CN206873529U - Deep water foundation trench desilting intelligence rail bound robot - Google Patents

Abstract

The utility model discloses a kind of deep water foundation trench desilting intelligence rail bound robot, including Exercise Mechanics, bed-sit cleaning system, silt content underwater topographic monitoring system and control system, the bed-sit cleaning system and the silt content underwater topographic monitoring system are fixed on the Exercise Mechanics and moved with the motion of Exercise Mechanics, and control system clears up the work of system, Exercise Mechanics, silt content underwater topographic monitoring system by internal single-chip microcomputer, exterior terminal PC control bed-sit.The utility model can realize the automation and intellectuality of the cleaning of ultra-large type bridge tunel engineering deep water foundation trench deposit, it is a kind of automation and intelligentized rail bound robot, it can be used in the cleaning of deep water foundation trench, liberate manpower, greatly save ultra-large type bridge tunel engineering construction cost.And reasonable in design, stable performance, automation and intelligentification degree are high, easy to install.

Description

Deep water foundation trench desilting intelligence rail bound robot

Technical field

It the utility model is related to a kind of ultra-large type bridge tunel engineering and build deep foundation trench desilting equipment, particularly a kind of deep water base Groove desilting intelligence rail bound robot.

Background technology

Into after 21 century, China enters the new period of Oversea bridge construction, and Oversea bridge gradually moves towards deep water from shallow water, Form over strait is from bridge is gradually moved towards in single bridge connection, island, tunnel interconnect.For example, the port Zhuhai and Macao built across Passage in extra large bridge and depth, employ bridge, island, the horizontal alignment design of tunnel combination.In addition, it is following 10~20 years, greatly The even bridge of large quantities of ultra-large types such as gulf seabed tunnel, Xiamen Subsea Tunnel, Qiongzhou Strait seabed tunnel, the Taiwan Straits seabed tunnel Tunnel engineering will move towards reality from drawing in succession.

, it is necessary to the underwater foundation trench of ultra-large type be excavated, for tunnel immersed tube during the construction of this Super Engineering Lay, such as port Zhuhai and Macao bridge immersed tube foundation trench grows 5600 meters, wide 40 meters, maximum cutting depth is up to 40 meters.However, due to deep foundation trench Excavation greatly change underwater local water flow field structure, broken original sediment rating curve balance, therefore easily cause depth The deposit of foundation trench itself back-silts, and causes engineering to stop work, and has a strong impact on progress, and causes huge economic loss.Such as in port pearl In Australia bridge E15 section immersed tube installation courses, due to the back-siltation of deep foundation trench, therefore project progress is delayed for 4 months, And cause the economic loss of more than one hundred million members.

At present, the deep foundation ditch back silting problem in ultra-large type bridge tunel engineering process of construction is not only China's engineering circles and met in recent years To new challenge and endeavour the problem solved, an and global problem, related method, engineering discipline, technological means, Equipment is almost blank.Last procedure that tunnel immersed tube lays before construction is laying rubble bedding, is laid in rubble bedding Before, foundation trench back-silt accident typically can also employ plant equipment carry out desilting, but rubble bedding laying after to immersed tube lay Period, to keep the flatness of rubble bedding, the silt to deposit on bedding can not then use traditional big machinery desilting.Cut To current, the unique reliable approach for solving this problem is exactly the method for artificial submersible dredging.It is clear that this method is current Run into following a few hang-ups：(1) construction needs to carry out when meteorological model condition is suitable, and desilting window phase is shorter, the duration Determined completely by day；(2) input of a large amount of desilting troops, hydrometeorological auxiliary monitoring troop and equipment is needed, cost is very high, efficiency It is relatively low；(3) personnel, equipment etc. need the foundation trench of tens meters of underwater to carry out manual work, larger personnel, equipment peace be present Full blast danger.In general, this traditional method cost is high, efficiency is low, security risk is big, mechanization intelligence degree is low, Can not meet the needs of water transport engineering project modernization.

The content of the invention

The utility model provides a kind of deep water foundation trench desilting for technical problem present in solution known technology intelligently to be had Rail robot, the robot can realize intelligent machine desilting, liberate manpower, significantly save construction cost, efficiency high, safety Hidden danger is few.

