CN109577404A - The propeller driving for having track correction function, which swings, twists suction dredging robot - Google Patents
The propeller driving for having track correction function, which swings, twists suction dredging robot Download PDFInfo
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- CN109577404A CN109577404A CN201811459453.5A CN201811459453A CN109577404A CN 109577404 A CN109577404 A CN 109577404A CN 201811459453 A CN201811459453 A CN 201811459453A CN 109577404 A CN109577404 A CN 109577404A
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- dredging
- swings
- culvert
- hull
- robot
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- 238000012937 correction Methods 0.000 title claims abstract description 17
- 230000007246 mechanism Effects 0.000 claims abstract description 75
- 238000005086 pumping Methods 0.000 claims abstract description 23
- 238000004140 cleaning Methods 0.000 claims abstract description 18
- 230000000007 visual effect Effects 0.000 claims abstract description 12
- 241001170716 Garra gotyla Species 0.000 claims description 29
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 23
- 238000005286 illumination Methods 0.000 claims description 14
- 238000012544 monitoring process Methods 0.000 claims description 13
- 230000003447 ipsilateral effect Effects 0.000 claims description 8
- 239000002245 particle Substances 0.000 claims description 7
- 239000010802 sludge Substances 0.000 claims description 6
- 150000001875 compounds Chemical class 0.000 claims description 4
- 230000008676 import Effects 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 4
- 238000009428 plumbing Methods 0.000 claims description 4
- 238000011010 flushing procedure Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 230000009471 action Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 9
- 239000004575 stone Substances 0.000 description 9
- 239000013049 sediment Substances 0.000 description 3
- 241000209094 Oryza Species 0.000 description 2
- 235000007164 Oryza sativa Nutrition 0.000 description 2
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- 238000007667 floating Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 235000009566 rice Nutrition 0.000 description 2
- 239000004576 sand Substances 0.000 description 2
- 239000008400 supply water Substances 0.000 description 2
- 102000010637 Aquaporins Human genes 0.000 description 1
- 238000013019 agitation Methods 0.000 description 1
- 239000012223 aqueous fraction Substances 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
- E02F3/8833—Floating installations
- E02F3/885—Floating installations self propelled, e.g. ship
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
- E02F3/90—Component parts, e.g. arrangement or adaptation of pumps
- E02F3/905—Manipulating or supporting suction pipes or ladders; Mechanical supports or floaters therefor; pipe joints for suction pipes
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
- E02F3/90—Component parts, e.g. arrangement or adaptation of pumps
- E02F3/907—Measuring or control devices, e.g. control units, detection means or sensors
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
- E02F3/90—Component parts, e.g. arrangement or adaptation of pumps
- E02F3/92—Digging elements, e.g. suction heads
- E02F3/9212—Mechanical digging means, e.g. suction wheels, i.e. wheel with a suction inlet attached behind the wheel
- E02F3/9225—Mechanical digging means, e.g. suction wheels, i.e. wheel with a suction inlet attached behind the wheel with rotating cutting elements
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
- E02F3/90—Component parts, e.g. arrangement or adaptation of pumps
- E02F3/92—Digging elements, e.g. suction heads
- E02F3/9212—Mechanical digging means, e.g. suction wheels, i.e. wheel with a suction inlet attached behind the wheel
- E02F3/9225—Mechanical digging means, e.g. suction wheels, i.e. wheel with a suction inlet attached behind the wheel with rotating cutting elements
- E02F3/9231—Suction wheels with axis of rotation parallel to longitudinal axis of the suction pipe
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
Abstract
It swings the invention discloses a kind of propeller driving for having track correction function and twists suction dredging robot, comprising: unit, control unit and visual unit are corrected in platform framework, hull, screw propeller, the Jiao Xi mechanism that swings, dredging mechanism, pumping mechanism, track；Walking mechanism of the hull as the dredging robot is arranged in the platform framework bottom；Screw propeller moves ahead for hull under the control of described control unit and provides power；The hull interior is provided with buoyancy tank；The Jiao Xi mechanism that swings and dredging mechanism are execution part.The dredging robot is using propeller driving submarine formula traveling mode and swings and twists suction desilting mode, carries out the collection and pumping of mud, adapts to canal silting and the varying environments such as culvert inverted-siphon is silted up, realizes and innoxious continuously moves quick dredging.Unit is corrected in track can prevent dredging robot, and dredging robot is enable reliably to carry out the cleaning of mud and the removing of obstacle.
Description
Technical field
The present invention relates to a kind of robots, and in particular to a kind of dredging robot.
Background technique
Since being put into operation due to the general main canal of domestic many open channels, water user's degree of dependence is gradually deepened along the line, is supplied water
Fraction requires height, and in operation from now on, the desired value of the general main canal water delivery of open channel is uninterruptedly to supply water.However, and other
Open channel is the same, these open channel general main canals are during its operation, unavoidably in canal for water conveyance and the building that drains off floodwaters intersected therewith
It is interior to form a large amount of sediment, it influences to supply water and jeopardize general main canal safety.To guarantee uninterrupted water supply and general main canal safety, and subtract
Secondary pollution during light dredging, it is necessary to study a kind of underwater desilting machine people
In conjunction with open channel general main canal service requirement and field condition, underwater desilting machine people should be able to adapt to canal silting and culvert
Inverted-siphon such as silts up at the varying environments, has the functions such as sediment cleaning, realizes and innoxious continuously moves quick dredging.
