CN211646530U

CN211646530U - Underwater obstacle removing vehicle

Info

Publication number: CN211646530U
Application number: CN201921671263.XU
Authority: CN
Inventors: 程阳锐; 张志成; 郑皓; 贺晓东; 黎宙; 毛桂庭; 唐红平
Original assignee: Changsha Research Institute of Mining and Metallurgy Co Ltd
Current assignee: Changsha Research Institute of Mining and Metallurgy Co Ltd
Priority date: 2019-10-08
Filing date: 2019-10-08
Publication date: 2020-10-09
Anticipated expiration: 2029-10-08

Abstract

The utility model discloses an underwater wrecker, including frame, track actuating mechanism, grab bucket mechanism and rotary platform, track actuating mechanism installs in the both sides of frame, and rotary platform installs on the frame, and grab bucket mechanism installs on the frame, and the grab bucket is installed to grab bucket mechanism's end, still is provided with the storage silo on the frame, is provided with the hydraulic pressure components and parts and the electrical apparatus storehouse of sealed setting on the frame, hydraulic pressure components and parts and electrical apparatus storehouse all with the integrated control room electrical connection in bank. The utility model discloses self-propelled tracked vehicle has bulldozing device and rotatable formula grab bucket, mainly pushes away it to the assigned position through bulldozing the device to general deposit, to bold debris or be not suitable for adopting the grab bucket of pushing away and grab it to the storage silo in, wait to discharge from the storage silo behind the assigned position. The underwater wrecker is connected with a power and control device on the shore through the photoelectric composite cable, can realize remote control and power supply, and has the characteristics of strong environment adaptation capability, high cleaning efficiency and the like.

Description

Underwater obstacle removing vehicle

Technical Field

The utility model belongs to the technical field of equip under water, specifically be an obstacle removing vehicle under water, mainly relate to the clearance of the siltation silt in rivers and lakes, dam or other river system shallow water regions.

Background

Due to the need for flood control and environmental protection, people often dredge silt deposited in rivers, lakes, dams or other water systems. At present, common dredging modes comprise a dredger, a chain bucket dredger, a pump suction dredger and the like, all work by means of shipborne equipment, the equipment is difficult to adapt to terrain change, the shallow water area cannot work effectively, sediment is difficult to clear, and due to the existence of a ship, the dredging mode cannot adapt to the shallow water environment, is inconvenient to transport and has higher operation cost.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an underwater wrecker to solve the above-mentioned problem.

For realizing above-mentioned purpose, the utility model discloses an obstacle removing vehicle under water, including frame, track actuating mechanism, grab bucket mechanism and rotary platform, track actuating mechanism installs the both sides at the frame, rotary platform installs on the frame, grab bucket mechanism installs on the frame, grab bucket is installed to grab bucket mechanism's end, be provided with sealed hydraulic components and parts and the electrical apparatus storehouse that sets up on the frame, hydraulic components and parts and electrical apparatus storehouse all are connected with the integrated control room electricity on the bank to can the remote control operation of removing obstacles, simultaneously, the rubbish of clearance can be placed on the storage silo, is convenient for lean on the bank to transport.

Furthermore, the hydraulic component and the electrical appliance bin are electrically connected with a comprehensive control room on the shore through photoelectric composite cables, and the photoelectric composite cables are coated with buoyancy material layers which can float on the water surface, so that remote power supply and communication control are realized.

Further, still be provided with the storage silo on the frame, the frame rack structure of storage silo for the fretwork can dripdry moisture when the storage.

The underwater bulldozing device comprises a bucket, a bucket connecting rod and a bucket oil cylinder, wherein one end of the bucket connecting rod is hinged to the crawler driving mechanism, the other end of the bucket connecting rod is hinged to the lower end of the bucket, one end of the bucket oil cylinder is hinged to the crawler driving mechanism, and the other end of the bucket oil cylinder is hinged to the upper end of the bucket, so that underwater bulldozing operation is achieved.

Furthermore, the grab bucket is a hydraulically-driven clamping jaw structure which can be opened and closed and can rotate, so that the grabbing flexibility of the grab bucket is improved.

