaft card again and die, guarantee simultaneously that can realize gathering of hack (silt) through the venturi effect between main shaft, leading mud board and the sword cover, improve hack and desilting efficiency. The main shaft has controllable rotating speed, controllable pitch and thread height of the mud guide plate, controllable dredging efficiency, controllable dredging area, controllable dredging depth (dredging amount) and dredging quality.

In some embodiments, the mud guide plate has two sections, a first section mud guide plate and a second section mud guide plate, the spiral directions of the two sections mud guide plates are opposite, a distance is formed between the first section mud guide plate and the second section mud guide plate, the distance forms a soil crushing and gathering part 205, and the soil crushing and gathering part 205 is in the coverage area of the mud conveying pipe interface 203.

During dredging, the two sections of mud guide plates rotate, soil is sheared while the soil is sent from outside to inside, and the soil is gathered to the soil gathering part and then is cleared from the mud conveying pipe connector.

In some embodiments, the ratio of the minimum width of the soil-crushing gathering portion 205 to the minimum distance from the outer edge of the mud guide plate to the inner wall of the blade housing is 55. The desilting reamer 201 operates underwater, silted soil and/or undisturbed soil are rotationally cut at one side of the mud guide plate, the crushed soil forms a mud-water mixture in water, a main shaft of the desilting reamer rotates under the driving of the driving motor, the crushed soil collecting part 205, the mud guide plate and the cutter cover shell act together, the granularity of the mud-water mixture is proper, the condition that the desilting reamer is stuck basically cannot occur, and the mud-water mixture is collected to the crushed soil collecting part under the Venturi effect and is discharged from the mud conveying pipe connector 203.

In some embodiments, the soil crushing and collecting part 205 is aligned with the main shaft, and the two mud guide plates are symmetrically arranged about a central plane of the main shaft, which is a central plane of the main shaft in the length direction and perpendicular to the main shaft.

In some embodiments, the two sections of mud guide plates are respectively arranged on two sides of the axis of the main shaft by taking the axis of the main shaft as a reference, the cutter cover shell is arranged above the axis, and the two sections of mud guide plates are arranged below the axis. The crushed soil collects below the mud pipe interface 203 and has a tendency to flow in the direction of the mud pipe interface 203.

In some embodiments, the area between the two end plates of the blade housing 202 includes a blade housing and an open portion, the blade housing and open portion forming an area enclosing the desilting reamer 201 therein, the ratio of the central angle covered by the blade housing to the central angle covered by the open portion is 0.9 to 1.1. During dredging, the cutter cover shell covers the operation area of the dredging reamer 201. Under the matching of the static cutter cover shell and the rotating dredging reamer 201, the mud-water mixture forms a flow field under the driving of the dredging reamer 201 and converges to the soil crushing collecting part and the mud conveying pump interface.

In some embodiments, the blade housing has a fan-shaped cross section, and the blade housing has a cavity connected to the mud pipe connector 203, the cavity being cut from the blade housing in the cross section and having a pair of front and rear plates perpendicular to the blade housing, a pair of left and right plates, and a top plate connecting the front, rear, left and right plates, the top plate having a through hole connected to the mud pipe connector 203. This cavity buffers the mud-water mixture.

In some embodiments, the left side plate and the right side plate are respectively provided with a straight plate section and an inclined plate section, the straight plate section is connected with the cutter cover shell, the bottom of the straight plate section is provided with a circular arc-shaped groove, and the minimum distance between the groove wall and the outer edge of the mud guide plate is equal to the minimum distance between the inner end surface of the cutter cover shell and the outer edge of the mud guide plate.

In some embodiments, the cavity is aligned with the cutter housing and the mud pipe interface is aligned with the cavity; the outer end faces of the four side plates of the cavity are respectively provided with a ribbed plate, a first side of the ribbed plate and a side plate vector, and a second side of the ribbed plate and the knife cover shell.

In some embodiments, two ends of the knife cover casing are respectively connected with the end plates, two sides of the knife cover casing are respectively provided with an extending plate extending outwards, the extending plate on the upper side extends obliquely upwards, and the extending plate on the lower side extends obliquely downwards.

