A deep water confined space dredging vehicle

Abstract

The present invention discloses a deep-water confined space dredging vehicle, comprising a vehicle body and a traveling device installed on the vehicle body, a conveying system, a dredging operation mechanism, a space detection mechanism and a monitoring and surveillance device, wherein the dredging operation mechanism comprises a cutter suction head and a swing mechanism for driving the cutter suction head to swing up and down and left and right, the conveying system comprises a connecting pipe, a conveying pump and a conveying pipe, one end of the connecting pipe is connected to the cutter suction head, the other end is connected to the input end of the conveying pump, the output end of the conveying pump is connected to the conveying pipe, and the space detection mechanism is installed on both sides of the vehicle body. The present invention installs the dredging operation mechanism and the conveying system on a vehicle body equipped with a traveling mechanism, and at the same time, the vehicle body is also equipped with a hydraulic power system, an electric control unit, a hydraulic control unit, a power control box, front and rear monitoring and surveillance components, and a space detection mechanism, so as to form a blockage dredging operation vehicle that is adapted to a deep-water confined space environment and can autonomously travel and operate.

Description

Technical Field

[0001] The invention belongs to the technical field of water conservancy dredging equipment, and in particular relates to a deep-water confined space dredging vehicle. Background Art

[0002] At present, due to various reasons, silt enters holes and other underwater confined spaces in water systems such as rivers, lakes and reservoirs, causing the silt in holes and other underwater confined spaces to increase day by day, resulting in a reduction in the effective water flow area of ​​the confined space, affecting the normal function. For the reasons of flood control and drainage, it is necessary to dredge the deposited silt frequently. At present, common dredging methods such as cutter suction dredgers, trailing suction dredgers, chain bucket dredgers, etc., all rely on ship-borne equipment for operation. Such equipment has a complex structure and large dimensions. At the same time, due to the silt being lifted up during the dredging process, the camera line of sight is blurred, and it is easy to collide and scratch with the left and right side walls of the underwater confined space in the walking direction. It is difficult to apply to dredging operations in confined spaces such as holes. Summary of the invention

[0003] The object of the present invention is to provide a deep-water confined space dredging vehicle to solve the above-mentioned problems.

[0004] To achieve the above-mentioned purpose, the present invention discloses a deep-water confined space dredging vehicle, comprising a vehicle body and a walking device, a conveying system, a dredging operation mechanism, a space detection mechanism and a monitoring and surveillance device installed on the vehicle body, the dredging operation mechanism comprising a suction head and a swinging mechanism for driving the suction head to swing up and down and left and right, the conveying system comprising a connecting pipe, a conveying pump and a conveying pipe, one end of the connecting pipe is connected to the suction head, and the other end is connected to the input end of the conveying pump, the output end of the conveying pump is connected to the conveying pipe, and the space detection mechanism is installed on both sides of the vehicle body.

[0005] Furthermore, the space detection mechanism includes a plurality of detection wheels that can contact the side walls of the deep-water confined space, the detection wheels are pivotally connected to the vehicle body, and the detection wheels are equipped with speed sensors for detecting the rotation speed of the detection wheels and force sensors for detecting the contact force with the side walls of the deep-water confined space.

[0006] Furthermore, the space detection mechanism also includes a rotating shaft, a bearing and a sealing end cover, the force sensor is installed on the rotating shaft, the speed sensor is installed on the outer edge of the detection wheel, a stepped hole is provided in the detection wheel, the rotating shaft is installed on the vehicle body and is sealed and pivotally connected to the stepped hole, the bearing is installed in the stepped hole and is sleeved with the rotating shaft, and the sealing end cover seals the end of the rotating shaft in the stepped hole.

[0007] Furthermore, it also includes a spacer and a locking nut, the spacer is sleeved on both ends of the rotating shaft located in the stepped hole, and the locking nut locks the inner ring of one of the bearings against the spacer, and the sealing end cover rests on the outer ring of the bearing.

