Triangular crawler-type amphibious sand cleaning ship and matched dock

Abstract

The triangular crawler-type amphibious sand cleaning ship comprises a ship body and is characterized in that a sediment storage bin is arranged on the rear portion of the ship body, a two-section type rear door plate is arranged on the rear portion of the sediment storage bin, and the rear door plate is connected through a hinge to form an upper door plate and a lower door plate; the upper door plate can rotate backwards by a specific angle, serves as a silt storage bin rear door when closed, serves as a balancing weight to enhance operation stability during silt cleaning and excavating operation, and serves as a belt conveying mechanism supporting bottom plate when entering a dock to unload silt. A triangular crawler-type walking mechanism is arranged at the bottom of the ship body and comprises a crawler belt, a driving gear and three driven gears, and the angle of a main shaft connected with the driving gear is adjustable so as to adapt to different bank slope angles; the assorted dock adopts an amphibious structure, can be deployed on a dock close to the shore or a smooth shore in water, and is adapted to various scenes such as a reservoir hydro-fluctuation belt, a shoal, a bank slope and the like for operation.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of water conservancy and environmental protection and dredging mechanical equipment, and particularly relates to a triangular track type amphibious sand cleaning ship with high energy supply function and a supporting ship dock, which is suitable for operation in the bank slope and shoal area of reservoirs, rivers, lakes and other water areas. BACKGROUND

[0002] China has a large number of reservoirs, rivers and lakes, which play an important role in flood control, water supply and ecology. However, due to soil erosion and other reasons, a large amount of sediment is deposited in the bank slope and tail area of the water area, which not only reduces the effective capacity and affects the engineering benefit, but also may pose a threat to the ecological environment. Therefore, it is very important to clean the sediment in this area regularly.

[0003] At present, the operation equipment for water area dredging mainly includes traditional cutter suction dredgers, shovel dredgers and other water vessels. These devices have high efficiency in open deep water areas, but have poor adaptability to areas with large water level fluctuations, shoals and reservoir bank areas that need to operate on land, are prone to grounding and are difficult to achieve amphibious continuous operation. Although there are some caterpillar excavators that can operate in water after modification, they have poor water navigation ability, rely on towing for transfer, have insufficient mobility and flexibility, and lack efficient sediment storage and transfer capacity, resulting in low overall operation efficiency.

[0004] In addition, the traditional diesel-powered dredging equipment has the problems of loud noise and emission pollution, which does not meet the current environmental protection requirements. While the pure electric equipment generally faces the bottleneck of long charging time and poor operation continuity, and high-power fast charging will adversely affect the battery life and increase the use cost.

[0005] In terms of sand unloading and cleaning, many devices rely on external equipment for assistance, which has a complicated process and low efficiency. At the same time, the dedicated dredging equipment often has single function and is difficult to adapt to changing operation tasks and environments.

[0006] Therefore, there is an urgent need in the art for a new sand cleaning equipment that can flexibly adapt to water and land environments, has efficient energy supply mode and highly integrated operation function. SUMMARY

[0007] The purpose of the present application is to provide a triangular track type amphibious sand cleaning ship and a supporting ship dock, which can flexibly adapt to water and land environments, have efficient energy supply mode and highly integrated operation function, in order to solve the above problems.