Summary of the invention
In view of this, the present invention provide it is a kind of have track and correct the propeller driving of function swing and twist suction dredging
Robot can be realized the underwater innoxious quick dredging of continuous moving.
The propeller driving for having track correction function, which swings, twists suction dredging robot, and feature exists
In: it include: that platform framework, hull, screw propeller, the Jiao Xi mechanism that swings, dredging mechanism, pumping mechanism, track are entangled
Positive unit and control unit；
Walking mechanism of the hull as the dredging robot is arranged in the platform framework bottom；The spiral
Paddle propeller moves ahead for hull under the control of described control unit and provides power；The hull interior is provided with buoyancy tank；
It is described swing Jiao Xi mechanism be arranged in the hull front end, comprising: rotating base, mounting base, telescopic arm and
Twisting sucker head；The rotating base is arranged on the hull, swings Jiao Xi mechanism within the scope of set angle for driving
It swings；The mounting base is fixed on rotating base, and one end of the telescopic arm and the mounting base pin joint, the other end connect
Connect twisting sucker head；The twisting sucker head includes: cover, spiral twisting sucker head and motor；The cover is bottom opening, and the right and left is all provided with
Hollow structure jaggy is set, the spiral twisting sucker head is arranged inside the cover, and the spiral twisting sucker head is being fixed on
It states and is rotated under the driving of motor around vertical direction；The motor is fixed on the cover；
The pumping mechanism is arranged on the hull, is connected with the suction silt particle pipe that the covering on top is arranged in, described
Pumping mechanism is used for the sludge pumping of twisting sucker head strand suction to ground；
The dredging mechanism includes mechanical arm and collects basket, after the Jiao Xi mechanism that swings completes dredging, from institute
It states and removes telescopic arm and twisting sucker head in mounting base, mechanical arm is installed in the mounting base；The collection basket setting is described flat
At the top of table frame；The mechanical arm completes picking action in setting position in the control of described control unit, and puts object is picked up
Enter in the collection basket；The rotating base and mechanical arm are controlled by described control unit；
Described control unit receives the control instruction of host computer, controls the screw propeller, swinging twists suction machine
Structure and dredging mechanism work；
It includes: four drawbars that unit is corrected in the track；It is each in the same level of the platform framework both lateral sides
A piece stringer parallel with culvert two side walls is set, and the rear and front end of every stringer is arranged a hinge shaft, in each hinge shaft
An angular transducer is installed in portion, and a drawbar is installed at each hinge shaft, and described drawbar one end is hinged on hinge shaft, the other end
It is contacted after extending to rear ramp with the culvert side wall of respective side；When initial, positioned at the folder of ipsilateral two drawbars and culvert side wall
Angle is identical setting value；The angle of angular transducer real-time monitoring its position drawbar and culvert side wall, and send
To described control unit；
When the difference for the angle for monitoring to be located at ipsilateral two drawbars and culvert side wall is beyond pre- in described control unit
If difference range when, described control unit control crawler body corrects the direction of travel of the dredging robot, until being located at
The difference of the angle of ipsilateral two drawbars and culvert side wall is in preset difference range.
It further, further include that setting is installed altitude meter in platform framework front end middle position and is arranged described
Attitude transducer on platform framework；
When the dredging robot is used in the culvert that longitudinal cross-section is inverted trapezoidal, the attitude transducer real-time monitoring is clear
The posture of silt robot is simultaneously sent to host computer, and the attitude data monitored according to the attitude transducer can be known described clear
Silt robot is currently at culvert import downslope section, planar section or culvert outlet upslope section；At the dredging robot
When planar section, the distance of dredging robot position described in the altitude meter real-time measurement to culvert outlet upslope, and
It is sent to host computer, the host computer obtains the underwater desilting machine people apart from inlet of culvert in conjunction with the overall length of known culvert
Distance.
It further, further include anticollision guiding device, the anticollision guiding device includes being symmetricly set on the platform frame
Anticollision wheel group at left and right sides of frame, the anticollision wheel group of every side includes more than two anticollision wheels being located in same vertical plane, described
The axis of anticollision wheel is along the vertical direction.
It further, further include visual unit, the visual unit is for environment where obtaining dredging robot in real time
Image, and it is transmitted to by photoelectric compound cable the host computer on ground；The visual unit includes: preposition sonar, preposition illumination
Illumination/camera unit after camera unit, postposition front lit/camera unit and postposition；Wherein the preposition sonar is arranged in platform
In the middle part of frame front end, on the platform framework front end be each side arranged a camera lens towards front preposition illumination/
Postposition front lit/camera shooting list of the camera lens towards front is respectively set in the middle position of the platform framework rear end in camera unit
Member and camera lens are towards illumination/camera unit after the postposition at rear.
The utility model has the advantages that
(1) dredging robot carries out the receipts of mud in such a way that propeller driving hull advances and swings and twists suction
Collection and pumping can be realized the underwater innoxious quick dredging of continuous moving；Unit is corrected due to having track, dredging can be prevented
Robot enables dredging robot reliably to carry out the cleaning of mud and the removing of obstacle.