The utility model is adopted the technical scheme that to solve technical problem present in known technology：A kind of deep water base Groove desilting intelligence rail bound robot, including Exercise Mechanics, bed-sit cleaning system, silt content underwater topographic monitoring system and control system System, the Exercise Mechanics include two-orbit, bracket, front vehicle wheel and rear wheel, and the front vehicle wheel and the rear wheel are installed in On bracket, and run on the two-orbit, the rear wheel is driven by motion motor, and the motion motor is supplied by external power source Electricity, the motion motor is by motion Frequency Converter Control；The bed-sit cleaning system includes a water being fixed on the bracket The flat snakelike charging pipe and a horizontally disposed snakelike gas tube set, the charging pipe is parallel with the gas tube affixed, The charging pipe and the gas tube are equipped with multiple horizontal pipeline sections vertical with the two-orbit and across the two-orbit, The horizontal pipeline section of the charging pipe is provided with multiple water jets, unidirectional current valve is provided with the water jets, described The horizontal pipeline section of gas tube is provided with multiple air-flow shower nozzles, and inlet non return check valve, the air-flow spray are provided with the air-flow shower nozzle Head and the water jets are obliquely installed forward, and multiple air-flow shower nozzles and multiple water jets or so are staggeredly, uniformly Arrangement, the charging pipe use high-pressure hydraulic pump water-filling, and the high-pressure hydraulic pump is driven by the pump motor affixed with it, the water pump Motor is controlled by pump variable frequency device, and the pump motor is powered by external power source；The gas tube is inflated using high-pressure pump, institute State high-pressure pump to be driven by the air pump motor affixed with it, the air pump motor is by air pump Frequency Converter Control, the air pump motor Powered by external power source, the high-pressure pump is connected by air induction hose with air inlet head, and the air inlet head is fixed on floating body simultaneously More than the water surface；The high-pressure hydraulic pump and the high-pressure pump are each attached on the bracket；The silt content is under water Shape monitoring system includes OBS transmissometers, underwater ultrasound topographic meter, underwater high-definition camera and underwater light source, in the support The rear and front end of frame is equipped with the OBS transmissometers, and the underwater ultrasound topographic meter is slidably mounted in line slideway On, the line slideway is fixed on the bracket and across the two-orbit；It is all provided with the rear and front end of the bracket State underwater high-definition camera and the underwater light source；The control system includes terminal upper computer, subsea control modules, GPS moulds Block and water pressure sensor, the GPS module and the water pressure sensor are arranged on the bracket, the underwater control mould Block includes the seal case being fixed on the bracket, single-chip microcomputer is provided with the seal case, the terminal upper computer is led to Cross the single-chip microcomputer and the GPS module, the water pressure sensor, the OBS transmissometers, the underwater ultrasound topographic survey Instrument and the underwater high-definition camera carry out data transmission, and the terminal upper computer is by the single-chip microcomputer to the motion frequency conversion The gentle pump frequency conversion device of device, pump variable frequency device is controlled.

Palisading type conduit saddle is fixed with the bracket, the charging pipe and the gas tube are mounted in the palisading type conduit saddle Interior, the water jets and the air-flow shower nozzle are leant out in the outside of the palisading type conduit saddle.

The bracket is welded by some shaped steel.

Be connected with the water inlet of the high-pressure hydraulic pump into head, it is described enter head outermost be provided with filter screen.

The line slideway and the palisading type conduit saddle are affixed.

The floating body is made up of top scaffold and bottom buoyancy tank, and the air inlet head is fixed on the top scaffold.

Filter screen is provided with the outermost of the air inlet head.

The utility model has the advantages and positive effects of：

1) automation and intellectuality of ultra-large type bridge tunel engineering deep water foundation trench deposit cleaning can be achieved, avoid tradition side The huge personage of method, material resources input, significantly save construction cost, have filled up both at home and abroad in this type equipment technical elements Blank.

2) cleaning design of intelligent robot returns to coordinate data in real time into rail form, and by d GPS locating module, makes it Cleanup area is controllable.

3) underwater ultrasound topographic meter monitors change of Underwater Topography in real time, it is achieved thereby that the automation of scale removal process, Coordinate the location data of d GPS locating module simultaneously, the motion of Exercise Mechanics can be automatically controlled.

4) monitor the silt content of foundation trench bottom in real time by OBS transmissometers, so as to realize automatically controlling for clean-up intensity, protect The accuracy of cleaning is demonstrate,proved.

5) clear up situation to foundation trench bottom by underwater high-definition camera to observe, ensure that the effect of cleaning.

6) robot architecture it is compact, in flat, inhabit in the bottom of deep water foundation trench, avoid the strong current area of shallow water, Resistance is small during motion, stable performance.

