Dredging apparatus and method of use thereof

Abstract

The invention relates to a dredging device and its using method, comprising a submarine, a submarine supporting wheel set and a wheel set steering device, the submarine has an underwater propulsion device, the submarine supporting wheel set has at least three sets, the submarine supporting wheel set comprises a wheel frame, a belt shaft auger and an auger driver, the belt shaft auger is rotatably connected with the wheel frame around a horizontal shaft, the auger driver is used for driving the belt shaft auger to rotate relative to the wheel frame; the wheel frame is arranged below the submarine and is rotatably connected with the submarine around a vertical shaft, and the wheel set steering device is used for setting the steering angle of the wheel frame relative to the submarine. It can adapt to the dredging operation in different water depth environments.

Description

Technical Field

[0001] This invention relates to the field of dredging technology, specifically to a dredging device and its usage method. Background Technology

[0002] Dredging includes clearing waterways, canals, and reservoirs. Currently, the methods for dredging silt-laden rivers in China include: mechanical underwater dredging and water and sediment regulation dredging. Among these, grab bucket dredging, pump suction dredging, bucket wheel dredging, conventional cutter suction dredging, and environmentally friendly cutter suction dredging all fall under the category of mechanical underwater dredging.

[0003] Patent document CN217232214U discloses a network dredging device, including a vehicle body, a spiral mud-collecting device, a debris removal and crushing device, a spiral traveling device, and a sludge suction device. The spiral mud-collecting device is connected to the head of the vehicle body via the debris removal and crushing device, the sludge suction device is located at the rear of the vehicle body, and the spiral traveling device is located on both sides of the vehicle body. The spiral traveling device drives the vehicle body during rotation. It uses the spiral mud-collecting device to feed sludge and river sand from the front of the vehicle body into the suction port of the sludge suction device, and then discharges it outside the network pipe through a pipe, thereby achieving the purpose of dredging the network pipe. Due to limitations of the sludge suction device and the pipe, this solution is only suitable for dredging operations in shallow water areas and cannot meet the purpose of dredging operations in deep water areas. Summary of the Invention

[0004] The purpose of this invention is to provide a dredging device and its method of use to adapt to dredging operations in different water depth environments.

[0005] The technical solution of this invention is:

[0006] A dredging device includes a submarine, a submarine support wheel assembly, and a wheel assembly steering mechanism. The submarine has an underwater propulsion device. The submarine support wheel assembly has at least three sets, each including a wheel frame, a shafted auger, and an auger driver. The shafted auger is rotatably connected to the wheel frame about a horizontal axis, and the auger driver is used to drive the shafted auger to rotate relative to the wheel frame. The wheel frame is disposed below the submarine and rotatably connected to the submarine about a vertical axis. The wheel assembly steering mechanism is used to set the turning angle of the wheel frame relative to the submarine.

[0007] Preferably, the submarine has a through hole extending to the upper and lower surfaces of the submarine. The underwater propulsion device is disposed within the through hole, and there are at least two sets of the underwater propulsion device. The underwater propulsion device includes a propeller, an A-axis steering mechanism, a B-axis steering mechanism, and a C-axis actuator. The propeller is connected to the spherical lower pair of the submarine. The rotation axis of the propeller is defined as the C-axis. The other two rotation axes of the propeller relative to the submarine are the A-axis and the B-axis, respectively. The A-axis steering mechanism is used to set the steering angle of the propeller relative to the A-axis of the submarine. The B-axis steering mechanism is used to set the steering angle of the propeller relative to the B-axis of the submarine. The C-axis actuator is used to drive the propeller to rotate.

[0008] More preferably, the underwater propulsion device further includes an adjustable vent-type louver, which includes a window frame, blades, and a blade angle adjuster. The window frame is rotatably connected to the submarine with the C-axis as the rotation axis, and the adjustable vent-type louver is located on the drainage side of the propeller.

[0009] Preferably, the submarine has multiple independent compartments along its bow and stern. Each independent compartment is equipped with a water inlet, a water outlet, and a drain pump. The water inlet is connected to a water inlet valve, and the drain pump is located inside the independent compartment. The drain outlet of the drain pump is connected to the water outlet pipe, and the water outlet is also connected to a water outlet valve.

[0010] Preferably, the submarine support wheel assembly has 4 sets, which are respectively set at the four corners of the rectangle, and all the blades of the auger with shaft have the same rotation direction.

[0011] Preferably, the submarine support wheel assembly has four sets, which are respectively set at the four corners of the rectangle. The blades of the two adjacent augers with shafts are forward-rotating blades, and the blades of the other two augers with shafts are reverse-rotating blades.