In some embodiments, the cutter cover housing is provided with a pair of support arms 206, the two support arms 206 are arranged on two sides of the mud conveying pipe connector 203, each support arm 206 is provided with two connecting holes, the distance from the first connecting hole to the outer end face of the cutter cover housing is greater than the distance from the second connecting hole to the outer end face of the cutter cover housing, and three points connecting the centers of the first connecting hole, the second connecting hole and the center of the cutter cover housing form a triangle. Therefore, when the connecting hole is connected with the mechanism for driving the dredging machine, the dredging machine is firmly supported by utilizing the stability of the triangle. And, because the position setting of first connecting hole and second connecting hole can realize the every single move of dredging machine and adjust.

The dredging machine can be assembled on a dredging ship, and also can be assembled on a dredging robot which can submerge into the water bottom to carry out underwater operation.

In some embodiments, one drive motor 204, i.e., helical reamer motor a and helical reamer motor B, is provided on each end plate of the cutter housing 202, with the output torque of the two drive motors being the same and the rotational directions being opposite. Therefore, the balance of the dredging machine is realized, and the operation torque of the dredging reamer is increased.

In some embodiments, a dredging robot, comprising: the machine comprises a frame 1, wherein a transfer mechanism 4, a dredging machine 2 and a control system 6 are arranged on the frame 1; the shifting mechanism 6 is arranged below the frame, and the silt remover 2 is arranged at the front end of the frame;

the migration mechanism 4 realizes the movement of the equipment from one place to another place;

the silt remover 2 realizes the crushing, gathering and clearing of the silted soil and/or undisturbed soil from the current area;

the control system 6 sends control instructions to the transfer mechanism 4 and the dredging machine 2 and controls the operation of the transfer mechanism and the dredging machine;

the ratio of the height of the bottom of the frame 1 of the dredging robot to the height of the dredging robot is 0.06-0.12. The dredging robot has enough obstacle-crossing height, and the anti-silting performance of the dredging robot in the environment of silted soil or undisturbed soil is improved. The dredging robot can submerge into the water bottom to conduct dredging operation, and can flexibly enter narrow spaces such as wharf piles to conduct operation.

In some embodiments, the left side and the right side of the frame 1 are respectively provided with a transfer mechanism mounting part, and the front end of the frame is a dredging machine mounting part 101; the silt remover installation part 101 is provided with a movable support arm 3 and a fixed support arm, and the movable support arm is arranged on the fixed support arm;

the movable support arm comprises a first support arm and a first support arm seat, the first support arm seat is fixed with the silt remover mounting part 101, one end of the first support arm is connected with the first support arm seat, the first support arm has rotational freedom relative to the first support arm seat, the other end of the first support arm is connected with the silt remover, the first support arm has rotational freedom relative to the silt remover, the first support arm is provided with a first arm and a second arm, and the first arm and the second arm can move relatively to complete the extension and retraction of the first support arm;

the fixed support arm comprises a second support arm and a pin shaft, the pin shaft is connected with the dredging machine, and the dredging machine has rotational freedom degree relative to the pin shaft;

the center plane of the frame 1 in the height direction is used as a second reference plane, the movable arm is positioned above the second reference plane, and the transfer mechanism mounting portion is positioned below the second reference plane.

Therefore, the balance of the dredging robot in operation can be kept, and pitching adjustment of the dredging machine is achieved.

In some embodiments, the dredging machine adopts the solution provided by the first aspect of the present invention, there are a pair of movable support arms 3, and a pair of fixed support arms; taking the central plane of the frame 1 in the width direction as a third reference plane, the movable support arm 3 is symmetrically arranged relative to the third reference plane, and the fixed support arm is symmetrically arranged relative to the third reference plane; strip-shaped connecting pieces are arranged between the second support arm seats of the first support arm seats at the opposite angles. Therefore, the stability and the reliability of the dredging robot during operation are kept.