[0008] Furthermore, the swing mechanism includes a second arm, a third cylinder, a second cylinder, a first arm, a swivel seat and a first cylinder, one end of the second arm is connected to the suction head, and the other end is hinged to one end of the first arm, the other end of the first arm is hinged to the swivel seat installed on the vehicle body, one end of the third cylinder is hinged to the second arm, and the other end is hinged to the first arm, one end of the second cylinder is hinged to the first arm, and the other end is hinged to the swivel seat, one end of the first cylinder is hinged to the swivel seat, and the other end is hinged to the vehicle body.

[0009] Furthermore, the second support arm is a hollow steel pipe, one end of which is connected to the output end of the suction head, and the other end of which is connected to the input end of the connecting pipe.

[0010] Furthermore, the walking device is a crawler-type walking chassis.

[0011] Furthermore, the vehicle body is a frame structure with two layers, the slewing seat and the delivery pump are installed in the middle of the upper layer of the vehicle body, and the lower layer of the vehicle body is installed with a hydraulic power system, an electronic control unit, a hydraulic control unit and a power control box.

[0012] Furthermore, the monitoring and surveillance device includes a front monitoring and surveillance component and a rear monitoring and surveillance component, and the front monitoring and surveillance component and the rear monitoring and surveillance component both include an underwater monitoring camera, a deep-water video light, a scanning sonar, an altimeter, an inertial navigation system and an acoustic Doppler odometer.

[0013] Furthermore, the front and rear ends of the vehicle body are provided with thrusters for adjusting the left and right swing angles of the vehicle body.

[0014] Compared with the prior art, the advantages of the present invention are:

[0015] The deep-water confined space dredging vehicle of the present invention installs a dredging operation mechanism and a conveying system on a vehicle body equipped with a walking mechanism. At the same time, the vehicle body is also equipped with a hydraulic power system, an electronic control unit, a hydraulic control unit, a power control box, front and rear monitoring components, and a space detection mechanism, forming a jam-clearing operation vehicle that is adapted to a deep-water confined space environment and can operate autonomously. Furthermore, through the detection wheels on both sides of the vehicle body, on the one hand, when the deep-water camera vision is blurred, collision and scratching with the left and right side walls of the underwater confined space can be avoided through the detection of the detection wheels; on the other hand, the detection wheels can also protect the vehicle body by buffering the side collisions.

[0016] The present invention will be further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0018] Figure 1 It is a front view schematic diagram of a deep-water confined space dredging vehicle disclosed in a preferred embodiment of the present invention;

[0019] Figure 2 is a top view schematic diagram of a deep-water confined space dredging vehicle disclosed in a preferred embodiment of the present invention;

[0020] Figure 3 It is a schematic diagram of the dredging operation mechanism and the conveying system and the material flow thereof disclosed in the preferred embodiment of the present invention;

[0021] Figure 4 is an axonometric schematic diagram of a space detection mechanism disclosed in a preferred embodiment of the present invention;

[0022] Figure 5 is a schematic front view of a space detection mechanism disclosed in a preferred embodiment of the present invention;

[0023] Figure 6 yes Figure 5 An enlarged schematic diagram of point A.

[0024] Legend:

[0025] 1. Suction head; 2. Second arm; 3. Third cylinder; 4. Connecting pipe; 5. Delivery pipe; 6. Delivery pump; 7. Second cylinder; 8. First arm; 9. Swivel seat; 10. First cylinder; 11. Front monitoring component; 12. Rear monitoring component; 13. Travel device; 14. Hydraulic power system; 15. Electronic control unit; 16. Space detection mechanism; 17. Hydraulic control unit; 18. Power control box; 19. Car body; 20. Propeller; 21. Rotating shaft; 22. Bearing; 23. Spacer; 24. Locking nut; 25. Sealing end cover; 26. Force sensor; 27. Speed ​​sensor; 28. Detection wheel; 29. ​​Step hole. DETAILED DESCRIPTION

[0026] The embodiments of the present invention are described in detail below with reference to the accompanying drawings, but the present invention can be implemented in many different ways as defined and covered by the claims.