[0012] Preferably, the submarine support wheel assembly has four sets, which are respectively set at the four corners of the rectangle, and the blades of any two adjacent augers with shafts rotate in opposite directions.

[0013] Furthermore, the submarine is also equipped with a side observation module, which includes a supplementary light and a camera.

[0014] The aforementioned method of using the dredging equipment, wherein the submarine support wheel assembly has four sets, respectively located at the four corners of a rectangle, and all the blades of the auger with shafts rotate in the same direction, assuming the direction of the force exerted by the submarine support wheel assembly on the discharged material is the first direction, includes the following steps:

[0015] The steering angle of each wheel frame relative to the submarine is set using a wheel set steering mechanism, so that the first directions of two adjacent sets of submarine support wheel sets are perpendicular to each other, and the first directions of the four sets of submarine support wheel sets are set along the same direction of rotation.

[0016] The aforementioned method of using the dredging equipment, wherein the submarine support wheel assembly has four sets, respectively located at the four corners of a rectangle, with the blades of two adjacent shaft-driven augers being forward-rotating blades and the blades of the other two shaft-driven augers being counter-rotating blades, assuming the direction of the force exerted by the forward-rotating blades on the discharged material is the first direction, and the direction of the force exerted by the counter-rotating blades on the discharged material is the second direction, includes the following steps:

[0017] The steering angle of each wheel frame relative to the submarine is set using a wheel set steering mechanism, such that the rotation axis of the adjacent forward-rotating blade is coaxial with the rotation axis of the reverse-rotating blade, and the first direction corresponding to the forward-rotating blade and the second direction corresponding to the reverse-rotating blade are respectively located on both sides of the rotation axis.

[0018] The aforementioned method of using the dredging equipment, wherein the submarine support wheel assembly has four sets, respectively located at the four corners of a rectangle, and the blades of any two adjacent augers rotate in opposite directions, includes the following steps:

[0019] The steering angle of each wheel frame relative to the submarine is set using a wheel set steering mechanism, so that the auger shaft of the auger with shaft is parallel to the forward direction of the submarine, and the auger shafts of the two augers with shaft on one side of the forward direction of the submarine are collinear.

[0020] The beneficial effects of this invention are:

[0021] 1. In this invention, in waters where the underwater propulsion device is insufficient to propel the submarine forward, the turning angle of the wheel frame relative to the submarine is set by the wheel set steering mechanism, so that at least one set of submarine support wheel sets is in propulsion mode and at least one set of submarine support wheel sets is in dredging mode, thereby enabling dredging operations in shallow water areas. In waters where the underwater propulsion device can propel the submarine forward, the submarine support wheel sets are lifted off the seabed, and the submarine is quickly brought to or from the work area by means of the underwater propulsion device, thus improving the maneuverability of the dredging equipment of this invention. After the submarine sinks to the bottom, the turning angle of the wheel frame relative to the submarine is set by the wheel set steering mechanism, so that the dredging equipment of this invention can operate in forward dredging, lateral dredging, and rotary dredging modes. Among them, the forward dredging mode and the lateral dredging mode improve the maneuverability of the dredging equipment of this invention, and the rotary dredging mode can realize drilling. The dredging equipment of this invention is also suitable for dredging tasks with high difficulty. The dredging equipment has good maneuverability, which can improve dredging efficiency. The dredging equipment has low requirements for the operating environment and has excellent versatility.

[0022] In this invention, when the submarine support wheel assembly is in dredging mode, the blades of the auger agitate the river sand and silt on the riverbed, displacing them to one side of the auger. The agitated river sand and silt can be carried away by the water flow; the auger's displacement of the sand and silt to one side can form a channel below the auger, thus achieving dredging through channel excavation and thoroughfare excavation.

[0023] In this invention, the auger with shaft is connected to the submarine via a wheel frame. When the submarine's support wheel assembly is in contact with the seabed, the steering angle of the wheel frame relative to the submarine is set by the wheel assembly steering device. This allows the submarine's support wheel assembly to have the function of pushing and dredging, and the shape and size of the ditch can be adjusted during dredging.

[0024] 2. The underwater propulsion system includes a propeller, an A-axis directional controller, a B-axis directional controller, and a C-axis actuator. The propeller is connected to the spherical lower pair of the submarine. By adjusting the A-axis and B-axis directional controllers, the orientation of the propeller can be adjusted, thereby placing the underwater propulsion system in thrust mode, press mode, or scouring mode. At least two sets of underwater propulsion systems are available. By combining the thrust mode, press mode, and scouring mode of the underwater propulsion system, the dredging effect can be improved.