[0008] The technical solution of the present application is as follows: The application discloses a triangular track type amphibious sand clearing ship and a matching ship dock, which comprises a ship body and a ship dock, wherein the rear part of the ship body is provided with a sand storage bin, the rear part of the sand storage bin is provided with a two-section rear door plate, the rear door plate is connected through a hinge to form an upper door plate and a lower door plate, and the hinge connection realizes three functions of multiplexing, that is, the upper door plate serves as a sand storage bin door when closed, is turned backward to form a counterweight to enhance stability during sand excavation, and is unfolded to serve as a belt conveyor support bottom plate during sand unloading, so that the structure is simplified and the operation efficiency is improved; the upper door plate can be turned backward by a specific angle, serves as a sand storage bin rear door when closed, serves as a counterweight to enhance operation stability during sand excavation, and serves as a belt conveying mechanism support bottom plate when entering the ship dock for sand unloading; a triangular track type walking mechanism is arranged at the bottom of the ship body and comprises a track, one driving gear and three driven gears; the angle of the driving gear connected main shaft can be adjusted to adapt to different bank slope angles; the angle of the driving gear main shaft can be adjusted, so that the sand clearing ship can adaptively adjust the posture in complex terrains such as banks and shoals, and the passability and stability of the water-land transition area are enhanced; a replaceable sand excavation mechanism is arranged at the bow of the ship body, the sand excavation mechanism can quickly replace a backhoe / mud reclamation device, is suitable for different operation tasks (such as hard sand excavation or mud pumping), and improves the multifunctionality of the equipment; a battery bin is arranged at the side wall of the sand storage bin on the left and right sides of the ship body, the weight distribution is optimized, quick energy supply is realized by cooperating with a battery replacement system, time loss in the traditional charging mode is avoided, and the ship dock adopts an amphibious structure, can be deployed in water or on a gentle bank, is suitable for operation in various scenes such as reservoir drawdown zones, shoals and banks, can be deployed in a water dock or on a gentle bank, is suitable for various scenes such as reservoir drawdown zones, shoals and banks, expands the operation range and supports integrated sand unloading, sand cleaning and battery replacement operations; a battery replacement system is arranged at the side wall of the ship dock and comprises a battery replacement bin and a battery replacement mechanical arm; the battery replacement mechanical arm is installed on a cross motion frame and comprises a horizontal mechanical grab, a vertical mechanical grab and an inclined bolt tensioner; the battery replacement mechanical arm carries batteries, tightens / loosens fixed battery screws to realize quick battery replacement, the battery blocks in the battery replacement bin are fixed to a steel frame for charging through four hexagonal screws, the batteries are carried by the horizontal / vertical mechanical grab, and the inclined bolt tensioner automatically tightens / loosens the fixed nuts to realize quick battery replacement and trickle charging, so that downtime is shortened and the service life of the batteries is prolonged.

[0009] Further, a belt conveyor is arranged at the bottom of the sand storage bin and the inner side of the rear door plate; the belt conveyor is started to realize automatic sand backward conveying after the rear door plate is opened during sand unloading; the belt is automatically started after the rear door plate is opened during sand unloading, continuous sand conveying from the bin to the ship dock is realized, manual intervention is reduced, sand unloading efficiency is improved, and a U-shaped hydraulic device is arranged at the lower part of the door plate to provide power for hinge movement of the door plate, so that the door plate can play a role of balanced counterweight for excavation operation.

[0010] Furthermore, the sand-clearing and excavation mechanism is a backhoe excavation mechanism or a sludge suction device. It adopts a modular design and can be replaced according to task requirements. The backhoe / sludge suction device can be quickly replaced through standardized interfaces, reducing equipment modification costs and adapting to diverse sand-clearing needs.

[0011] Furthermore, a grab bucket excavator is installed on the dock to clean up the residual mud and sand inside the sand-cleaning vessel and transfer it to a dump truck. This solves the problem of incomplete sand unloading by traditional equipment and improves the efficiency of cleaning the tank.

[0012] Furthermore, the cross-shaped motion frame of the battery swapping robotic arm consists of a horizontal motion rod, a vertical motion rod, and an outer fixed frame, which drives the robotic arm to translate in a plane to realize battery transfer. By driving the robotic arm to translate in a plane through the horizontal / vertical motion rod, the battery compartment is accurately positioned, realizing automated and high-precision operation of battery transfer.

[0013] Furthermore, the drive gear of the triangular track walking mechanism is connected to the main shaft. By adjusting the rotation angle of the main shaft, the adaptability of the bank slope when going ashore is improved. The track contact angle is adjusted for different slopes to optimize the ground pressure distribution and enhance the climbing ability and driving stability.