7) powered using external power source by submerged cable to robot, power is sufficient, and endurance is strong.

In summary, the utility model is a kind of automation and intelligentized rail bound robot, can be used in deep water foundation trench Cleaning, greatly save ultra-large type bridge tunel engineering construction cost, escort for the smooth development of engineering construction.State is filled up The blank of this inside and outside kind equipment, promote China's water transport, the development of ocean industry correlation technique.The utility model is designed reasonably, Stable performance, automation and intelligentification degree is high, easy to install, is also applied for other class water transports, ocean engineering process of construction The cleaning process of middle deposit, therefore, there is very wide application prospect and the market space.

Brief description of the drawings

Fig. 1 is structural representation of the present utility model；

Fig. 2 is underwater portion structural representation of the present utility model；

Fig. 3 is water floating body part-structure schematic diagram of the present utility model；

Fig. 4 is gas tube and charging pipe cabling schematic diagram in grid type conduit saddle of the present utility model；

Fig. 5 is the gas tube and charging pipe structural representation in bed-sit cleaning system of the present utility model；

Fig. 6 is high-pressure hydraulic pump detail view of the present utility model；

Fig. 7 is control system block diagram of the present utility model.

In figure：1st, two-orbit；201st, front vehicle wheel；202nd, rear wheel；3rd, bracket；4th, palisading type conduit saddle；5th, motion motor；6、 High-pressure hydraulic pump；7th, high-pressure pump；8th, subsea control modules；9th, floating body；10th, terminal upper computer；11st, data cable；12nd, air inlet is soft Pipe；13rd, service cable；14th, OBS transmissometers；15th, underwater light source；16th, underwater ultrasound topographic meter；17th, underwater high-definition camera Head；18th, line slideway；19th, water jets；20th, air-flow shower nozzle；21st, unidirectional current valve；22nd, inlet non return check valve；23rd, gas tube； 24th, charging pipe；25th, pump motor；26th, head is entered；27th, air inlet head；28th, single-chip microcomputer；29 pump variable frequency devices；30th, air pump frequency conversion Device；31st, frequency converter is moved；32nd, GPS module；33rd, water pressure sensor；901st, top scaffold；902nd, bottom buoyancy tank.

Embodiment

For invention, features and effects of the present utility model can be further appreciated that, following examples are hereby enumerated, and coordinate Accompanying drawing describes in detail as follows：

Refer to Fig. 1~Fig. 7, a kind of deep water foundation trench desilting intelligence rail bound robot, including Exercise Mechanics, bed-sit cleaning system System, silt content underwater topographic monitoring system and control system.The bed-sit cleaning system and the silt content underwater topographic monitoring System is fixed on the Exercise Mechanics and moved with the motion of Exercise Mechanics, and control system is whole by internal single-chip microcomputer, outside Hold the work of host computer and implant procedure control bed-sit cleaning system, Exercise Mechanics, silt content underwater topographic monitoring system.

The Exercise Mechanics include two-orbit 1, bracket 3, front vehicle wheel 201 and rear wheel 202, the front vehicle wheel 201 and institute State rear wheel 202 to be installed on bracket 3, and run on the two-orbit 1, the rear wheel 202 is driven by motion motor 5 Dynamic, the motion motor 5 is powered by external power source, and the motion motor 5 is controlled by motion frequency converter 31.

The two-orbit 1 is laid on deep water foundation trench bottom according to the spacing of regulation, and keeps certain flying height, to prevent Only silt is buried.Two front vehicle wheels 201 and two rear wheels 202 are arranged on four angles of the bottom symmetrical of bracket 3, and are arranged on , can free forward-reverse on two-orbit 1.Two servomotors 5 are controlled by motion frequency converter 31, respectively with two rear wheels 202 Connection, rear wheel 202 is reached to drive whole bracket 3 to move by gear by power.The bracket 3 welded by some shaped steel and Into for carrying bed-sit cleaning system, silt content underwater topographic monitoring system and control module 8.External power source passes through electricity of powering Cable 13 is powered to two motion motors 5.