In some embodiments, the dredging machine is provided with a mud pipe 7 connected to the mud pipe interface 203, a space allowing the mud pipe 7 to pass through is arranged in the dredging machine mounting part 101 and below the diagonal connecting piece, the other end of the mud pipe 7 is connected with a dredging pump 8, and the dredging pump 8 provides negative pressure to enable mud-water mixture in the dredging machine 2 to move in a direction far away from the dredging machine 2 through the mud pipe 7.

In some embodiments, the dredging pump 8 is mounted on the frame 1, the length direction is the front-back direction, the central plane of the length direction is a fourth reference plane, and the dredging tool and the dredging pump are respectively positioned at two sides of the fourth reference plane.

In some embodiments, the plane of the rearmost end of the frame 1 is taken as a fifth reference plane, the fifth reference plane is parallel to the fourth reference plane, and the ratio of the distance from the outlet of the dredging pump 8 to the fourth reference plane to the distance from the outlet of the dredging pump 8 to the fifth reference plane is 1:3 to 2. Therefore, the robot can keep the dredging operation smooth during the dredging operation, and the dredging efficiency is improved.

In some embodiments, the rack 1 includes a carrier frame and a bottom plate, the bottom plate is a plate fixed at the bottom of the carrier frame, and the bottom plate includes a flat plate portion located at the lowest position and a front inclined plate and a rear inclined plate located at the front end and the rear end and respectively extending obliquely upward. During dredging operation, particularly in the environment of soft silt and accumulated soil or undisturbed soil, the supporting force of the robot is increased by using the bottom plate, and the anti-silting and anti-rollover performance of the machine body is improved.

In some embodiments, the base plate is provided with a plurality of holes. On the basis that the bottom plate has enough rigidity, the light weight of the robot is realized by the arrangement of the holes, and the operation performance of the robot in water is favorably improved.

In some embodiments, the carrying frame comprises a main frame formed by welding strip-shaped profiles, and a left wing frame and a right wing frame which are arranged on the left side and the right side of the main frame, wherein a left side migration mechanism mounting part is arranged below the left wing frame, a right side migration mechanism mounting part is arranged below the right wing frame, and the silt remover mounting part 101 is arranged on the main frame or is a part of the main frame; the top of the main frame and the leftmost side of the left wing frame are provided with strip-shaped connecting pieces, and the top of the main frame and the rightmost side of the right wing frame are provided with a strip-shaped connecting piece.

Therefore, the carrying frame can bear various necessary parts of the dredging robot, and the counterweight is reasonable and has good firmness.

In some embodiments, a dredging robot, comprising: the machine comprises a frame 1, wherein a transfer mechanism 4, a dredging machine 2 and a control system 6 are arranged on the frame 1; the transfer mechanism 6 is arranged below the frame 1, and the dredging machine 2 is arranged at the front end of the frame 1;

the silt remover 2 realizes the crushing, gathering and clearing of the silted soil and/or undisturbed soil from the current area; the dredging reamer of the dredging machine 2 performs shearing action with undisturbed soil and/or silted soil;

the control system 6 sends control instructions to the migration mechanism and the dredging mechanism and controls the operation of the migration mechanism and the dredging mechanism;

the rack 1 comprises a carrying frame, the carrying frame comprises a main frame formed by welding strip-shaped profiles, and a left wing frame and a right wing frame which are arranged on the left side and the right side of the main frame, a left side migration mechanism mounting part is arranged below the left wing frame, a right side migration mechanism mounting part is arranged below the right wing frame, and a silt remover mounting part 101 is arranged on the main frame or is a part of the main frame; the top of the main frame and the leftmost side of the left wing frame are provided with strip-shaped connecting pieces, and the top of the main frame and the rightmost side of the right wing frame are provided with a long strip-shaped connecting piece;

the left wing frame and the right wing frame are respectively provided with a buoyancy mechanism 5, the buoyancy mechanism 5 comprises an outer frame and a sealable cavity, and the ratio of the volume of the cavity to the swept volume of the dredging reamer is 0.027-0.0507. Therefore, the underwater minimum ground pressure of the whole robot is controlled within a reasonable range, so that the robot can hover in a specified area when carrying out dredging operation, and the silt sinking prevention performance is improved. The dredging robot can suspend underwater and stably perform dredging operation under the condition of soft silted soil and undisturbed soil.