[0025] 3. By adding adjustable louvered air vents, the size and orientation of the louvers can be adjusted by changing the angle of the blades, thereby adjusting the flow rate and direction of the water discharged from the propeller, thus helping to improve the dredging effect.

[0026] 4. The submarine has multiple independent compartments along its bow and stern. Each compartment has a water inlet, a water outlet, and a drainage pump. By draining some of the water from these compartments, the submarine's bottom can be set at a certain angle to the riverbed, which facilitates drilling operations.

[0027] 5. When a screw conveyor is drilling, the force it exerts on the discharged material is along the direction of the screw conveyor shaft. However, in this invention, for each set of submarine support wheel assembly, during use, the helical blades can only discharge the silt and river sand below the screw conveyor shaft. Figure 4 Taking the auger with shaft and its rotation direction as an example, the direction of its force on the discharged material is to the right rear. See also Figure 9 The submarine has four sets of support wheels, which are set at the four corners of the rectangle. All the blades of the auger with shafts rotate in the same direction, so the rotary drilling effect of the dredging equipment is excellent.

[0028] 6. When a screw conveyor is drilling, the force it exerts on the discharged material is along the direction of the screw conveyor shaft. However, in this invention, for each set of submarine support wheel assembly, during use, the helical blades can only discharge the silt and river sand below the screw conveyor shaft. Figure 4 Taking the auger with shaft and its rotation direction as an example, the direction of its force on the discharged material is to the right rear. See also Figure 10The submarine has four sets of support wheels, which are set at the four corners of the rectangle. The blades of the two adjacent augers rotate in the forward direction, while the blades of the other two augers rotate in the reverse direction. When dredging forward, the augers have a good straight-line effect, and when dredging to the side, they have a rotary drilling effect.

[0029] 7. When a screw conveyor is used for drilling, the force it exerts on the discharged material is along the direction of the screw conveyor shaft. However, in this invention, for each set of submarine support wheel assembly, during use, the helical blades can only discharge the silt and river sand below the screw conveyor shaft. Figure 4 Taking the auger with shaft and its rotation direction as an example, the direction of its force on the discharged material is to the right rear. See also Figure 10 The submarine has four sets of support wheels, which are set at the four corners of the rectangle. The blades of any two adjacent augers rotate in opposite directions, which makes it effective in dredging forward and to the side by moving in a straight line. Attached Figure Description

[0030] Figure 1 This is a top view of a dredging device.

[0031] Figure 2 This is a right view of a dredging device.

[0032] Figure 3 This is a partially enlarged view of a submarine support wheel assembly for a dredging device.

[0033] Figure 4 This is a schematic diagram of the force exerted on the riverbed by a dredging device with a winch.

[0034] Figure 5 This is a partially enlarged view of the underwater propulsion device of a dredging equipment.

[0035] Figure 6 This is a top view of an adjustable air vent louver.

[0036] Figure 7 This is a partially enlarged view of the underwater propulsion device of a dredging equipment.

[0037] Figure 8 This is a reference diagram showing the use of a submarine support wheel assembly for a dredging device.

[0038] Figure 9 This is a reference diagram for the use of submarine support wheel sets in another type of dredging equipment.

[0039] Figure 10 This is a reference diagram for the use of submarine support wheel sets in another type of dredging equipment.

[0040] Explanation of reference numerals in the attached drawings: 1-Submarine, 2-Submarine support wheel assembly, 21-Wheel frame, 22-Screw shaft, 23-Propeller blade, 24-Wheel assembly steering mechanism, 25-Screw drive, 3-Underwater propulsion device, 31-First fixed ring, 32-A shaft, 33-Second fixed ring, 34-B shaft, 35-Propeller, 36-Adjustable vent-type louver, 361-Window frame, 362-Blade, 363-Blade angle adjuster, 41-Camera, 42-Supplemental light. Detailed Implementation

[0041] The present invention will now be described with reference to the accompanying drawings and embodiments to assist those skilled in the art in understanding and implementing the invention. Unless otherwise stated, the following embodiments and the technical terms therein should not be understood without a background of technical knowledge in this field.

[0042] Example 1: A dredging device, see Figure 1-5 It includes submarine 1, submarine support wheel set 2 and wheel set steering device 24.