[0027] like Figure 1-6As shown, the present invention discloses a deep-water confined space dredging vehicle, including a vehicle body 19 and a walking device 13 installed on the vehicle body 19, a conveying system, a dredging operation mechanism, a space detection mechanism 16 and a monitoring and surveillance device. The walking device 13 is a crawler-type walking chassis, so that it is convenient to walk in underwater mud. The dredging operation mechanism includes a suction head 1 and a swing mechanism for driving the suction head 1 to swing up and down and left and right. The conveying system includes a connecting pipe 4, a conveying pump 6 and a conveying pipe 5. One end of the connecting pipe 4 is connected to the suction head 1, and the other end is connected to the input end of the conveying pump 6. The output end of the conveying pump 6 is connected to the conveying pipe 5. The space detection mechanism 16 is installed on the vehicle body 19. On both sides of the vehicle body 19, in this embodiment, the space detection mechanism 16 includes a detection wheel 28 that can rotate around the center, and a speed sensor 27 for detecting the rotation speed of the detection wheel 28 and a force sensor 26 for detecting the contact force with the side wall of the deep-water confined space are installed on the detection wheel 28. The distance between the vehicle body 19 and the two sides of the underwater space is controlled by the space detection mechanism 16. Through the detection wheels 28 on both sides of the vehicle body 19, on the one hand, when the deep-water camera vision is blurred, the detection of the detection wheel 28 can avoid collision and scratching with the left and right side walls of the underwater confined space; on the other hand, the detection wheel 28 can also protect the vehicle body 19 by buffering the side collision.

[0028] See also Figure 4-6 The space detection mechanism 16 also includes a rotating shaft 21, a bearing 22, a spacer 23, a locking nut 24 and a sealing end cover 25, wherein the number of the bearings 22 is two, and the force sensor 26 is mounted on the rotating shaft 21. A strain gauge type sensor arranged on the rotating shaft 21 can be adopted, or a pressure sensor can be adopted by detecting the pressure of the detection wheel 28 on the rotating shaft 21. The speed sensor 27 is mounted on the outer edge of the detection wheel 28 to detect the rotation speed of the detection wheel 28. A stepped hole 29 is arranged in the detection wheel 28. The rotating shaft 21 is mounted on the vehicle body 19 and is sealed and pivoted with the stepped hole 29 (realized by setting a rubber sealing ring). The bearing 22 is mounted in the stepped hole 29 and sleeved with the rotating shaft 21. The sealing end cover 25 seals the end of the rotating shaft 21 in the stepped hole 29. The spacer sleeve 23 is sleeved on both ends of the rotating shaft 21 located in the stepped hole 29, and the locking nut 24 locks the inner ring of one of the bearings 22 against the spacer sleeve 23, and the sealing end cover 25 rests on the outer ring of the bearing 22. On the one hand, the detection wheel 28 can be installed on the rotating shaft 21, and at the same time, the corrosion protection requirements of the bearing 22 in the stepped hole 29 are guaranteed.

[0029] In this embodiment, the swing mechanism includes a second arm 2, a third cylinder 3, a second cylinder 7, a first arm 8, a swivel seat 9 and a first cylinder 10. One end of the second arm 2 is connected to the winch head 1, and the other end is hinged to one end of the first arm 8. The other end of the first arm 8 is hinged to the swivel seat 9 installed on the vehicle body 19. One end of the third cylinder 3 is hinged to the second arm 2, and the other end is hinged to the first arm 8. One end of the second cylinder 7 is hinged to the first arm 8, and the other end is hinged to the swivel seat 9. One end of the first cylinder 10 is hinged to the swivel seat 9, and the other end is hinged to the vehicle body 19. The up and down swing of the winch head 1 is realized through the linkage of the third cylinder 3 and the second cylinder 7, and the rotation of the swivel seat 9 is driven by the first cylinder 10, thereby driving the winch head 1 installed on the swivel seat 9 to swing left and right, thereby realizing the up, down, left and right swing of the winch head 1.