[0014] Furthermore, the battery compartment is located on the port and starboard aft sidewalls of the hull. The dockside battery swapping mechanism uses a robotic arm to remove low-charge batteries and install fully charged batteries, which facilitates direct operation by the dockside robotic arm, reduces battery handling path, and improves battery swapping efficiency.

[0015] Furthermore, the battery packs in the battery storage compartment are fixed to the battery fixing steel frame by four hexagonal screws. The robotic arm moves the battery by horizontal / vertical mechanical gripping, and the bolt tightener at the end of the inclined robotic arm performs the screw operation. The battery is fixed by the mechanical structure to ensure stable position during charging, and the bolt tightener enables quick assembly and disassembly.

[0016] Furthermore, the rear door panel hinge connection structure ensures that the rotation angle of the upper door panel is controllable. Motion compensation wheels are also provided at the two hinge points of the door panel. When the door panel rotates, these wheels fill the gaps for the mud and sand transport belt, ensuring that the mud and sand transport belt can transport mud and sand normally when it is in different positions. This enables the switching of three functions: door, counterweight, and support base plate, and precisely controls the rotation angle of the upper door panel, ensuring the reliability of the three-function switching.

[0017] Furthermore, a winch is installed on each side of the stern of the sand-clearing vessel. The wire rope on the winch is connected to the highest point of the stern door panel, providing power for the opening and closing of the door panel and the adjustment of its angle.

[0018] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are: 1. This invention's two-section rear door panel, connected by hinges, integrates three functions: a storage door, a counterweight, and a supporting base plate. When closed, it acts as a sealed door for the sand storage silo, preventing leakage during operation. During excavation, the upper door panel rotates backward to form a counterweight, balancing the excavation reaction force of the excavation mechanism at the front of the hull and enhancing operational stability. During sand unloading, the unfolded upper door panel serves as a supporting base plate for the belt conveyor, working in conjunction with the belt conveyor inside the silo to form a continuous conveying channel. This avoids the complex process of building an additional support platform required by traditional sand unloading methods. This design achieves three functions with a single component, reducing the number of specialized parts, simplifying the complexity of the equipment structure, and lowering manufacturing and maintenance costs. Furthermore, functional reuse enhances the continuity of the operational process. 2. This invention employs an amphibious structure, allowing deployment at docks in water or on gentle shores. Combined with the adjustable angle of the drive gear spindle of the triangular tracked walking mechanism, the sand-clearing system can adapt to various operating scenarios, including reservoir drawdown zones, shallow waters, and riverbanks. In drawdown zones with significant water level fluctuations, the dock can be deployed in shallow water or on shore, directly connecting to the sand-clearing vessel via the amphibious walking mechanism. In riverbank areas, the adjustable drive gear spindle angle optimizes track grounding posture, enhancing climbing ability and driving stability. This design overcomes the limitations of traditional sand-clearing equipment, which can only operate in deep water or at fixed docks. Its adaptive deployment capability expands the operational range and enhances the equipment's operational flexibility in complex water-land transition zones.

[0019] 3. In this invention, the "battery swapping system includes a cross-shaped motion frame robotic arm, a battery fixing steel frame, and a bolt tightening device." Through the process of the robotic arm automatically transporting the battery and tightening / loosening the fixing screws, the battery can be quickly replaced. Compared with the traditional charging mode, the battery swapping time is greatly shortened, and the continuity of operation is enhanced. At the same time, the batteries in the dock adopt a trickle charging method, which avoids the damage to battery life caused by fast charging, extends the overall service life of the battery, and reduces the system operating cost. Attached Figure Description

[0020] The present invention will be described by way of example and with reference to the accompanying drawings, wherein: Figure 1 This is a side view of a triangular tracked amphibious sand-clearing vessel according to the present invention; Figure 2 This is a detailed drawing of the triangular track structure of the present invention; Figure 3 This is a schematic diagram of the internal transport belt of the sediment storage silo of the present invention; Figure 4 This is a schematic diagram of the dock of the present invention; Figure 5 This is a schematic diagram of the steel frame for fixing the battery in the battery swapping system of the present invention; Figure 6 This is a schematic diagram of the robotic arm used for battery assembly and disassembly according to the present invention.