[0043] Submarine 1 has an independent compartment equipped with an inlet, an outlet, and a dredging pump. The inlet is connected to an inlet valve, and the dredging pump is located inside the independent compartment. The dredging pump's outlet is connected to the outlet pipe, which is also connected to an outlet valve. When the outlet and inlet valves are closed, and the buoyancy of the independent compartment is greater than or equal to the weight of the dredging equipment, the submarine floats on the surface. Opening the inlet valve to fill the independent compartment with water, reducing its buoyancy to less than the weight of the dredging equipment, allows the submarine to submerge, bringing the submarine's support wheel assembly 2 into contact with the riverbed. Closing the inlet valve and opening the outlet valve and dredging pump, ensuring the buoyancy of the independent compartment exceeds the weight of the dredging equipment, causes the submarine to surface. Submarine 1 has an underwater propulsion system 3. This system includes a propeller 35, which is typically connected to the rotating joint of submarine 1. A driver rotates the propeller, propelling the submarine forward.

[0044] In this embodiment, the submarine 1 is provided with a through hole extending to both the upper and lower surfaces of the submarine, and the underwater propulsion device 3 is disposed within the through hole. See also Figure 1 There are two sets of underwater propulsion devices 3, each housed within one of the two through-holes. See also Figure 5 The underwater propulsion device 3 includes a propeller 35, an A-axis directional switch, a B-axis directional switch, and a C-axis actuator. The propeller 35 is connected to the spherical lower pair of the submarine 1. The rotation axis of the propeller 35 is set to the C-axis. The other two rotation axes of the propeller 35 relative to the submarine 1 are the A-axis and the B-axis, respectively. The A-axis directional switch is used to set the A-axis turning angle of the propeller 35 relative to the submarine 1. The B-axis directional switch is used to set the B-axis turning angle of the propeller 35 relative to the submarine 1. The C-axis actuator is used to drive the propeller 35 to rotate.

[0045] See Figure 5The centerline of the second fixed ring 33 coincides with the C-axis, connecting the propeller 35 to the second fixed ring 33 via a rotating joint. The B-axis 34 is perpendicular to and intersects the C-axis, and is fixedly connected to the second fixed ring 33, which is located within the first fixed ring 31. The B-axis 34 is also connected to the first fixed ring 31 via a rotating joint. The A-axis 32 is perpendicular to both the B-axis and the C-axis, and intersects the C-axis. The A-axis 32 is fixedly connected to the first fixed ring 31 and is also connected to the inner wall of the through hole via a rotating joint. This achieves a spherical low-pair connection between the propeller 35 and the submarine 1. The housing of the A-direction navigator can be fixedly connected to the submarine 1, and its output shaft is driven by the A-axis 32. The housing of the B-direction navigator can be fixedly connected to the first fixed ring 31, and its output shaft is driven by the B-axis 34. The housing of the C-direction actuator can be fixedly connected to the second fixed ring 33, and its output shaft is driven by the propeller 35. In addition, A-axis 32 and B-axis 34 can also be two rotatably connected half-shafts, such as a rotatably connected sleeve and a rotating shaft. In this case, the A-axis adjuster and the B-axis adjuster are used to make the sleeve rotate relative to the rotating shaft.

[0046] The A-axis and B-axis steering actuators can be equipped with servo motors featuring braking functions. This allows setting the rotation angle of axis A 32 and maintaining the first fixed ring 31 at a certain angle with axis C, as well as setting the rotation angle of axis B 34 and maintaining the second fixed ring 33 at a certain angle with axis C. The C-axis driver can be a motor.

[0047] In use, the first fixed ring 31 is kept at a certain angle to the C-axis by the A-direction adjuster, and the second fixed ring 33 is kept at a certain angle to the C-axis by the B-direction adjuster, thereby setting the drainage direction of the propeller 35.

[0048] In operation, both underwater propulsion units 3 can be configured so that their discharge direction is consistent with the submarine's forward direction, thus providing propulsion. Alternatively, one underwater propulsion unit 3 can be configured so that its discharge direction is consistent with the submarine's direction, while the other underwater propulsion unit 3 is configured so that its discharge direction is upward from below the submarine. In this way, as water flows out from below the submarine through the through-hole, the water from the sides of the submarine returns to replenish below the submarine, causing a decrease in water pressure below the submarine. The water pressure above the submarine then presses the submarine onto the riverbed, thus providing a pressing effect. Alternatively, one underwater propulsion unit 3 can be configured so that its discharge direction is consistent with the submarine's direction, while the other underwater propulsion unit 3 is configured so that its discharge direction is downward from above the submarine. In this way, as water flows out from below the submarine through the through-hole, some of it will flow through the auger, carrying away disturbed silt and sand, thus providing a flushing effect. The disturbance of sediment by the propeller adds it to the water flow, which helps maintain the sediment density and water velocity of the density flow, improves the success rate of the density flow, and better discharges the sediment through the dam gates into the reservoir area and into the downstream river channel.