[0030] In this embodiment, the second arm 2 is a hollow steel pipe, which has two functions: one is the support arm of the suction head 1, and the other is the conveying channel for the sludge cleaned by the suction head 1, which constitutes a part of the conveying system, simplifying the structural setting of the swing mechanism. One end of the hollow steel pipe is connected to the output end of the suction head 1, and the other end is connected to the input end of the connecting pipe 4. In this embodiment, the vehicle body 19 is a frame structure with two layers, the slewing seat 9 and the conveying pump 6 are installed in the middle of the upper layer of the vehicle body 19, and the lower layer of the vehicle body 19 is installed with a hydraulic power system 14, an electronic control unit 15, a hydraulic control unit 17 and a power control box 18. The monitoring and control device includes a front monitoring and control component 11 and a rear monitoring and control component 12, and the front monitoring and control component 11 and the rear monitoring and control component 12 both include an underwater monitoring camera, a deep-water video light, a scanning sonar, an altimeter, an inertial navigation and an acoustic Doppler log, so as to achieve precise control of the walking process of the vehicle body 19. At the same time, when the vehicle body 19 passes under the water mother ship, in order to adjust the left and right swing angles of the vehicle body 19, the front and rear ends of the vehicle body 19 are provided with impeller propellers 20.

[0031] During specific work, the deep-water confined space dredging vehicle drives itself to the entrance of the confined space, or is lowered to the confined space through a deployment device (when the dredging vehicle cannot reach the entrance by itself, such as the hole in the middle of the dam). During the lowering of the dredging vehicle using the deployment device, the direction angle of the dredging vehicle can be adjusted by the thruster 20 so that the front of the vehicle is always facing the set direction. Under the guidance of the front monitoring component 11 and the rear monitoring component 12, the walking device 13 is started to allow the dredging vehicle to go to the work site by itself. In the process of going to the work site, the dredging vehicle deviates from the course, causing the vehicle to approach the side wall of the confined space. In this process, the dredging vehicle space detection mechanism 16 will first contact the side wall, so that the space detection mechanism 16 will produce a certain rotational motion and be subjected to a certain force. The relevant sensors for measuring speed and force on the space detection mechanism 16 detect the relevant signals and transmit the relevant signals to the electronic control unit 15 of the dredging vehicle, which is processed by the electronic control unit 15 and issues corresponding instructions to guide the dredging vehicle to return to the correct course.

[0032] When the dredging vehicle arrives at the dredging site, the delivery pump 6 is turned on first. The suction head of the delivery pump 6 forms a negative pressure inside the suction head 1, so that the water and silt particles outside the suction head 1 are sucked into the suction head 1. Figure 3 The flow direction shown is discharged to the designated area. Then the suction head 1 is turned on. Under the joint action of the third cylinder 3, the second cylinder 7 and the first cylinder 10, the second arm 2 and the first arm 8 move together to move the suction head 1 to the siltation point. The suction head 1 rotates so that the sludge is broken into particles of a certain size by the blades of the suction head 1. Under the negative pressure formed by the delivery pump 6, the mixture of sludge particles and water is sucked into the suction head 1, and then discharged from the confined space through the connecting pipe 4, the delivery pump 6 and the delivery pipe 5.