[0021] Attached reference numerals: 1-Rear door panel, 2-Triangular track walking mechanism, 21-Triangular track, 3-Battery compartment, 31-Battery storage compartment for battery swapping; 4-Sand cleaning and excavation mechanism, 5-Sand conveyor belt, 51-U-shaped hydraulic device, 52-Motion compensation wheel, 6-Grab bucket excavator, 7-Battery swapping system, 8-Steel frame for battery fixing, 9-Dredging vessel docking position, 10-Dump truck docking position, 11-Winding hoist. Detailed Implementation

[0022] All features disclosed in this specification, or all steps in all disclosed methods or processes, may be combined in any way, except for mutually exclusive features and / or steps.

[0023] Any feature disclosed in this specification (including any appended claims and abstract) may be replaced by other equivalent or similar features, unless specifically stated otherwise. That is, unless specifically stated otherwise, each feature is merely one example of a series of equivalent or similar features.

[0024] The features and performance of the present invention will be further described in detail below with reference to embodiments.

[0025] like Figures 1-6 As shown, the triangular tracked amphibious sand-clearing vessel and its supporting dock of the present invention achieve full-process automation of "efficient amphibious sand-clearing and rapid energy replenishment" through multi-component collaborative operation. The specific working principle is as follows: 1. Mechanisms of amphibious walking and terrain adaptation The vessel's bottom employs a triangular track-type walking mechanism, driven by one drive gear (connected to an adjustable-angle main shaft) and three driven gears. The drive gear main shaft adapts to different bank slopes via an angle adjustment device: when going ashore, the main shaft adjusts upwards to increase the track's contact area and enhance climbing traction; when traveling on flat ground or shallow water, the main shaft returns to its default angle to optimize travel efficiency. The tracks are made of high-strength rubber, and combined with the gear meshing structure, ensures stable travel in water-land transition areas (such as reservoir drawdown zones and muddy banks), avoiding the problems of traditional sand-clearing equipment being prone to grounding and difficult to relocate.

[0026] 2. Sand cleaning-storage-unloading operation process The bow of the vessel is equipped with a modular sand-clearing and dredging mechanism (which can be quickly replaced with a backhoe dredging mechanism or a sludge suction device). During operation, the dredging mechanism selects the mode according to the type of mud and sand: hard mud and sand are dredged using a backhoe, while sludge is sucked in using a sludge suction device. The mud and sand are transported through pipelines to the mud and sand storage bin at the stern of the vessel. Belt conveyors are laid on the bottom of the storage bin and the inner side of the rear door panel. The rear door panel has a two-section hinged structure. The rear door panel is divided into an upper door panel and a lower door panel by hinges, realizing three-state switching: when closed, it forms a mud and sand bin door through a latch and sealing strip to prevent leakage; during dredging operations, the upper door panel rotates backward at a specific angle to form a counterweight block to enhance the stability of the hull; when unloading sand, the upper door panel unfolds to a horizontal state, forming a support base for the belt conveyor together with the lower door panel. A U-shaped hydraulic device and a winch provide the power for the rotation of the door panel, and the motion compensation wheel at the hinge point fills the gap of the belt conveyor when the door panel rotates, ensuring that the mud and sand can be transferred normally in different positions. During the excavation operation phase: The upper panel rotates backward at a specific angle to form a counterweight block, which balances the reaction force generated by the excavation at the front of the hull, enhances operational stability, and prevents the hull from tilting forward. During the sand unloading operation: After the sand-clearing vessel enters the supporting dock, the rear door opens as a whole, and the upper door unfolds to serve as the supporting base for the belt conveyor, forming a continuous conveying channel with the belt conveyor inside the hold. After the belt conveyor starts, the silt is transported along the base to the designated area of ​​the dock, achieving automatic sand discharge and reducing manual intervention; Residual cleanup stage: The grab bucket excavator configured in the dock performs secondary cleanup of the residual mud and sand in the storage bin, and transfers it to dump trucks for removal by grab bucket, ensuring that there is no residue in the bin.