[0049] In other embodiments, the underwater propulsion device 3 may also be configured as three, four or five or more sets.

[0050] See Figure 1-4 In this embodiment, the submarine support wheel assembly 2 has four sets. The submarine support wheel assembly 2 includes a wheel frame 21, an auger with a shaft, and an auger driver 25. The auger with a shaft consists of an auger shaft 22 and helical blades 23 fixed to the side of the auger shaft 22. The helical blades 23 are unidirectional helical blades. One helical blade 23 can be fixed on the auger shaft 22 to form a single-helix auger. Two helical blades 23 can be fixed on the auger shaft 22 to form a double-helix auger. Multiple helical blades 23 can be fixed on the auger shaft 22 to form a multi-helix auger.

[0051] See Figure 3 In this embodiment, the auger with shaft is rotated around a horizontal axis and connected to the wheel frame 21. The housing of the auger driver 25 is fixedly connected to the wheel frame 21. A worm gear is mounted on the output shaft of the auger driver 25, and a worm wheel is mounted on the auger shaft 22. The worm wheel and the worm gear are meshed and connected for transmission. In this way, the auger driver 25 can drive the auger with shaft to rotate relative to the wheel frame 21.

[0052] See Figure 1-3 The wheel carrier 21 is positioned below the submarine 1 and connected to the rotating joint of the submarine 1 around a vertical axis. The housing of the wheel set steering device 24 is fixedly connected to the submarine 1, and the output shaft of the wheel set steering device 24 is drive-connected to the rotational shaft of the wheel carrier 21 relative to the submarine 1. In this way, the wheel set steering device 24 can set the steering angle of the wheel carrier 21 relative to the submarine 1.

[0053] The wheel set steering mechanism 24 can be a servo motor with braking function, which allows setting the steering angle of the wheel frame 21 relative to the submarine 1 and keeping the wheel frame 21 at a certain angle relative to the submarine 1. The auger drive 25 can be an electric motor.

[0054] In operation, the wheel frame 21 is maintained at a certain angle relative to the submarine 1 by the wheel set steering mechanism 24. The auger actuator 25 drives the axle-driven auger to rotate relative to the wheel frame, causing the auger to stir up silt, sediment, and other debris from the riverbed. (See also...) Figure 4 During operation, the spiral blades can only displace the silt and river sand below the auger shaft. Figure 4 Taking the auger with shaft and its rotation direction as an example, the direction of its force on the discharged material is to the right rear. Therefore, by selecting the rotation direction of the spiral blades of the four augers with shaft, three types of dredging equipment can be constructed.

[0055] See Figure 8In this embodiment, four sets of submarine support wheels are respectively located at the four corners of the rectangle, and the spiral blades of all the augers rotate in the same direction. Let the direction of the force exerted by the augers on the discharged material (solid material on the riverbed) be the first direction.

[0056] See Figure 8 a) Four axle-driven screw conveyors exert forces on the discharged material in the same direction (i.e., all in the first direction towards the lower right). The reaction force exerted by the discharged material on the submarine propels the submarine forward, i.e., in the opposite direction of the first direction. Similarly, the wheel set steering mechanism 24 rotates all four wheel frames 21 90 degrees relative to the submarine 1, causing the submarine to move sideways.

[0057] See Figure 8 b) Make the first directions of two adjacent sets of submarine support wheel groups perpendicular to each other, and set the first directions of the four sets of submarine support wheel groups along the same direction of rotation. At this time, the reaction force exerted by the displaced material on the submarine will push the submarine to rotate. During the rotation of the submarine, the spiral blades will push the displaced material out of the circle, thereby realizing the drilling operation.

[0058] In other embodiments, the submarine support wheel assembly 2 can also be configured as three sets, with each set positioned at one of the three corner points of the triangle. Alternatively, the submarine support wheel assembly 2 can be configured as six sets.

[0059] In this embodiment, the submarine 1 has multiple independent compartments along its bow and stern. Each independent compartment is equipped with a water inlet, a water outlet, and a drainage pump. The water inlet is connected to an inlet valve, and the drainage pump is located inside the independent compartment. The drainage outlet of the drainage pump is connected to the outlet pipe, and the outlet is also connected to an outlet valve. By discharging some water from the independent compartments, the submarine's bottom can be angled relative to the riverbed, facilitating drilling operations.