In some embodiments, the ratio of the volume of the cavity to the swept volume of the desilting reamer 201 is 0.039 to 0.041. At the moment, the minimum underwater grounding specific pressure of the whole robot is controlled to be about 3KPA, so that the robot can be suspended in a specified area during dredging operation, and the anti-silting performance is improved.

The specific structure of a buoyancy mechanism is as follows: the outer frame is a box body 501, the sealable cavity 502 comprises a cavity of a flexible bag and an inner cavity of the box body, the flexible bag is arranged in the box body, the inner cavity of the box body outside the flexible bag is called as an auxiliary cavity, a partition 503 is arranged in the box body, and the partition 503 and a bottom plate or a top plate of the box body jointly act to limit the flexible bag; the outer frame is provided with a connecting portion 504 connected to the frame.

The flexible bag can be filled with water or gas quantitatively, and the auxiliary cavity is filled with air to provide buoyancy for the robot to work underwater. The flexible bag is provided with a water charging and discharging port, and water charging and discharging can share one port or two

ports

505 and 506, so that water charging and discharging of the flexible bag are realized, the underwater buoyancy of the flexible bag is adjusted, and the ground pressure ratio of the robot to the seabed (underwater) mud surface is indirectly adjusted. The partition 503 and the box body 501 play a role in fixing and protecting the flexible bag, and the service life of the flexible bag is prolonged. The air in the bag can be filled and discharged, so that the water and the air in the bag coexist, the self weight of the robot can be changed by adjusting the water quantity, and further the buoyancy of the robot is changed.

In some embodiments, the partition 503 has a plurality of through holes. The existence of the through hole allows the air in the box body to circulate, and the flexible bag is convenient to charge and discharge water.

In some embodiments, the flexible bladder is disposed under the partition 503, and the upper surface or the lower surface of the partition 503 is provided with a rib, which is disposed along the width direction of the outer frame. The length direction of the outer frame is consistent with the length direction of the robot, and the width direction of the outer frame is consistent with the width direction of the robot.

In some embodiments, the outer frame is a framework formed by connecting strip-shaped connecting pieces, and floating plate groups 507 are arranged on the outer frame, and the outer frame is wrapped in the floating plate groups 507. The floating plate group 507 has a plurality of floating plates, and the floating plate 507 is a plate-like object made of corrosion-resistant flexible material (e.g., foam plate) having a density lower than that of water. The floating plate set 507 provides buoyancy, and also protects the buoyancy mechanism from rigid collision.

The other buoyancy mechanism has the specific structure that: the buoyancy mechanism comprises a plurality of buoyancy units 508, each buoyancy unit 508 is provided with a respective outer frame and a flexible bag, the outer frame is a hollow cage 509, and the flexible bags are arranged in the outer frame; the left buoyancy mechanism and the right buoyancy mechanism have the same number of buoyancy units and the same layout; the outer frames of the buoyancy units at the bottom are provided with connecting parts connected with the frame, and the outer frames of the adjacent buoyancy units of the buoyancy mechanisms at the same side are connected with each other. Therefore, when the flexible bag is used for buoyancy adjustment, the weight reduction of the robot is realized, and the reduction of the ground pressure of the robot is facilitated.

In some embodiments, the flexible bag is an air bag, the air bag is provided with an air charging and discharging port, the air charging and discharging port shares one interface, or the air charging port is one interface, and the air discharging port is the other interface; the outer frame is provided with an air inflation and deflation pipeline installation part, an air inflation and deflation port is connected with the pipeline, the pipeline extends to the outside of the outer frame through the installation part, and the installation part is used for limiting the pipeline. The inflation and deflation ports of the air bags are connected with an air compressor on the water surface through pipelines to realize inflation and deflation, and the buoyancy adjustment of the robot is realized. The mutual restriction of the air charging and discharging port and the outer frame ensures that the buoyancy mechanism is reasonable in layout on the whole robot, and is beneficial to the stable operation of the robot during underwater desilting operation. Here, the opening in the airbag is referred to as an inflation/deflation port, and the passage for transporting gas connected to the opening in the airbag is collectively referred to as a pipe.