(2) dredging mechanism is set, the pickup compared with bigger material such as underwater stone and branch can be realized before silt dredging mud, so that
Silt dredging is more efficient.
(3) setting anticollision guiding device can not only prevent dredging robot vehicle from breaking the wall in culvert, additionally it is possible to
Realize the cleaning of orbit determination road mud and the removing of obstacle.
(4) mechanical arm in dredging mechanism can be matched with the tools such as giant or shovel scraper plate, remove culvert inner wall
The aufwuches such as the shell that surrounding occurs.
Detailed description of the invention
The composition schematic diagram of Fig. 1 dredging robot；
Fig. 2 is the overall structure diagram of the dredging robot；
Fig. 3 is the structural schematic diagram of the dredging robot hull；
Fig. 4 is that the dredging robot swings the structural schematic diagram of Jiao Xi mechanism；
Fig. 5 is the structural schematic diagram of the twisting sucker head with motor；
Fig. 6 is the structural schematic diagram of dredging mechanism；
Fig. 7 is the structural schematic diagram of anticollision guiding device；
Fig. 8 is the structural schematic diagram of visual unit；
Fig. 9 is the structural schematic diagram that unit is corrected in track.
Wherein: 1- hull, 2- screw propeller, 3- pumping mechanism, 4- swing Jiao Xi mechanism, 5- anticollision guiding dress
It sets, 6- collection frame, 7- dredging mechanism, 8- visual unit, 9- platform framework, the 13- deck of boat, 14- buoyancy tank, 15- traveling wheel, 16- branch
Support mechanism, 17- rotating base, 18- mounting base, 19- support cylinder, 20- telescopic arm, 21- twisting sucker head, 22- cover, 23- spiral
Twisting sucker head, 24- inhale silt particle pipe, 25- motor, 26- idler wheel, 27- collect basket, the preposition sonar of 39-, the preposition illumination camera unit of 40-,
Illumination/camera unit after 41- postposition front lit/camera unit, 42- postposition, 46- support frame, 47- anticollision wheel, 48- rotary shaft,
57- drawbar, 58- angular transducer.
Specific embodiment
With reference to the accompanying drawings and examples, the present invention is described in further detail.
Embodiment 1:
It a kind of propeller driving submarine formula is provided in the present embodiment swings and twist suction dredging robot, can be realized water
Under the innoxious quick dredging of continuous moving.
As depicted in figs. 1 and 2, which includes platform framework 9, hull 1, screw propeller 2, swings
Jiao Xi mechanism 4, dredging mechanism 7, anticollision guiding device 5, pumping mechanism 3, control unit and visual unit.Wherein hull 1, spiral
Paddle propeller and anticollision guiding device form travelling platform system, and the Jiao Xi mechanism 4 that swings and dredging mechanism 7 are enforcement division
Point.
As shown in figure 3, the dredging robot is used as walking mechanism using hull 1, screw propeller is installed in 1 tail portion of hull
2, screw propeller 2 is that hull 1 moves ahead and provides power, i.e., hull 1 under the effect of screw propeller 2 along culvert to moving ahead
Into.Screw propeller 2 can also be installed simultaneously in the tail portion of hull 1 and stem, realize dredging robot in the row of both direction
Into.Hull 1 includes: the deck of boat 13, buoyancy tank 14, traveling wheel 15 and supporting mechanism 16.One is each side arranged inside hull 1 to float
Case 14 enables the hull to float as submarine and dive；And a buoyancy tank of every side is divided into former and later two independent sons
Buoyancy tank, and sub- buoyancy tank communicates before left and right two, sub- buoyancy tank communicates after two, and sub- buoyancy tank shares discharge water dispenser before two
Structure, sub- buoyancy tank shares a plumbing mechanism after two.It acts as can guarantee hull 1 lean forward and it is horizontal also raise up,
Thus the dredging robot is allow to imitate car walking in decline passway and rising passway, it is of course also possible to travel in level
Channel.The function is realized by the plumbing mechanism built in buoyancy tank, i.e., when wanting hull 1 to go down hill, as long as passing through discharge water dispenser
Structure gives the sub- more water-fillings of buoyancy tank in left and right two positioned at front, guarantees the subsequent left and right buoyancy tank of hull 1 few water-filling appropriate, passes through ship
Attitude transducer (the posture of attitude transducer real-time monitoring hull, and the attitude data of monitoring is uploaded to being arranged on body 1
Host computer on the bank) inclination angle display, in conjunction with plumbing mechanism inject front and back cabinet water weight difference, can adjust
The angle that whole ship body 1 tilts down keeps it consistent with the gradient of descending, i.e., so that the folder of the gradient and horizontal plane of hull and descending
Angle is identical, that is, hull 1 is parallel with the gradient of descending.Equally also adjustable hull in level or raises up.
Two support wheels 15 are each side arranged in 1 lower section of hull, arrange before and after two support wheels 15 of every side, Mei Gezhi
It is equipped with pressure sensor under support wheel 15, when carrying out charge and discharge water to buoyancy tank 14, each pressure sensor of real-time monitoring, when each pressure
When the pressure of sensor is zero, show that hull 1 is not contacted with ground at this time, be in floating state, at this time drive hull to move ahead
It sails, the friction with ground can be effectively reduced.