[0060] In this embodiment, side observation modules are installed on all four sides of the submarine 1. Each side observation module includes a supplementary light 42 and a camera 41. The supplementary light 42 can illuminate the scenery in front of the camera 41, so that the camera 41 can capture the scenery in front of it, thereby facilitating remote operation of the dredging equipment.

[0061] Example 2: A dredging device, see Figure 1-5 It includes submarine 1, submarine support wheel set 2 and wheel set steering device 24.

[0062] Submarine 1 has an independent compartment equipped with an inlet, an outlet, and a dredging pump. The inlet is connected to an inlet valve, and the dredging pump is located inside the independent compartment. The dredging pump's outlet is connected to the outlet pipe, which is also connected to an outlet valve. When the outlet and inlet valves are closed, and the buoyancy of the independent compartment is greater than or equal to the weight of the dredging equipment, the submarine floats on the surface. Opening the inlet valve to fill the independent compartment with water, reducing its buoyancy to less than the weight of the dredging equipment, allows the submarine to submerge, bringing the submarine's support wheel assembly 2 into contact with the riverbed. Closing the inlet valve and opening the outlet valve and dredging pump, ensuring the buoyancy of the independent compartment exceeds the weight of the dredging equipment, causes the submarine to surface. Submarine 1 has an underwater propulsion system 3. This system includes a propeller 35, which is typically connected to the rotating joint of submarine 1. A driver rotates the propeller, propelling the submarine forward.

[0063] In this embodiment, the submarine 1 is provided with a through hole extending to both the upper and lower surfaces of the submarine, and the underwater propulsion device 3 is disposed within the through hole. See also Figure 1 There are two sets of underwater propulsion devices 3, each housed within one of the two through-holes. See also Figure 5 The underwater propulsion device 3 includes a propeller 35, an A-axis directional switch, a B-axis directional switch, and a C-axis actuator. The propeller 35 is connected to the spherical lower pair of the submarine 1. The rotation axis of the propeller 35 is set to the C-axis. The other two rotation axes of the propeller 35 relative to the submarine 1 are the A-axis and the B-axis, respectively. The A-axis directional switch is used to set the A-axis turning angle of the propeller 35 relative to the submarine 1. The B-axis directional switch is used to set the B-axis turning angle of the propeller 35 relative to the submarine 1. The C-axis actuator is used to drive the propeller 35 to rotate.

[0064] See Figure 5 The centerline of the second fixed ring 33 coincides with the C-axis, connecting the propeller 35 to the second fixed ring 33 via a rotating joint. The B-axis 34 is perpendicular to and intersects the C-axis, and is fixedly connected to the second fixed ring 33, which is located within the first fixed ring 31. The B-axis 34 is also connected to the first fixed ring 31 via a rotating joint. The A-axis 32 is perpendicular to both the B-axis and the C-axis, and intersects the C-axis. The A-axis 32 is fixedly connected to the first fixed ring 31 and is also connected to the inner wall of the through hole via a rotating joint. This achieves a spherical low-pair connection between the propeller 35 and the submarine 1. The housing of the A-direction navigator can be fixedly connected to the submarine 1, and its output shaft is driven by the A-axis 32. The housing of the B-direction navigator can be fixedly connected to the first fixed ring 31, and its output shaft is driven by the B-axis 34. The housing of the C-direction actuator can be fixedly connected to the second fixed ring 33, and its output shaft is driven by the propeller 35. In addition, A-axis 32 and B-axis 34 can also be two rotatably connected half-shafts, such as a rotatably connected sleeve and a rotating shaft. In this case, the A-axis adjuster and the B-axis adjuster are used to make the sleeve rotate relative to the rotating shaft.

[0065] The A-axis and B-axis steering actuators can be equipped with servo motors featuring braking functions. This allows setting the rotation angle of axis A 32 and maintaining the first fixed ring 31 at a certain angle with axis C, as well as setting the rotation angle of axis B 34 and maintaining the second fixed ring 33 at a certain angle with axis C. The C-axis driver can be a motor.

[0066] In use, the first fixed ring 31 is kept at a certain angle to the C-axis by the A-direction adjuster, and the second fixed ring 33 is kept at a certain angle to the C-axis by the B-direction adjuster, thereby setting the drainage direction of the propeller 35.