Further, the grab bucket mechanism includes swing arm, swing arm hydro-cylinder, dipper hydro-cylinder and grab bucket hydro-cylinder, the swing arm with the dipper is articulated, the one end of swing arm hydro-cylinder with rotary platform is articulated, the other end with the one end of swing arm is articulated, the one end of dipper hydro-cylinder with the one end of dipper is articulated, the other end with the other end of swing arm is articulated, the one end of grab bucket with the other end of dipper is articulated, the one end of grab bucket hydro-cylinder with the dipper is articulated, the other end with the grab bucket is articulated.

Furthermore, the frame is also provided with a high-precision positioning system and an audio and video acquisition system for detecting the terrain and environment around the underwater obstacle removing vehicle, so that the cleaning operation can be realized according to a preset path.

Further, frame, track actuating mechanism, grab bucket mechanism, rotary platform, storage silo, hydraulic pressure components and parts and electrical apparatus storehouse all adopt modular structure, make things convenient for in the transportation, and can accomplish the assembly rapidly, realize the operation function, very big improvement the work adaptability scope of obstacles removing car under water.

Furthermore, a bearing head used for hoisting and connecting the photoelectric composite cable is arranged above the gravity center of the wrecker.

Further, the downside of storage silo is provided with the hydro-cylinder of unloading, the one end of storage silo downside with the frame is articulated, the other end of storage silo downside with the one end of hydro-cylinder of unloading is articulated, the other end of hydro-cylinder of unloading with the frame is articulated.

Compared with the prior art, the utility model has the advantages of:

the utility model discloses self-propelled tracked vehicle has bulldozing device and rotatable formula grab bucket, mainly pushes away it to the assigned position through bulldozing the device to general deposit, to bold debris or be not suitable for adopting the grab bucket of pushing away and grab it to the storage silo in, wait to discharge from the storage silo behind the assigned position. The underwater wrecker is connected with a power and control device on the shore through the photoelectric composite cable, can realize remote control and power supply, and has the characteristics of strong environment adaptation capability, high cleaning efficiency and the like.

The present invention will be described in further detail below with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification. In the drawings:

fig. 1 is a schematic front view of an underwater wrecker disclosed in a preferred embodiment of the present invention;

fig. 2 is a schematic top view of the underwater wrecker disclosed in the preferred embodiment of the invention;

fig. 3 is a schematic working diagram of the underwater wrecker disclosed by the preferred embodiment of the invention.

Illustration of the drawings:

1. a track drive mechanism; 2. a storage bin; 3. a hydraulic component and an electrical appliance cabin; 4. a grab bucket mechanism; 5. a load bearing head; 6. a dozing device; 7. a grab bucket; 8. a frame; 9. a rotating platform; 10. a bucket; 11. a bucket link; 12. a bucket cylinder; 13. a movable arm; 14. a boom cylinder; 15. a bucket rod; 16. a bucket rod cylinder; 17. a grab bucket cylinder; 18. a comprehensive control room; 19. a photoelectric composite cable; 20. and a discharging oil cylinder.

Detailed Description

The embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways as defined and covered by the claims.