[0027] 3. Rear door panel three-function multiplexing system The rear door panel is hinged into an upper and lower panel, enabling three-state switching: when closed, it forms a mud and sand silo door via a latch and sealing strip to prevent leakage; during excavation operations, the upper door panel rotates backward at a specific angle to form a counterweight, enhancing the stability of the vessel; during sand unloading, the upper door panel unfolds to a horizontal position, forming a support base for the belt conveyor together with the lower door panel. A U-shaped hydraulic device and a winch provide the power for the door panel's rotation, and a motion compensation wheel at the hinge point fills the gaps in the belt conveyor when the door panel rotates, ensuring that mud and sand can be transferred normally at different locations.

[0028] 3. Fast battery swapping and energy management mechanism Battery compartments are located on the sidewalls of the sediment storage silt storage tanks on both port and starboard aft sides of the hull, housing quickly replaceable power batteries. A battery swapping system is installed on the sidewalls of the dock, including battery storage compartments (with internal battery mounting frames, and battery cells secured by four hexagonal bolts) and a cross-shaped moving frame battery swapping robotic arm. The battery swapping process is as follows: Positioning and handling: The robotic arm moves along the cross motion frame (horizontal / vertical motion rods + outer fixed frame) to the battery compartment of the ship, and horizontally / vertically grabs the low-power batteries; Screw operation: The bolt tensioner at the end of the inclined robotic arm automatically loosens the fixing nut. After the low-power battery is removed, the robotic arm moves the fully charged battery from the battery swapping storage compartment to the ship's battery compartment. The bolt tensioner then tightens the nut to complete the fixation. Charging Management: The batteries in the battery storage compartment adopt trickle charging mode to avoid fast charging losses and extend battery life. The entire battery swapping process is carried out simultaneously with the sand unloading operation, achieving zero downtime between "sand unloading and battery swapping" and ensuring the continuity of sand clearing operations.

[0029] 4. System integration and scenario expansion capabilities The dock features an amphibious design, allowing it to be deployed on water-based docks or gently sloping shores. Its amphibious capabilities, combined with the triangular tracked walking mechanism of the sand-clearing vessel, enable the system to flexibly adapt to various complex scenarios such as reservoir drawdown zones, shallow waters, and riverbanks. Supported by the dock's sand unloading, cleaning, and battery swapping functions, the sand-clearing vessel forms a fully automated operational chain of "excavation-storage-transportation-unloading-battery swapping," solving the core pain points of traditional equipment such as poor adaptability to both water and land, slow energy replenishment, and limited functionality. This achieves efficient, continuous, and multi-scenario sand-clearing operations.

[0030] In summary, this invention, through structural function reuse (three functions of the rear door panel), terrain-adaptive walking mechanism, fast battery swapping system, and collaborative design of amphibious dock, forms a complete chain solution from operation to energy replenishment, significantly improving the efficiency, continuity, and environmental adaptability of sand clearing operations.

[0031] The embodiments described above merely illustrate specific implementation methods of this application, and while the descriptions are detailed and specific, they should not be construed as limiting the scope of protection of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the technical solution of this application, and these modifications and improvements all fall within the scope of protection of this application.