[0067] In operation, both underwater propulsion units 3 can be configured so that their discharge direction is consistent with the submarine's forward direction, thus providing propulsion. Alternatively, one underwater propulsion unit 3 can be configured so that its discharge direction is consistent with the submarine's direction, while the other underwater propulsion unit 3 is configured so that its discharge direction is upward from below the submarine. In this way, as water flows out from below the submarine through the through-hole, the water from the sides of the submarine returns to replenish below the submarine, causing a decrease in water pressure below the submarine. The water pressure above the submarine then presses the submarine onto the riverbed, thus providing a pressing effect. Alternatively, one underwater propulsion unit 3 can be configured so that its discharge direction is consistent with the submarine's direction, while the other underwater propulsion unit 3 is configured so that its discharge direction is downward from above the submarine. In this way, as water flows out from below the submarine through the through-hole, some of it will flow through the auger, carrying away disturbed silt and sand, thus providing a flushing effect. The disturbance of sediment by the propeller adds it to the water flow, which helps maintain the sediment density and water velocity of the density flow, improves the success rate of the density flow, and better discharges the sediment through the dam gates into the reservoir area and into the downstream river channel.

[0068] In other embodiments, the underwater propulsion device 3 may also be configured as three, four or five or more sets.

[0069] See Figure 1-4 In this embodiment, the submarine support wheel assembly 2 has four sets. The submarine support wheel assembly 2 includes a wheel frame 21, an auger with a shaft, and an auger driver 25. The auger with a shaft consists of an auger shaft 22 and helical blades 23 fixed to the side of the auger shaft 22. The helical blades 23 are unidirectional helical blades. One helical blade 23 can be fixed on the auger shaft 22 to form a single-helix auger. Two helical blades 23 can be fixed on the auger shaft 22 to form a double-helix auger. Multiple helical blades 23 can be fixed on the auger shaft 22 to form a multi-helix auger.

[0070] See Figure 3In this embodiment, the auger with shaft is rotated around a horizontal axis and connected to the wheel frame 21. The housing of the auger driver 25 is fixedly connected to the wheel frame 21. A worm gear is mounted on the output shaft of the auger driver 25, and a worm wheel is mounted on the auger shaft 22. The worm wheel and the worm gear are meshed and connected for transmission. In this way, the auger driver 25 can drive the auger with shaft to rotate relative to the wheel frame 21.

[0071] See Figure 1-3 The wheel carrier 21 is positioned below the submarine 1 and connected to the rotating joint of the submarine 1 around a vertical axis. The housing of the wheel set steering device 24 is fixedly connected to the submarine 1, and the output shaft of the wheel set steering device 24 is drive-connected to the rotational shaft of the wheel carrier 21 relative to the submarine 1. In this way, the wheel set steering device 24 can set the steering angle of the wheel carrier 21 relative to the submarine 1.

[0072] The wheel set steering mechanism 24 can be a servo motor with braking function, which allows setting the steering angle of the wheel frame 21 relative to the submarine 1 and keeping the wheel frame 21 at a certain angle relative to the submarine 1. The auger drive 25 can be an electric motor.

[0073] In operation, the wheel frame 21 is maintained at a certain angle relative to the submarine 1 by the wheel set steering mechanism 24. The auger actuator 25 drives the axle-driven auger to rotate relative to the wheel frame, causing the auger to stir up silt, sediment, and other debris from the riverbed. (See also...) Figure 4 During operation, the spiral blades can only displace the silt and river sand below the auger shaft. Figure 4 Taking the auger with shaft and its rotation direction as an example, the direction of its force on the discharged material is to the right rear. Therefore, by selecting the rotation direction of the spiral blades of the four augers with shaft, three types of dredging equipment can be constructed.

[0074] See Figure 9 In this embodiment, four sets of submarine support wheel sets are respectively set at the four corners of the rectangle. The blades of the two adjacent augers with shafts are positive rotating blades, and the blades of the other two augers with shafts are negative rotating blades. The direction of the force exerted by the positive rotating blades on the discharged material is set as the first direction, and the direction of the force exerted by the negative rotating blades on the discharged material is set as the second direction.

[0075] See Figure 9 a) If the auger shaft of the forward-rotating blades is parallel to the auger shaft of the reverse-rotating blades, and the auger shafts of the forward-rotating blades are collinear, then the submarine will move upwards.

[0076] See Figure 9b. If the auger shaft of the forward-rotating blade at the stern of the submarine is parallel to the auger shaft of the reverse-rotating blade, and the auger shaft of the forward-rotating blade at the bow of the submarine is collinear with the auger shaft of the reverse-rotating blade, and the auger shaft of the forward-rotating blade at the bow of the submarine is perpendicular to the auger shaft of the forward-rotating blade at the stern of the submarine, then during the upward movement of the submarine, the two auger shafts at the bow of the submarine will push the debris in front of the submarine to one or both sides in the direction of the submarine's movement, thereby realizing the trench dredging operation.