In hull 1, two supporting mechanisms 16 are each side set, supporting mechanism 16 is telescopic oil cylinder, and its cylinder body end with
Hull is connected, and when hull 1 is in driving status, supporting mechanism 16 is shunk, when hull 1, which stops, carries out dredging operation,
Due to filling water in 1 buoyancy tank of hull, in addition the weight of hull and thereon mechanical part adds up in water, weight is larger, is easy to cause ship
Body 1 swings, at this point, supporting mechanism 16 is stretched out, directly supports on the culvert metope of respective side, thereby guarantees that hull 1
It will not swing, be conducive to dredging operation.
The dredging robot is using the Jiao Xi mechanism silt dredging mud that swings, as shown in figure 4, the Jiao Xi mechanism setting that swings
In 1 front end center position of hull, comprising: rotating base 17, mounting base 18, support cylinder 19, telescopic arm 20 and the strand with motor
Suction nozzle 21.Wherein rotating base 17 is arranged on hull 1, for driving the Jiao Xi mechanism that swings to turn within the scope of set angle
Dynamic, realization swings；18 one end of mounting base is fixed on rotating base 17, and one end of the other end and telescopic arm 20 passes through pin shaft
Connection, telescopic arm 20 can be rotated around the pin shaft, and realization is swung up and down.The hinged twisting sucker head 21 of the other end of telescopic arm 20.Support
The cylinder body end of oil cylinder 19 is fixed in mounting base 18, and tailpiece of the piston rod is connected after above tilting obliquely downward with telescopic arm 20, and swing strand
When inhaling mechanism normal work, support cylinder 19 is in free extension state, passes through support cylinder 19 and realizes free floating, Neng Gouda
To the effect of vibration damping；When maintenance, twisting sucker head 21 is propped by support cylinder 19, replacement twisting sucker head 21 easy to repair.
The structure of twisting sucker head 21 with motor is as shown in Figure 5, comprising: cover 22, spiral twisting sucker head 23, inhale silt particle pipe 24,
Motor 25 and idler wheel 26.Cover 22 is bottom opening, and the right and left is respectively provided with hollow cylindrical structure jaggy, inside cover 22
Spiral twisting sucker head 23 is set, and spiral twisting sucker head 23 is rotated by the driving of motor 25 for being fixed on 22 top of cover around vertical direction.Cover
22 bottom of body is peripherally disposed there are four idler wheel 26, so that twisting sucker head 21 is swung when twisting silt dredging mud and rolls on ground
It is dynamic, reduce frictional resistance.
The working principle for the Jiao Xi mechanism that swings are as follows: the twisting sucker head 21 for being provided with cover 22 is responsible for agitation and collects to become silted up
Mud is provided with the pipeline (i.e. suction silt particle pipe 24) of suction mud at the top of cover 22, inhales silt particle pipe 24 and be connected with pumping mechanism 3, strand
Sludge after suction nozzle 21 stirs enters the pumping mechanism being arranged on hull 1 by inhaling silt particle pipe 24.Pumping mechanism 3 is mainly by diving
Hydroelectric machine and sand pump composition, by sand pump by sludge pumping to ground.
Due in addition to mud, can also there is stone and branch in culvert, collection basket is additionally provided in the left and right sides of hull 1
27,27 front opening of basket is collected, during hull moves ahead, basket 27 is collected and collects stone and branch as dustpan；Equal culverts
Mud collect and pumping after, collect 27 front opening of basket raise up, avoid stone and branch from skidding off basket, pass through collect basket
Stone and branch are directly taken back ground by 27.
After the silt dredging system of channel completes dredging, silt dredging system can be removed, dredging is installed on rotating base 17
Mechanism 7, then the pickup to channel progress ratchel.As shown in fig. 6, dredging mechanism 7 be five shaft mechanical arms, the one of five shaft mechanical arms
End is connected with mounting base 18, drives mechanical arm to rotate around vertical direction by rotating base 17, realizes mechanical arm in circumferential difference
Position operation.Mechanical arm realizes the pickup of underwater stone and branch under the control of the control unit, and rotating base 17 is responsible for entire
The rotation of mechanical arm, thus pick up front stone and branch after, be rotated back to be arranged in platform framework 9 (platform framework 9 is set
Set on hull 1) on the inside of collection basket 6, ground is finally brought back to by dredging robot.
As shown in fig. 7, being arranged on platform framework 9 to prevent underwater desilting machine people's vehicle from breaking the wall in culvert
There is anticollision guiding device, anticollision guiding device includes: the rubber tire group for being symmetricly set on 9 left and right sides of platform framework, the glue of every side
Wheel group include four in vertical plane be in distributed rectangular anticollision wheel 47, the axis of anticollision wheel 47 is along the vertical direction, specific to install
Mode are as follows: one end of support frame 46 is connected with platform framework 9, and the other end is connected by bearing with rotary shaft 48, and anticollision wheel 47 is logical
Cross bearing holder (housing, cover) be mounted in outside rotary shaft 48.The main function of anticollision guiding device can be prevented when crawler body sideslip
Underwater desilting machine people's vehicle breaks the wall in culvert；Dredging robot can be close to culvert when advancing with side or two simultaneously
Metope is travelled along wall side, realizes the cleaning of orbit determination road mud and the removing of obstacle.Such as it is directed to 3 meters of culvert, it is assumed that design vehicle
It is 1.5 meters of body wide, directly anticollision guiding device both sides respectively can be designed as 0.7 meter wide, underwater desilting machine people can be straight as a result,
It connects and moves ahead by each four rubber tires on both sides along culvert, realize the cleaning of orbit determination road mud and the removing of obstacle.For being greater than 3
Rice is less than or equal to 6 meters of culvert, and four rubber tires on one side can be allowed to paste wall, travelled along wall side, after the dredging for completing set a distance,
It allows four rubber tires on other one side also to paste wall again to travel along wall side, completes the dredging of the set a distance of other half.From there through
Disengaging culvert twice, so that it may complete the set a distance dredging work of culvert.