As shown in FIGS. 1-3, the utility model discloses a utility model discloses an underwater wrecker, including frame 8, track actuating mechanism 1, grab bucket mechanism 4 and rotary platform 9, track actuating mechanism 1 installs in the both sides of frame 8 to wrecker has the ability of land and amphibious operation under water, simultaneously, adopts track actuating mechanism 1, and topography strong adaptability. The strong rotation platform 9 of ability of removing obstacles is installed on frame 8, rotation platform 9 is realized through the ring gear of the hydraulic motor drive that installs drive gear through the output shaft and frame 8 rigid coupling, grab bucket mechanism 4 is installed on frame 8, grab bucket 7 is installed to grab bucket mechanism 4's end, grab bucket 7 passes through the cylinder drive switching, still be provided with storage silo 2 on the frame 8, both sides on the frame 8 are provided with sealed hydraulic components and parts and the electrical apparatus storehouse 3 that sets up, all need waterproof hydraulic components and parts and controller etc. all set up wherein, hydraulic components and parts and electrical apparatus storehouse 3 all with the comprehensive control room 18 electrical connection on the bank, thereby, remote control technique, need not artifical scene and control, modernization has, intelligent characteristics. Specifically, the hydraulic component and the electrical equipment bin 3 are electrically connected with an onshore comprehensive control room 18 through a photoelectric composite cable 19, and a buoyancy material layer which is enough to float on the water surface is coated outside the photoelectric composite cable 19, so that the photoelectric composite cable 19 can be prevented from sinking into the water surface and winding and damaging. In addition, the underwater bulldozer comprises a bulldozer device 6 for underwater bulldozer, wherein the bulldozer device 6 comprises a bucket 10, a bucket link 11 and a bucket cylinder 12, one end of the bucket link 11 is hinged with the track driving mechanism 1, the other end of the bucket link is hinged with the lower end of the bucket 10, one end of the bucket cylinder 12 is hinged with the track driving mechanism 1, and the other end of the bucket cylinder is hinged with the upper end of the bucket 10. When the underwater obstacle removing vehicle works, the underwater obstacle removing vehicle mainly drives the underwater obstacle removing vehicle to work through the crawler driving mechanism 1, and meanwhile, power is provided for the operation of the soil shifter 6 of the underwater obstacle removing vehicle. Grab bucket mechanism 4 is for opening and shutting, rotatable clamping jaw structure, can carry out multi freedom's operation, including utilizing grab bucket 7 to grab bold debris or stone to storage silo 2 wherein, after (for example, the bank of keeping to the back) reacing the assigned position, storage silo 2 can utilize hydraulic means to carry out the uninstallation of loaded article, and is specific, the downside of storage silo 2 is provided with unloading hydro-cylinder 20, the one end of storage silo 2 downside is articulated with the frame, the other end of storage silo 2 downside is articulated with the one end of unloading hydro-cylinder 20, the other end and the frame of unloading hydro-cylinder 20 are articulated. When the piston of the discharging oil cylinder 20 is actuated to extend out, the storage bin 2 rotates backwards around the frame 8, and then large sundries or stones in the storage bin are obliquely poured out. The earthmoving means 6 pushes the sludge to a given position, similar to the earthmoving action in an earthmoving machine. The hydraulic components and the electrical appliance bin 3 are composed of an electrical appliance bin on the left side of the frame 8 and a hydraulic valve group box on the right side of the frame 8, a good sealing structure is adopted to prevent external water and impurities from entering, and an installation platform is mainly provided for an electronic control system and a hydraulic system of the vehicle body. The bearing head 5 is used for hoisting the vehicle body and connecting the photoelectric composite cable 8. The integrated control room 10 is typically located onshore and includes an integrated control platform for providing power distribution and personnel for the underwater obstacle-removing vehicle.

In this embodiment, storage silo 2 is the frame rack structure of fretwork to can be timely the water on the driping bulk debris or the stone.

In this embodiment, the grapple mechanism 4 includes a movable arm 13, a movable arm cylinder 14, a bucket rod 15, a bucket rod cylinder 16, and a grapple cylinder 17, where the movable arm 13 is hinged to the bucket rod 15, one end of the movable arm cylinder 14 is hinged to the rotary platform 9, so that the movable arm cylinder 14 drives other components to rotate, and the other end is hinged to one end of the movable arm 13, at this time, the movable arm 13 can swing up and down relative to the rotary platform 9, and one end of the bucket rod cylinder 16 is hinged to one end of the bucket rod 15, and the other end is hinged to the movable arm 13, so that the bucket rod 15 swings up and down around the movable arm 13, one end of the grapple 7 is hinged to the other end of the bucket rod 15, one end of the grapple cylinder 17 is hinged to the bucket rod 15, and the other end is hinged to the grapple 7, so. Meanwhile, a crushing head for crushing is integrated on the grab bucket 7, so that stones which cannot be grabbed by the grab bucket 7 can be firstly crushed. Through many articulated structures, increased the degree of freedom of grapple mechanism 4, enlarged the operating range and the operation precision of grapple mechanism 4.