The bed-sit cleaning system includes a horizontally disposed snakelike charging pipe 24 and one being fixed on the bracket 3 The horizontally disposed snakelike gas tube 23 of root, the charging pipe 24 and the gas tube 23 are parallel affixed, the charging pipe 24 and institute State gas tube 23 and be equipped with multiple horizontal pipeline sections vertical with the two-orbit 1 and across the two-orbit 1, in the charging pipe 24 horizontal pipeline section is provided with multiple water jets 19, and unidirectional current valve 21 is provided with the water jets 19, is filled described The horizontal pipeline section of tracheae 23 is provided with multiple air-flow shower nozzles 20, and inlet non return check valve 22 is provided with the air-flow shower nozzle 20, described Air-flow shower nozzle 20 and the water jets 19 are obliquely installed forward, multiple air-flow shower nozzles 20 and multiple water jets 19 Left and right interlocks, is evenly arranged；The charging pipe 24 uses the water-filling of high-pressure hydraulic pump 6, and the high-pressure hydraulic pump 6 is by the water pump affixed with it Motor 25 is driven, and the pump motor 25 is controlled by pump variable frequency device 29, and the pump motor 25 is powered by external power source；It is described Gas tube 23 is inflated using high-pressure pump 7, and the high-pressure pump 7 is driven by the air pump motor affixed with it, the air pump motor Controlled by air pump frequency converter 30, the air pump motor is powered by external power source, and the high-pressure pump 7 is by air induction hose 12 with entering Gas first 27 connects, and the air inlet head 27 is fixed on floating body 9 and more than the water surface；The high-pressure hydraulic pump 6 and the high pressure Air pump 7 is each attached on the bracket 3.

The water jets 19 are towards front lower place.It is connected with the water inlet of high-pressure hydraulic pump 6 into head 26, is entering head 26 outermost sets filter screen, to prevent debris from entering.High-pressure hydraulic pump 6 is driven by a pump motor 25, will be entered around head 26 Water be evacuated in charging pipe 24, finally sprayed from water jets 19, the unidirectional current valve 21 is connected to water jets 19 most Outside, ensure that current can only outwards spray and can not flow back, the pump motor 25 controls its rotation by pump variable frequency device 29.Class As, the air-flow shower nozzle 20 is towards front lower place.Gas tube 23 is connected with high-pressure pump 7, and high-pressure pump 7 passes through air induction hose 12 It is connected with the air inlet head 27 more than water surface, air inlet head 27 is fixed on a floating body 9, and floating body is by the scaffold 901 on top and bottom Buoyancy tank 902 form, the air inlet head 27 is fixed on the top scaffold 901.Floating body 9 can rise and fall with the lifting of water level, The outermost of air inlet head 27 is provided with filter screen to prevent debris from entering.High-pressure pump 7 is driven air inlet head 27 using an air pump motor The air of surrounding is evacuated in gas tube 23, is finally sprayed from air-flow shower nozzle 20, the inlet non return check valve 22 is connected to air-flow shower nozzle 20 outermost, guarantee can only outwards jet and be unable to backwater, the air pump motor controls its rotation by air pump frequency converter 30.Outside Portion's power supply is powered by service cable 13 to the air pump motor and the pump motor 25.

The charging pipe 24 is parallel with gas tube 23 to bundle arrangement, to maintain its stability, the fixed hurdle type pipe on bracket 3 Support 4, by charging pipe 24 and gas tube 23 in conduit saddle 4, the water jets 19 and the air-flow shower nozzle 20 are leant out in grid The outside of column type conduit saddle 4, arranged crosswise, form jet array.

The silt content underwater topographic monitoring system includes OBS transmissometers 14, underwater ultrasound topographic meter 16, underwater height Clear camera 17 and underwater light source 15, the OBS transmissometers 14 are equipped with the rear and front end of the bracket 3, it is described underwater super Sound topographic meter 16 is slidably mounted on line slideway 18, and the line slideway 18 is fixed on the bracket 3 and horizontal stroke Across the two-orbit 1；The underwater high-definition camera 17 and the underwater light source are equipped with the rear and front end of the bracket 3 15。

The OBS transmissometers 14 are used to measure the suspension concentration near deep water foundation trench bottom in real time.Underwater ultrasound landform is surveyed Amount instrument 16 can move freely back and forth on line slideway 18, for monitoring the change of underwater topography in real time.The underwater high definition is taken the photograph As first 17 for monitoring underwater silt cleaning situation, the light filling that the underwater light source 15 is used under deep water foundation trench dark situation in real time.

The control system includes terminal upper computer 10, subsea control modules 8, GPS module 32 and water pressure sensor 33, The GPS module 32 and the water pressure sensor 33 are arranged on the bracket 3.