In some embodiments, the outer frame includes a cylindrical cage body, and a front end cap and a rear end cap provided at both ends of the cage body, and the mounting portion of the air charging/discharging port is provided at the rear end cap. The pipeline extends outwards from the rear end of the robot, so that the pipeline is stably connected and does not interfere with underwater dredging operation.

In some embodiments, the cage body is a hollowed-out metal piece, the front end cover is a hollowed-out metal piece, and the rear end cover is a hollowed-out metal piece; the connecting pieces between the adjacent buoyancy units are hollow metal pieces. And on the basis of ensuring the rigidity and the connection reliability of the robot, the weight reduction is realized.

A concrete structure of a migration mechanism is as follows: the transfer mechanism 4 comprises a driving wheel 41, a loading wheel 42, an inducer 43, a carrier roller 44 and a flexible crawler 45 surrounding the driving wheel, the loading wheel, the driven wheel and the carrier roller, wherein the outer end surface of the flexible crawler is provided with grounding teeth, the inner end surface of the flexible crawler is provided with driving teeth, and the driving teeth are respectively in meshing transmission with the driving wheel, the loading wheel, the inducer and the carrier roller; the grounding area of the transfer mechanism 4 is large, and walking on soft mud is facilitated.

In some embodiments, a connecting line of the wheel center of the driving wheel and the wheel center of the driven wheel is taken as a reference line, the belt supporting wheels are arranged above the reference line, the bogie wheels are arranged below the reference line, at least two belt supporting wheels are arranged, and the connecting line of the wheel centers of the belt supporting wheels is parallel to the reference line; the bogie wheel has a plurality of bogie wheels, and the connecting line of the wheel centers of the bogie wheels is parallel to the reference line.

In some embodiments, the ratio of the distance of adjacent idler wheels to the distance of adjacent road wheels is: 2, 2-2: 1.

the invention aims to provide a dredging robot which is used for dredging deposited soil and undisturbed soil at the rear and the lower part of a port wharf, can submerge into the underwater operation, has stable power and stable control, and the dredging amount reaches more than 150 cubic meters per hour.

A dredging robot, an anti-silting dredging robot, comprising: the machine comprises a machine frame 1, wherein a transfer mechanism 4, a dredging machine 2 and a control system 6 are arranged on the machine frame 1; the transfer mechanism 4 is arranged below the frame, and the dredging machine is arranged at the front end of the frame;

the control system 6 sends control instructions to the transfer mechanism 4 and the dredging mechanism 2 and controls the operation of the transfer mechanism and the dredging mechanism; the control system 6 comprises a protective shell, a hydraulic control assembly and an electric control assembly 615 are arranged in the protective shell, the protective shell comprises a cylinder body, a first end cover and a second end cover, the two end covers are respectively connected with the cylinder body in a sealing mode, the first end cover is used for installing the hydraulic control assembly, and the second end cover is used for installing the electric control assembly;

the hydraulic control assembly comprises a valve block 609, a multi-way valve controller and a hydraulic lock, wherein the valve block is arranged on a first end cover, a cantilever assembly is arranged on the first end cover and comprises a plurality of cantilevers, the first ends of the cantilevers are fixed with the first end cover, the second ends of the cantilevers are suspended, and the suspended fingers are not in contact with the cylinder body and/or the second end cover; the multi-way valve, the multi-way valve controller and the hydraulic lock are fixed on the cantilever assembly through respective mounting brackets, and the multi-way valve, the multi-way valve controller and the hydraulic lock are positioned in the cylinder; the outer end face of the valve block exposed outside the protective shell is provided with a main oil supply hole 609-1 and a main oil return hole 609-2, a driving liquid medium enters from the main oil supply hole 609-1, the driving liquid medium is output from the main oil return hole, and the main oil supply hole and the main oil return hole are respectively arranged on two sides of the reference plane by taking the central plane of the robot in the width direction as the reference plane. When the main oil supply port and/or the main oil return port do not intersect with the reference plane, the main oil supply port 609-1 and the main oil return port 609-2 are respectively arranged on two sides of the reference plane. When the main oil supply port and/or the main oil return port intersect the reference plane, the center of the main oil supply port 609-1 and the center of the main oil return port 609-2 are respectively on both sides of the reference plane.