[0033] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A deep water confined space dredging vehicle, characterized in that: The invention comprises a vehicle body (19), a walking device (13) mounted on the vehicle body (19), a conveying system, a dredging operation mechanism, a space detection mechanism (16) and a monitoring device, wherein the dredging operation mechanism comprises a suction head (1) and a swing mechanism for driving the suction head (1) to swing up and down or left and right, and the conveying system comprises a connecting pipe (4), a conveying pump (6) and a conveying pipe (5), wherein one end of the connecting pipe (4) is connected to the suction head (1), and the other end is connected to the input end of the conveying pump (6). The output end of the delivery pump (6) is connected to the delivery pipeline (5); the space detection mechanism (16) is installed on both sides of the vehicle body (19); the space detection mechanism (16) comprises a plurality of detection wheels (28) capable of contacting the side wall of the deep water confined space; the detection wheels (28) are pivotally connected to the vehicle body (19); the detection wheels (28) are mounted with a speed sensor (27) for detecting the rotation speed of the detection wheels (28) and a force sensor (27) for detecting the contact force with the side wall of the deep water confined space. 26); the space detection mechanism (16) further comprises a rotating shaft (21), a bearing (22) and a sealing end cover (25); the force sensor (26) is mounted on the rotating shaft (21); the speed sensor (27) is mounted on the outer edge of the detection wheel (28); the swing mechanism comprises a second support arm (2), a third oil cylinder (3), a second oil cylinder (7), a first support arm (8), a swivel seat (9) and a first oil cylinder (10); one end of the second support arm (2) is connected to the winch suction head (1); the other end of the second support arm (2) is connected to the winch suction head (1); One end of the third oil cylinder (3) is hinged to one end of the first arm (8), the other end of the first arm (8) is hinged to a swivel seat (9) mounted on the vehicle body (19), one end of the third oil cylinder (3) is hinged to the second arm (2), and the other end is hinged to the first arm (8), one end of the second oil cylinder (7) is hinged to the first arm (8), and the other end is hinged to the swivel seat (9), and one end of the first oil cylinder (10) is hinged to the swivel seat (9), and the other end is hinged to the vehicle body (19).

2. The deep water confined space dredging vehicle according to claim 1, characterized in that: A stepped hole (29) is provided in the detection wheel (28); the rotating shaft (21) is mounted on the vehicle body (19) and is sealed and pivotally connected to the stepped hole (29); the bearing (22) is mounted in the stepped hole (29) and is sleeved with the rotating shaft (21); and the sealing end cover (25) seals the end of the rotating shaft (21) in the stepped hole (29).

3. The deep water confined space dredging vehicle according to claim 2, characterized in that: It also includes a spacer sleeve (23) and a locking nut (24), wherein the spacer sleeve (23) is sleeved on both ends of the rotating shaft (21) located in the stepped hole (29), and the locking nut (24) locks the inner ring of one of the bearings (22) against the spacer sleeve (23), and the sealing end cover (25) is against the outer ring of the bearing (22).

4. The deep water confined space dredging vehicle according to claim 1, characterized in that: The second support arm (2) is a hollow steel pipe, one end of which is connected to the output end of the suction head (1), and the other end of which is connected to the input end of the connecting pipe (4).

5. The deep water confined space dredging vehicle according to any one of claims 1 to 4, characterized in that: The walking device (13) is a crawler-type walking chassis.

6. The deep water confined space dredging vehicle according to claim 1 or 4, characterized in that: The vehicle body (19) is a frame structure with two layers, the slewing seat (9) and the delivery pump (6) are installed in the middle of the upper layer of the vehicle body (19), and the lower layer of the vehicle body (19) is equipped with a hydraulic power system (14), an electronic control unit (15), a hydraulic control unit (17) and a power control box (18).

7. The deep water confined space dredging vehicle according to any one of claims 1 to 4, characterized in that: The monitoring and surveillance device comprises a front monitoring and surveillance component (11) and a rear monitoring and surveillance component (12), wherein the front monitoring and surveillance component (11) and the rear monitoring and surveillance component (12) both comprise an underwater monitoring camera, a deep-water video light, a scanning sonar, an altimeter, an inertial navigation system and an acoustic Doppler log.

8. The deep water confined space dredging vehicle according to any one of claims 1 to 4, characterized in that: The front and rear ends of the vehicle body (19) are provided with thrusters (20) for adjusting the left and right swing angles of the vehicle body (19).

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