As shown in figure 8, visual unit includes: the preposition sonar 39 being mounted on platform framework 9, preposition illumination/camera shooting list
Illumination/camera unit 42 after member 40, postposition front lit/camera unit 41 and postposition.Wherein preposition sonar 39 is arranged in platform frame
9 front center of frame, that 6 front end of basket is collected on platform framework 9 is each side arranged preposition photograph of the camera lens towards front
Postposition front lit/41 He of camera unit is respectively set in bright/camera unit 40, the middle position that 6 rear end of basket is collected on platform framework 9
Illumination/camera unit 42 after postposition, wherein postposition front lit/camera unit 41 camera lens is towards front, illumination/camera shooting after postposition
The camera lens of unit 42 is towards rear.In visual unit for underwater image and logical will to be acquired by illumination/camera unit
The image outline that sonar detection obtains is crossed, the upper of ground is transferred to by the photoelectric compound cable of underwater desilting machine people's tail end
Machine is displayed on the screen by the multi-panel monitor displaying of host computer, convenient for ground staff according to the manipulation of image operation control host computer
Bar and data processing system, which combine to issue to slave computer (i.e. the control unit of dredging robot), to be instructed, and dredging robot water is instructed
Lower executing agency's (silt dredging mud mechanism and dredging mechanism) work.
Control unit is the slave computer being arranged on platform framework, and the host computer on slave computer and ground cooperates, realization pair
The control of dredging robot, control unit include hydraulic control unit and electronic control unit, and hydraulic control unit is clear for controlling this
Hydraulic part in silt robot, such as the motor 25 in twisting sucker head 21, five shaft mechanical arms also use hydraulic power supply, dredging machine
Electronic component on people is controlled by electronic control unit.Underwater desilting mud robot tail end is associated with to slave computer (i.e. on hull 1
Electronic compartment) photoelectric compound cable of optical fiber and power cable is provided, the pipeline of also guaranteed underwater mud-water conveying is (with pumping mechanism
It is connected).
There are two types of application environment is as follows for the dredging robot:
The first: artificial river is open channel, straight, water flow goes downstream, and water flow section is that inverted trapezoidal is blue.When individual
Time will also pass through the horizontal bridge in river or dark hole.It is required that underwater equipment can not break the bunding on river both sides or bridge pier.
The four sides wall of culvert can not be broken, can not manually be lauched relief underwater equipment, but underwater equipment is wanted voluntarily to return
Go back to ground.Underwater equipment is needed to realize the cleaning of riverway sludge and the removing of obstacle (stone or branch, braided fabric).
Second: sloot itself is to cross below open channel, and the inverted trapezoidal culvert under open channel, and is full water shape
Under state, water flow section is square, and inverted trapezoidal culvert overall length itself is in several hundred rice or so.Commonly referred to as wear canal culvert.River water is muddy
It is turbid.Can clearly be appreciated that wear all sizes of canal culvert therein (Ru Dongchang, the inverted trapezoidal gradient, gradient plan-viewed length, indulge
Slope surface complexion and all relative dimensions).It is required that underwater equipment can not break inverted trapezoidal culvert four sides wall, can not it is artificial under
Water removes relief underwater equipment, but underwater equipment is wanted voluntarily to return to ground.Need underwater equipment realize culvert mud cleaning and
The removing of obstacle (stone or branch, braided fabric).
To guarantee that dredging robot can reliably carry out the cleaning of mud and the removing of obstacle, its sideslip is prevented, at this
Track is set on dredging robot and corrects unit, as shown in figure 9, it includes: four drawbars 57 that unit is corrected in track.In platform framework
A piece stringer parallel with the two sides of culvert, the front and back two of every stringer are respectively set in the same level of 9 both lateral sides
One hinge shaft of each setting is held, amounts to four hinge shafts, an angular transducer 58 is installed inside each hinge shaft, is pacified at each hinge shaft
A drawbar 57 is filled, 57 one end of drawbar is hinged on hinge shaft, and the other end connects after extending to rear ramp with the culvert side wall of respective side
Touching.To guarantee not destroying culvert side wall, drawbar 57 and culvert side wall contact jaw are provided with idler wheel, and drawbar 57 passes through idler wheel and culvert
Side wall contact.The angle of ipsilateral two drawbars 57 and culvert side wall is identical setting value.58 real-time monitoring of angular transducer
The angle of its position drawbar 57 and culvert side wall, and it is sent to bank host computer.