The subsea control modules 8 include the seal case being fixed on the bracket 3, are provided with the seal case Single-chip microcomputer 28, the terminal upper computer 10 by the single-chip microcomputer 28 and the GPS module 32, the water pressure sensor 33, The OBS transmissometers 14, the underwater ultrasound topographic meter 16 and the underwater high-definition camera 17 carry out data transmission, institute Terminal upper computer 10 is stated to enter the motion frequency converter 31, the gentle pump frequency conversion device 30 of pump variable frequency device 29 by the single-chip microcomputer 28 Row control.

The single-chip microcomputer 28 distinguish it is described motion frequency converter 31, pump variable frequency device 29, air pump frequency converter 30, GPS module 32, Water pressure sensor 33, OBS transmissometers 14, underwater ultrasound topographic meter 16 and underwater high-definition camera 17 connect, underwater super Sound topographic meter 16 is used for the change of real time scan underwater topography, while output data is to control wheel 2 in Exercise Mechanics Roll.OBS transmissometers 14 are used to measure the suspension concentration near deep water foundation trench bottom in real time, while output data is to control high pressure Water pump 6 and high-pressure pump 7 carry out water spray and jet action respectively；Underwater high-definition camera 17 is used to observe deep water foundation trench bottom mud Husky motion conditions and the dredging effect of deep water foundation trench.

GPS module 32 is used for motion and the position for monitoring whole body, is preferably mounted on inside Exercise Mechanics.Water pressure passes Sensor 33 is used for measured pressure signal, to determine the depth under water residing for whole body, is typically mounted on the outside of bracket 3.

The single-chip microcomputer 28 is connected by data cable 11 with terminal upper computer 10, realizes the transmission of data.

Operation principle of the present utility model is：

In use, first setting double guide rails 1, then Exercise Mechanics are lifted on double guide rails 1, make front and back wheel and double guide rails 1 coordinates.Range of movement threshold value, silt content threshold value and the change of Underwater Topography threshold value of robot are set in terminal upper computer 10. Powered using external power source to motion motor 5, Exercise Mechanics are voluntarily run along two-orbit 1, while start the survey of underwater ultrasound landform Measure instrument 16, OBS transmissometers 14 and underwater high-definition camera 17.

Underwater ultrasound topographic meter 16 moves back and forth on line slideway 18, monitors underwater topography data in real time, and will Terrain data is transferred to terminal upper computer 10 after the processing of single-chip microcomputer 28.The underwater topography that terminal upper computer 10 is set according to user Change threshold judges whether to enable bed-sit cleaning system, when being judged as YES, automatically turns on high-pressure hydraulic pump 6 and high-pressure pump 7 Power switch, after high-pressure hydraulic pump 6 is opened, water jets 19 spray high speed water jet impact deep water foundation trench bed surface deposit, in foundation trench Under the drive of background current, deposit rises outstanding and raised up.After high-pressure pump 7 is opened, air-flow shower nozzle 20 projects gas, produces a large amount of Bubble, promote deposit to continue to be substantially increased, and foundation trench is taken away by foundation trench background current, so as to realize deep water foundation trench deposit Cleaning.When the data that underwater ultrasound topographic meter 16 monitors judge to need to close bed-sit cleaning system through terminal upper computer 10 When, voluntarily close high-pressure hydraulic pump 6 and high-pressure pump 7.

OBS transmissometers 14 monitor the silt content of deep water foundation trench bottom in real time, and silt content data are handled through single-chip microcomputer 28 After transmit to terminal upper computer 10.The silt content threshold value that terminal upper computer 10 is set according to user reconciles the He of high-pressure hydraulic pump 6 automatically The rotating speed of high-pressure pump 7, so as to automatically control the intensity of water spray and jet.

GPS module 32 monitors movement velocity, acceleration and the position of Exercise Mechanics in real time, and data are passed through into single-chip microcomputer 28 Send to terminal upper computer 10, robot localization coordinate that terminal upper computer 10 is set according to user, range of movement threshold value and Change of Underwater Topography threshold value automatically controls motion motor 5, realizes variable motion and the position correction of Exercise Mechanics.

Water pressure sensor 33 monitors hydraulic pressure force signal in real time, with the depth under water residing for this determination Exercise Mechanics；Under water High-definition camera 17 monitors deep water foundation trench bottom configuration and the situation of deposit cleaning in real time.The two is defeated through single-chip microcomputer 28 by data Terminal upper computer 10 is delivered to, for user's decision-making.