In this embodiment, the frame 8 is further provided with a high-precision positioning system and an audio/video acquisition system for detecting the terrain and environment around the underwater wrecker, so that the wrecker can be cleaned according to a predetermined path during remote control.

In this embodiment, frame 8, track actuating mechanism 1, grab bucket mechanism 4, rotary platform 9, storage silo 2, hydraulic pressure components and parts and electrical apparatus storehouse 3 all adopt modular structure, and then can fast dress accompany and overhaul, and this is convenient in the transportation to the inconvenient place of traffic, and can accomplish the assembly rapidly, realizes the operation function, very big improvement the work adaptability scope of obstacles removing car under water.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides an underwater wrecker, includes frame (8), track actuating mechanism (1), grab bucket mechanism (4) and rotary platform (9), install track actuating mechanism (1) the both sides of frame (8), rotary platform (9) are installed on frame (8), install grab bucket mechanism (4) on frame (8), its characterized in that, grab bucket (7) are installed to the end of grab bucket mechanism (4), be provided with sealed hydraulic components and parts and electrical apparatus storehouse (3) that set up on frame (8), hydraulic components and electrical apparatus storehouse (3) all with comprehensive control room (18) electrical connection onshore.

2. An underwater wrecker as claimed in claim 1, wherein the hydraulic components and electrical equipment cabin (3) are electrically connected with an onshore comprehensive control room (18) through a photoelectric composite cable (19), and the outside of the photoelectric composite cable (19) is coated with a layer of buoyancy material which is enough to float on the water surface.

3. The underwater wrecker as claimed in claim 1, wherein the frame (8) is further provided with a storage bin (2), and the storage bin (2) is of a hollow frame structure.

4. An underwater wrecker as claimed in claim 3, wherein the lower side of the storage bin (2) is provided with a discharge cylinder (20), one end of the lower side of the storage bin (2) is hinged to the frame (8), the other end of the lower side of the storage bin (2) is hinged to one end of the discharge cylinder (20), and the other end of the discharge cylinder (20) is hinged to the frame (8).

5. An underwater wrecker as claimed in claim 1, further comprising a dozing device (6) for dozing underwater, the dozing device (6) comprising a bucket (10), a bucket link (11) and a bucket cylinder (12), the bucket link (11) having one end hinged to the track drive mechanism (1) and the other end hinged to the lower end of the bucket (10), the bucket cylinder (12) having one end hinged to the track drive mechanism (1) and the other end hinged to the upper end of the bucket (10).

6. An underwater vehicle as claimed in claim 1, characterised in that the grab (7) is a hydraulically driven openable, closable and rotatable jaw structure.

7. The underwater wrecker of claim 1, wherein the grab mechanism (4) comprises a movable arm (13), a movable arm cylinder (14), a grab arm (15), a grab arm cylinder (16) and a grab bucket cylinder (17), the movable arm (13) is hinged to the grab arm (15), one end of the movable arm cylinder (14) is hinged to the rotary platform (9), the other end of the movable arm cylinder is hinged to one end of the movable arm (13), one end of the grab arm cylinder (16) is hinged to one end of the grab arm (15), the other end of the grab arm cylinder is hinged to the other end of the movable arm (13), one end of the grab bucket (7) is hinged to the other end of the grab arm (15), one end of the grab bucket cylinder (17) is hinged to the grab arm (15), and the other end of the grab bucket (7).

8. The underwater wrecker as claimed in claim 1, wherein the frame (8) is further provided with a high-precision positioning system and an audio/video acquisition system for detecting the terrain and environment around the underwater wrecker.

9. An underwater wrecker as claimed in claim 3 or 4, wherein the frame (8), the crawler driving mechanism (1), the grab bucket mechanism (4), the rotary platform (9), the storage bin (2), the hydraulic components and the electrical equipment bin (3) are all of modular structure.

10. An underwater wrecker as claimed in claim 2, wherein a bearing head (5) for hoisting and connecting the optical-electrical composite cable (19) is arranged above the center of gravity of the wrecker.