When in order to guarantee that dredging robot moves forwards, 57 end of drawbar is tightly attached to always on culvert side wall, is needed to it
High-torque torsional spring is installed with the junction of hinge shaft, alternatively, installing telescopic oil cylinder between stringer and drawbar 57, it is therefore intended that guarantee
Always it is close to the side of culvert in one end of drawbar 57.
The working principle of track correction unit are as follows: when underwater desilting machine people's normal forward, platform framework same layer water
Four drawbars 57 that hinge shaft couples on two beams of plane are closely adjacent to culvert two sidewalls, and two of same side drag
The angle of bar 57 and culvert side arm robot not in the case of sideslip under water, it should it is equal, once there is sideslip, it is assumed that
The right sideslip, in this way, the angle that will lead to sinistral platform frame front end drawbar and culvert side wall increases, rear end drawbar and culvert
Side wall angle reduces.The angle of angular transducer real-time monitoring each drawbar and culvert side wall, and be sent to host computer, when passing through
When the angle of monitoring judges underwater robot sideslip, realized by control crawler body (controlling the motor of crawler body) to clear
The correction of silt robot, it is ensured that the data difference of the angle of ipsilateral two drawbars constantly reduces, and until equal, be achieved in and entangle
Partially, it is possible to prevente effectively from dredging robot bumps against the side wall of culvert.
Track correction unit is particularly suitable for using in the smaller situation in cross section of culvert.
It states on the basis of track corrects function, Installation posture sensor and can be surveyed high on platform framework 9 in realization
Instrument realizes positioning of the underwater desilting machine people in culvert.Specifically: altitude meter is mounted on 9 front end middle position of platform framework,
Altitude meter is long range altitude meter, self-positioning process are as follows: attitude transducer real-time monitoring dredging robot is in X-axis, Y-axis, Z axis (Z
Axis is consistent with vertical direction) tilt angle and feed back the host computer for arriving ground, altitude meter in real time feeds back measurement data to ground
The host computer in face；The attitude data monitored according to the attitude transducer can know dredging robot be currently at culvert into
Mouth downslope section, planar section or culvert export upslope section, such as when underwater desilting machine people walks downward slope from culvert import,
Attitude transducer provides the data that a fuselage tilts down to host computer, shows that dredging robot is located at culvert import at this time
On downslope；When downward slope is covered, it is zero that the data that attitude transducer tilts down, which may be close to, is equivalent to and starts to walk down
Trapezoidal bottom edge, because the vertical view distance of inlet ramp is shorter and previously known, what be do not can confirm that uniquely is underwater silt remover
Distance of the device people apart from inlet of culvert, the long range altitude meter of platform framework front end can measure itself and export to culvert at this time
The distance on slope, and be sent to host computer, host computer according to known culvert overall length can inverse underwater desilting machine people away from
With a distance from inlet of culvert, thus, it is possible to realize the self poisoning of underwater desilting machine people, to carry out the cleaning mud of culvert
It works with obstacle.
Embodiment 2:
On the basis of above-described embodiment 1, increase cleaning system, the cleaning system includes mechanical arm, is strapped in mechanical arm
On giant and the high pressure cleaning pump that ground is connected with giant by water pipe is set.
The function of cleaning system is as follows:
(1) since existing culvert all has inner chamfer, dredging robot be difficult it is with dredging mechanism that it is completely clear clean, when
After completing the main dredging work of culvert, the bondage giant on five shaft mechanical arms is realized to culvert the right and left inner chamfer
The flushing cleaning for locating mud, is flushed to the center of culvert, then passes through the Jiao Xi mechanism 4 that swings of dredging robot again
It is collected and pumps, by sludge pumping remaining in culvert into the mud and water separating equipment on ground.
(2) when culvert inner wall is attached with the testacean biochron, since adhesive force is not strong, culvert two sides and top can be with
After testacean attachment is directly rinsed cleaning in such a way that giant rinses, then swinging by dredging robot
Jiao Xi mechanism 4 carries out the collection and pumping of mud and shell, completes the dredging work in culvert.
(3) it since dredging robot is dual-use, i.e., uses in channel, is used in culvert again, therefore, when clear
Silt robot is in culvert after use, after carrying out bath cleaning to dredging robot by giant, then in open channel
Carry out the collection and pumping of mud.
Embodiment 3:
On the basis of above-described embodiment 1, since there is the shell adhered to life in the culvert inner wall surrounding of current some areas
Object, adhesive force is not strong, and diameter is between 10-60 millimeters.For this special sediment, underwater desilting machine people derives shovel and scrapes
System, specifically, the end installation shovel scraper plate of the five shaft mechanical arms in dredging robot, passes through the rotary flat under five shaft mechanical arms
Platform rotation by being mounted on the shovel scraper plate of its front end, then passes through five shaft mechanical arms so that the side wall of the vertical culvert of five shaft mechanical arms
Extension realization the shovel of the attachments such as the shell of culvert two sides inner wall is scraped, finally by dredging robot swing strand inhale
Mechanism 4 carries out the collection and pumping of mud and shell, completes the dredging work in culvert.The shell biology on culvert top still needs
The flushing that rely on 3 high-pressure gun of above-described embodiment, shell aufwuch is rinsed, then clear by dredging robot
Reason.