Claims

1. A triangular tracked amphibious sand clearing vessel and a matching vessel dock, comprising a vessel and a dock, characterized in that: The rear of the ship body is provided with a sediment storage bin, and the rear of the sediment storage bin is provided with a two-section rear door plate which is connected by a hinge to form an upper door plate and a lower door plate; the upper door plate can be rotated rearward, and when closed, it serves as the rear door of the sediment storage bin, when sand excavation is performed, it serves as a counterweight to enhance the stability of the operation, and when entering the dock to unload sand, it serves as a support bottom plate for the belt conveying mechanism; the bottom of the ship body is provided with a triangular track-type traveling mechanism, which includes a track, one driving gear and three driven gears, and the angle of the driving gear connected to the main shaft can be adjusted to adapt to different shore slope angles; the front of the ship body is provided with a replaceable sand excavation mechanism, and the battery bin is arranged at the side wall of the sediment storage bin on the left and right rear sides of the ship body; The matching dock adopts an amphibious structure, can be deployed in water or on a shore pier or a gentle shore, and is suitable for scenarios such as reservoir drawdown zone, shoal and shore slope; the dock side wall is provided with a battery replacement system, including a battery replacement bin and a battery replacement mechanical arm, the battery replacement mechanical arm is installed on a cross motion frame, including a horizontal mechanical grab, a vertical mechanical grab and a diagonal bolt tensioner, and the battery replacement mechanical arm can carry batteries and tighten / loosen the fixing battery screws to realize quick battery replacement; the battery blocks in the battery replacement bin are fixed to the steel frame for charging by four hexagonal screws.

2. The amphibious sand clearing vessel and the matching dock according to claim 1, characterized in that: The bottom of the sediment storage bin and the inner side of the rear door plate are provided with a belt conveyor, which is started to realize automatic sand conveying rearward when the rear door plate is opened, and a U-shaped hydraulic device is arranged at the lower part of the door plate.

3. The amphibious sand clearing vessel and the matching dock according to claim 1, characterized in that: The sand excavation mechanism is a backhoe excavation mechanism or a sludge reclamation device, which is designed in a modular manner and can be replaced according to task requirements.

4. The amphibious sand clearing vessel and the matching dock according to claim 1, characterized in that: A grab-type excavator is arranged on the dock, which is used to clean the residual sand in the sand cleaning ship and transfer the sand to a self-unloading vehicle.

5. The triangular track type amphibious sand clearing vessel and the matching vessel dock according to claim 1, characterized in that: The cross motion frame of the battery replacement mechanical arm is composed of a transverse motion rod, a longitudinal motion rod and a peripheral fixed frame, which drives the mechanical arm to translate in a plane to realize battery transfer.

6. The triangular track type amphibious sand clearing vessel and the matching vessel dock according to claim 1, characterized in that: The driving gear of the triangular track-type traveling mechanism is connected to the main shaft, and the rotation angle of the main shaft is adjusted to improve the shore slope adaptability when landing on shore.

7. The triangular track type amphibious sand clearing vessel and the matching vessel dock according to claim 1, characterized in that: The battery bin is arranged at the side wall of the left and right rear sides of the ship body, and the dock battery replacement mechanism completes the uninstalling of low-power batteries and the installing of full-power batteries by the mechanical arm.

8. The triangular track type amphibious sand clearing vessel and the matching vessel dock according to claim 1, characterized in that: The battery blocks in the battery replacement bin are fixed to the battery fixing steel frame by four hexagonal screws, the mechanical arm carries the batteries by the horizontal / vertical mechanical grab, and the diagonal mechanical arm end bolt tensioner performs screw operation.

9. The triangular track type amphibious sand clearing vessel and the matching vessel dock according to claim 1, characterized in that: The hinge connection structure of the rear door plate ensures that the rotation angle of the upper door plate is controllable, and motion compensation wheels are arranged at the two hinge connection points of the door plate to realize the switching of the three functions of the bin door, the counterweight and the support bottom plate.

10. The triangular track type amphibious sand clearing vessel and the matching vessel dock according to claim 1, characterized in that: One winch hoist is arranged on each side of the stern of the sand cleaning ship, a steel wire rope is connected to the highest part of the stern door plate, and the winch hoist provides power for the opening and closing and angle adjustment of the door plate.

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