In some embodiments, the valve block 609 is provided with a main oil discharge port and a sub oil discharge port, the main oil discharge port 609-3 is located on the outer end face of the valve block, a side connection face is arranged between the inner end face and the outer end face of the valve block 609, and the sub oil discharge port is respectively arranged on the connection face and the inner end face; each sub oil discharge port is connected with the main oil discharge port through an oil discharge channel.

The embodiments of the invention can be used as independent technical schemes, and can also be combined with each other to form a combined technical scheme.

The embodiments described in this specification are merely illustrative of implementations of the inventive concept and the scope of the present invention should not be considered limited to the specific forms set forth in the embodiments but rather by the equivalents thereof as would be known to those skilled in the art based on the teachings herein.

Claims

1. The utility model provides a hydraulic drive's desilting robot which characterized in that: the device comprises a rack, wherein a transfer mechanism, a dredging machine and a control system are arranged on the rack; the shifting mechanism is arranged below the frame, and the dredging machine is arranged at the front end of the frame;

the silt remover realizes the crushing, gathering and clearing of the deposited soil and/or undisturbed soil from the current area; the dredging reamer of the dredging machine and undisturbed soil and/or deposited soil are subjected to a shearing action;

the control system sends control instructions to the migration mechanism and the dredging mechanism and controls the operation of the migration mechanism and the dredging mechanism; the control system comprises a protective shell, a hydraulic control assembly and an electric control assembly are arranged in the protective shell, the protective shell comprises a cylinder body, a first end cover and a second end cover, the two end covers are respectively connected with the cylinder body in a sealing mode, the first end cover is used for installing the hydraulic control assembly, and the second end cover is used for installing the electric control assembly;

the hydraulic control assembly comprises a valve block, a multi-way valve controller and a hydraulic lock, wherein the valve block is arranged on a first end cover, a cantilever beam assembly is arranged on the first end cover and comprises a plurality of cantilevers, the first ends of the cantilevers are fixed with the first end cover, and the second ends of the cantilevers are suspended, wherein the suspension does not contact with the cylinder body or the second end cover; the multi-way valve, the multi-way valve controller and the hydraulic lock are fixed on the cantilever assembly through respective mounting brackets, and the multi-way valve, the multi-way valve controller and the hydraulic lock are positioned in the cylinder; the outer end face of the valve block, which is exposed outside the protective shell, is provided with a main oil supply port and a main oil return port, a driving liquid medium enters from the main oil supply port, the driving liquid medium is output from the main oil return port, and the main oil supply port and the main oil return port are respectively arranged on two sides of a reference plane by taking the central plane of the robot in the width direction as the reference plane; when the main oil supply port and/or the main oil return port do not intersect with the reference surface, the main oil supply port and the main oil return port are respectively arranged on two sides of the reference surface; when the main oil supply port and/or the main oil return port intersect with the reference surface, the center of the main oil supply port and the center of the main oil return port are respectively arranged on two sides of the reference surface.

2. A hydraulically driven desilting robot as recited in claim 1, wherein: the inner end face, positioned in the protective shell, of the valve block is provided with a plurality of sub oil return ports and a plurality of sub oil supply ports, all the sub oil return ports are respectively connected with the main oil return port through respective oil return channels, and all the sub oil supply ports are respectively connected with the main oil supply port through self supply channels; the sub oil return port is located on the same side, the sub oil supply port is located on the same side, and the sub oil return port and the sub oil supply port are located on two sides of the reference surface.