Although above having used general explanation and specific embodiment, the present invention is described in detail, at this
On the basis of invention, it can be made some modifications or improvements, this will be apparent to those skilled in the art.Therefore,
These modifications or improvements without departing from theon the basis of the spirit of the present invention are fallen within the scope of the claimed invention.
Claims (10)
1. the propeller driving for having track correction function, which swings, twists suction dredging robot, it is characterised in that: include: flat
Table frame (9), hull (1), screw propeller (2), the Jiao Xi mechanism that swings (4), dredging mechanism (7), pumping mechanism
(3), unit and control unit are corrected in track；
Walking mechanism of the hull (1) as the dredging robot is arranged in the platform framework (9) bottom；The spiral shell
It revolves paddle propeller (2) and provides power under the control of described control unit for hull (1) is forward；Setting inside the hull (1)
There are buoyancy tank (14)；
Described swing Jiao Xi mechanism (4) are arranged in the hull (1) front end, comprising: rotating base (17), mounting base
(18), telescopic arm (20) and twisting sucker head (21)；The rotating base (17) is arranged on the hull (1), for driving left and right
Jiao Xi mechanism is swung to swing within the scope of set angle；The mounting base (18) is fixed on rotating base (17), described
One end of telescopic arm (20) and the mounting base (18) pin joint, the other end connect twisting sucker head (21)；The twisting sucker head (21) includes:
Cover (22), spiral twisting sucker head (23) and motor (25)；The cover (22) is bottom opening, and the right and left is provided with notch
Hollow structure, the spiral twisting sucker head (23) setting is internal in the cover (22), and the spiral twisting sucker head (23) is in fixation
It is rotated under the driving of the motor (25) around vertical direction；The motor (25) is fixed on the cover (22)；
The pumping mechanism (3) is arranged on the hull (1), with the suction silt particle pipe (24) being arranged at the top of the cover (22)
It is connected, the sludge pumping that the pumping mechanism (3) is used to inhale the twisting sucker head (21) strand to ground；
The dredging mechanism (7) includes mechanical arm (45) and collects basket (6), when described swing Jiao Xi mechanism (4) are completed clearly
After silt, telescopic arm (20) and twisting sucker head (21) are removed from the mounting base (18), are installed on the mounting base (18) mechanical
Arm (45)；Collection basket (6) setting is at the top of the platform framework (9)；The mechanical arm (45) is in described control unit
Control completes picking action in setting position, and is put into object is picked up in the collection basket (6)；The rotating base (17) and machine
Tool arm is controlled by described control unit；
Described control unit receives the control instruction of host computer, controls the screw propeller, the Jiao Xi mechanism that swings (4)
It works with dredging mechanism (7)；
It includes: four drawbars (57) that unit is corrected in the track；In the same level of the platform framework (9) both lateral sides
A respectively piece stringer parallel with culvert two side walls of setting, a hinge shaft, each hinge shaft is arranged in the rear and front end of every stringer
One angular transducer (58) of inside installation, installs a drawbar (57), described drawbar (57) one end is hinged at each hinge shaft
On hinge shaft, the other end is contacted after extending to rear ramp with the culvert side wall of respective side；When initial, positioned at two ipsilateral drawbars
It (57) is identical setting value with the angle of culvert side wall；Its position drawbar of angular transducer (58) real-time monitoring
(57) with the angle of culvert side wall, and it is sent to described control unit；
When the difference for the angle for monitoring to be located at ipsilateral two drawbars (57) and culvert side wall is beyond pre- in described control unit
If difference range when, described control unit controls the direction of travel that crawler body (1) corrects the dredging robot, until position
In the difference of two ipsilateral drawbars (57) and the angle of culvert side wall in preset difference range.
2. the propeller driving for having track correction function as described in claim 1, which swings, twists suction dredging robot,
It is characterized by also including settings to install altitude meter and setting described flat in the platform framework (15) front end middle position
Attitude transducer on table frame (15)；
When the dredging robot is used in the culvert that longitudinal cross-section is inverted trapezoidal, the attitude transducer real-time monitoring silt remover
The posture of device people is simultaneously sent to host computer, and the attitude data monitored according to the attitude transducer can know the silt remover
Device people is currently at culvert import downslope section, planar section or culvert outlet upslope section；When the dredging robot is in flat
When the section of face, the distance of dredging robot position described in the altitude meter real-time measurement to culvert outlet upslope, and send
To host computer, the host computer in conjunction with the overall length of known culvert obtain the underwater desilting machine people apart from inlet of culvert away from
From.
3. the propeller driving for having track correction function as claimed in claim 1 or 2, which swings, twists suction dredging machine
People, it is characterised in that: further include anticollision guiding device, the anticollision guiding device includes being symmetricly set on the platform framework
(9) the anticollision wheel group at left and right sides of, the anticollision wheel group of every side include more than two anticollision wheels (47) being located in same vertical plane,
The axis of the anticollision wheel (47) is along the vertical direction.