Although preferred embodiment of the present utility model is described above in conjunction with accompanying drawing, the utility model is not Above-mentioned embodiment is confined to, above-mentioned embodiment is only schematical, is not restricted, ability The those of ordinary skill in domain is not departing from the utility model aims and claimed under enlightenment of the present utility model In the case of scope, many forms can also be made, these are belonged within the scope of protection of the utility model.

Claims (7)

1. a kind of deep water foundation trench desilting intelligence rail bound robot, it is characterised in that including Exercise Mechanics, bed-sit cleaning system, contain Sand amount underwater topographic monitoring system and control system,

The Exercise Mechanics include two-orbit, bracket, front vehicle wheel and rear wheel, and the front vehicle wheel and the rear wheel are installed in On bracket, and run on the two-orbit, the rear wheel is driven by motion motor, and the motion motor is supplied by external power source Electricity, the motion motor is by motion Frequency Converter Control；

The bed-sit cleaning system includes a horizontally disposed snakelike charging pipe being fixed on the bracket and a level The snakelike gas tube set, the charging pipe is parallel with the gas tube affixed, and the charging pipe and the gas tube are equipped with Multiple horizontal pipeline sections vertical with the two-orbit and across the two-orbit, it is provided with the horizontal pipeline section of the charging pipe more Individual water jets, unidirectional current valve is provided with the water jets, multiple gas are provided with the horizontal pipeline section of the gas tube Shower nozzle is flowed, inlet non return check valve is provided with the air-flow shower nozzle, the air-flow shower nozzle and the water jets are obliquely installed forward, Multiple air-flow shower nozzles and multiple water jets or so interlock, are evenly arranged, and the charging pipe is filled using high-pressure hydraulic pump Water, the high-pressure hydraulic pump are driven by the pump motor affixed with it, and the pump motor is controlled by pump variable frequency device, the water pump Motor is powered by external power source；The gas tube is inflated using high-pressure pump, and the high-pressure pump is by the air pump electricity affixed with it Machine is driven, and the air pump motor is powered by air pump Frequency Converter Control, the air pump motor by external power source, and the high-pressure pump leads to Cross air induction hose to be connected with air inlet head, the air inlet head is fixed on floating body and more than the water surface；The high-pressure hydraulic pump and The high-pressure pump is each attached on the bracket；

The silt content underwater topographic monitoring system includes OBS transmissometers, underwater ultrasound topographic meter, underwater high-definition camera And underwater light source, the OBS transmissometers are equipped with the rear and front end of the bracket, the underwater ultrasound topographic meter can be slided It is arranged on dynamicly on line slideway, the line slideway is fixed on the bracket and across the two-orbit；In the bracket Rear and front end be equipped with the underwater high-definition camera and the underwater light source；

The control system includes terminal upper computer, subsea control modules, GPS module and water pressure sensor, the GPS module It is arranged on the water pressure sensor on the bracket, the subsea control modules include the sealing being fixed on the bracket Casing, is provided with single-chip microcomputer in the seal case, and the terminal upper computer passes through the single-chip microcomputer and the GPS module, institute State water pressure sensor, the OBS transmissometers, the underwater ultrasound topographic meter and the underwater high-definition camera and enter line number According to transmission, the terminal upper computer is entered by the single-chip microcomputer to the motion frequency converter, the gentle pump frequency conversion device of pump variable frequency device Row control.

2. deep water foundation trench desilting intelligence rail bound robot according to claim 1, it is characterised in that solid on the bracket Surely there is a palisading type conduit saddle, the charging pipe and the gas tube are in the palisading type conduit saddle, water jets and described Air-flow shower nozzle is leant out in the outside of the palisading type conduit saddle.

3. deep water foundation trench desilting intelligence rail bound robot according to claim 1, it is characterised in that the bracket is by some Shaped steel is welded.

4. deep water foundation trench desilting intelligence rail bound robot according to claim 1, it is characterised in that in the high-pressure hydraulic pump Water inlet on be connected with into head, it is described enter head outermost be provided with filter screen.

5. deep water foundation trench desilting intelligence rail bound robot according to claim 2, it is characterised in that the line slideway with The palisading type conduit saddle is affixed.

6. deep water foundation trench desilting intelligence rail bound robot according to claim 1, it is characterised in that the floating body is by top Scaffold and bottom buoyancy tank composition, the air inlet head are fixed on the top scaffold.

7. deep water foundation trench desilting intelligence rail bound robot according to claim 1, it is characterised in that in the air inlet head Outermost is provided with filter screen.