3. A hydraulically driven desilting robot as recited in claim 2, wherein: the valve block is provided with a main oil discharging port and a sub oil discharging port, the main oil discharging port is positioned on the outer end face of the valve block, a side connecting face is arranged between the inner end face and the outer end face of the valve block, and the sub oil discharging ports are respectively arranged on the connecting face and the inner end face; each sub oil discharge port is connected with the main oil discharge port through an oil discharge channel.

4. A hydraulically driven desilting robot as recited in claim 3, wherein: the inner end face of the valve block is provided with four sub oil return ports and three sub oil supply ports, the four sub oil return ports are respectively called an oil return port A, an oil return port B, an oil return port C and an oil return port D, and the three sub oil supply ports are respectively called an oil supply port A, an oil supply port B and an oil supply port C;

the valve block is provided with three sub oil discharging ports which are respectively called an oil discharging port A, an oil discharging port B and an oil discharging port C, the oil discharging port A and the oil discharging port B are positioned on the connecting surface of the valve block, and the oil discharging port C is positioned on the inner end surface of the valve block.

5. A hydraulically driven desilting robot as claimed in claim 4, wherein: the multi-way valve A comprises two working modules A which are connected in parallel, and the two working modules A are respectively called a first working module A and a second working module A;

the pipeline A is provided with a three-way joint A, and the third end of the three-way joint A is connected with an oil outlet of a spiral reamer motor B of the dredging machine; a three-way joint B is arranged on the pipeline B, and the third end of the three-way joint B is connected with an oil inlet of a spiral reamer motor B of the dredging machine; an oil drainage port of a spiral reamer motor B of the dredging machine is connected with an oil discharge port B; the rotation directions of the spiral reamer motor A and the spiral reamer motor B are opposite, so that soil crushing and dredging of a dredging machine are realized;

the Ls port of the multi-way valve A is connected with the Lx port of the multi-way valve B, the T0 port of the multi-way valve A is connected with an oil return pipeline for controlling oil of a valve block of the multi-way valve A, the T1 port of the multi-way valve A is connected with the oil return port A of the valve block, the T2 port of the multi-way valve A is connected with the oil return port B of the valve block, and the P port of the multi-way valve A is connected with the oil supply port A of the valve block.

6. A hydraulically driven desilting robot as claimed in claim 5, wherein: the multi-way valve B comprises four working modules B which are connected in parallel, and the four working modules B are respectively called a first working module B, a second working module B, a third working module B and a fourth working module B; the port A of the first working module B is connected with the port A of the left walking motor of the migration mechanism, and the port B of the first working module B is connected with the port B of the left walking motor of the migration mechanism;

the port A of the third working module B is connected with the port V1 of the bidirectional hydraulic lock A, and the port B of the third working module B is connected with the port V2 of the bidirectional hydraulic lock B; the C1 port of the bidirectional hydraulic lock A is connected with the rodless cavity of the left posture adjusting hydraulic cylinder, and the C2 port of the bidirectional hydraulic lock A is connected with the rod cavity of the left posture adjusting hydraulic cylinder; the left posture adjusting hydraulic cylinder is connected between the dredging machine and the rack, and realizes pitching adjustment of the dredging machine;

the port B of the fourth working module B is connected with the port V2 of the bidirectional hydraulic lock B; the C1 port of the bidirectional hydraulic lock B is connected with the rodless cavity of the right posture adjusting hydraulic cylinder, and the C2 port of the bidirectional hydraulic lock B is connected with the rod cavity of the right posture adjusting hydraulic cylinder; the right attitude adjusting hydraulic cylinder is connected between the dredging machine and the rack, and realizes pitching adjustment of the dredging machine;

7. A hydraulically driven desilting robot as claimed in claim 6, characterized in that: an L port of the brake valve is connected with an oil discharge port C of the valve block, a P port of the brake valve is connected with an oil supply port C of the valve block, a Pb port of the brake valve is connected with a Pb port of the right-side walking motor and a Pb port of the left-side walking motor, and a T port of the brake valve is connected with an oil return port D.