4. the propeller driving for having track correction function as claimed in claim 1 or 2, which swings, twists suction dredging machine
People, it is characterised in that: it further include visual unit, figure of the visual unit for environment where obtaining dredging robot in real time
Picture, and it is transmitted to by photoelectric compound cable the host computer on ground；The visual unit includes: preposition sonar (39), preposition photograph
Illumination/camera unit (42) after bright camera unit (40), postposition front lit/camera unit (41) and postposition；It is wherein described preposition
Sonar (39) is arranged in platform framework (15) front center, each side setting one of front end on the platform framework (15)
A camera lens is set towards the preposition illumination/camera unit (40) in front in the middle position of the platform framework (15) rear end respectively
Camera lens is set towards the postposition front lit/camera unit (41) and camera lens in front towards illumination/camera unit after the postposition at rear
(42)。
5. the propeller driving for having track correction function as claimed in claim 1 or 2, which swings, twists suction dredging machine
People, it is characterised in that: in internal each side two buoyancy tanks (14) of setting of the hull (1), two buoyancy tanks (14) of every side
Front and back arrangement is located at subsequent two buoyancy tanks and is connected to wherein two buoyancy tanks for being located at front are connected to；Two interconnected buoyancy tanks
Share a plumbing mechanism.
6. the propeller driving for having track correction function as claimed in claim 1 or 2, which swings, twists suction dredging machine
People, it is characterised in that: more than one supporting mechanism (16), the supporting mechanism are each side set in the hull (1)
It (16) is telescopic oil cylinder, cylinder body end is connected with hull (1), when the hull (1) is in driving status, the supporting mechanism
(16) it shrinks, when the dredging robot starts dredging work, the supporting mechanism (16) is stretched out, and the culvert of respective side is supported to
On the metope of hole.
7. the propeller driving for having track correction function as claimed in claim 1 or 2, which swings, twists suction dredging machine
People, it is characterised in that: the junction of corresponding hinge shaft is provided with torsional spring in the drawbar (57).
8. the propeller driving for having track correction function as claimed in claim 1 or 2, which swings, twists suction dredging machine
People, it is characterised in that: the Jiao Xi mechanism (4) that swings further includes support cylinder (19), the cylinder of the support cylinder (19)
Body end is fixed on the mounting base (18), and tailpiece of the piston rod is connected with the telescopic arm (20), the Jiao Xi mechanism that swings
When work, the support cylinder (19) is in free extension state.
9. the propeller driving for having track correction function as claimed in claim 1 or 2, which swings, twists suction dredging machine
People, it is characterised in that: giant is connected on the mechanical arm, the giant passes through the high-pressure wash of water pipe and ground
Pump is connected, and forms cleaning system, clears up for the flushing to mud and the progress of metope attachment.
10. the propeller driving for having track correction function as claimed in claim 1 or 2, which swings, twists suction dredging machine
People, it is characterised in that: in the end of mechanical arm installation shovel scraper plate, form shovel and scrape system, scrape side wall attachment for shoveling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811459453.5A CN109577404B (en) | 2018-11-30 | 2018-11-30 | Propeller-driven left-right swinging cutter-suction type desilting robot with track correction function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811459453.5A CN109577404B (en) | 2018-11-30 | 2018-11-30 | Propeller-driven left-right swinging cutter-suction type desilting robot with track correction function |
Publications (2)
| Publication Number | Publication Date |
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| CN109577404A true CN109577404A (en) | 2019-04-05 |
| CN109577404B CN109577404B (en) | 2020-12-25 |
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| CN201811459453.5A Expired - Fee Related CN109577404B (en) | 2018-11-30 | 2018-11-30 | Propeller-driven left-right swinging cutter-suction type desilting robot with track correction function |
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| CN110588917A (en) * | 2019-10-25 | 2019-12-20 | 金龙 | Underwater bottom cleaning device |
| CN111877441A (en) * | 2020-08-28 | 2020-11-03 | 河北省水利科学研究院 | Wet sludge twisting and sucking device |
| CN117419771A (en) * | 2023-12-18 | 2024-01-19 | 山东博硕自动化技术有限公司 | Device and method for dynamically detecting building material with irregular thickness |
| CN119880025A (en) * | 2025-01-02 | 2025-04-25 | 中国电建集团北京勘测设计研究院有限公司 | Silt identification device for pumped storage water pipeline and silt amount measurement method |
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| JP6570028B2 (en) * | 2015-04-28 | 2019-09-04 | キャタピラー エス エー アール エル | Rotation angle detector |
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| CN110588917A (en) * | 2019-10-25 | 2019-12-20 | 金龙 | Underwater bottom cleaning device |
| CN111877441A (en) * | 2020-08-28 | 2020-11-03 | 河北省水利科学研究院 | Wet sludge twisting and sucking device |
| CN111877441B (en) * | 2020-08-28 | 2024-05-28 | 河北省水利科学研究院 | Wet sludge wringing and sucking device |
| CN117419771A (en) * | 2023-12-18 | 2024-01-19 | 山东博硕自动化技术有限公司 | Device and method for dynamically detecting building material with irregular thickness |
| CN117419771B (en) * | 2023-12-18 | 2024-02-20 | 山东博硕自动化技术有限公司 | Device and method for dynamically detecting building material with irregular thickness |
| CN119880025A (en) * | 2025-01-02 | 2025-04-25 | 中国电建集团北京勘测设计研究院有限公司 | Silt identification device for pumped storage water pipeline and silt amount measurement method |
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| CN109577404B (en) | 2020-12-25 |
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