[0077] See Figure 9 c. If the auger shafts of the forward-rotating blades and the reverse-rotating blades are collinear, and the auger shafts of the two forward-rotating blades are parallel to each other, and the angle between the first direction and the second direction is an acute angle, then the submarine will rotate to the left and move forward, thereby realizing the trench dredging operation.

[0078] See Figure 9 d, the submarine rotates forward.

[0079] In other embodiments, the submarine support wheel assembly 2 can also be configured as three sets, with each set positioned at one of the three corner points of the triangle. Alternatively, the submarine support wheel assembly 2 can be configured as six sets.

[0080] In this embodiment, the submarine 1 has multiple independent compartments along its bow and stern. Each independent compartment is equipped with a water inlet, a water outlet, and a drainage pump. The water inlet is connected to an inlet valve, and the drainage pump is located inside the independent compartment. The drainage outlet of the drainage pump is connected to the outlet pipe, and the outlet is also connected to an outlet valve. By discharging some water from the independent compartments, the submarine's bottom can be angled relative to the riverbed, facilitating drilling operations.

[0081] In this embodiment, side observation modules are installed on all four sides of the submarine 1. Each side observation module includes a supplementary light 42 and a camera 41. The supplementary light 42 can illuminate the scenery in front of the camera 41, so that the camera 41 can capture the scenery in front of it, thereby facilitating remote operation of the dredging equipment.

[0082] Example 3: A dredging device, see Figure 1-5 It includes submarine 1, submarine support wheel set 2 and wheel set steering device 24.

[0083] Submarine 1 has an independent compartment equipped with an inlet, an outlet, and a dredging pump. The inlet is connected to an inlet valve, and the dredging pump is located inside the independent compartment. The dredging pump's outlet is connected to the outlet pipe, which is also connected to an outlet valve. When the outlet and inlet valves are closed, and the buoyancy of the independent compartment is greater than or equal to the weight of the dredging equipment, the submarine floats on the surface. Opening the inlet valve to fill the independent compartment with water, reducing its buoyancy to less than the weight of the dredging equipment, allows the submarine to submerge, bringing the submarine's support wheel assembly 2 into contact with the riverbed. Closing the inlet valve and opening the outlet valve and dredging pump, ensuring the buoyancy of the independent compartment exceeds the weight of the dredging equipment, causes the submarine to surface. Submarine 1 has an underwater propulsion system 3. This system includes a propeller 35, which is typically connected to the rotating joint of submarine 1. A driver rotates the propeller, propelling the submarine forward.

[0084] In this embodiment, the submarine 1 is provided with a through hole extending to both the upper and lower surfaces of the submarine, and the underwater propulsion device 3 is disposed within the through hole. See also Figure 1 There are two sets of underwater propulsion devices 3, each housed within one of the two through-holes. See also Figure 5 The underwater propulsion device 3 includes a propeller 35, an A-axis directional switch, a B-axis directional switch, and a C-axis actuator. The propeller 35 is connected to the spherical lower pair of the submarine 1. The rotation axis of the propeller 35 is set to the C-axis. The other two rotation axes of the propeller 35 relative to the submarine 1 are the A-axis and the B-axis, respectively. The A-axis directional switch is used to set the A-axis turning angle of the propeller 35 relative to the submarine 1. The B-axis directional switch is used to set the B-axis turning angle of the propeller 35 relative to the submarine 1. The C-axis actuator is used to drive the propeller 35 to rotate.

[0085] See Figure 5 The centerline of the second fixed ring 33 coincides with the C-axis, connecting the propeller 35 to the second fixed ring 33 via a rotating joint. The B-axis 34 is perpendicular to and intersects the C-axis, and is fixedly connected to the second fixed ring 33, which is located within the first fixed ring 31. The B-axis 34 is also connected to the first fixed ring 31 via a rotating joint. The A-axis 32 is perpendicular to both the B-axis and the C-axis, and intersects the C-axis. The A-axis 32 is fixedly connected to the first fixed ring 31 and is also connected to the inner wall of the through hole via a rotating joint. This achieves a spherical low-pair connection between the propeller 35 and the submarine 1. The housing of the A-direction navigator can be fixedly connected to the submarine 1, and its output shaft is driven by the A-axis 32. The housing of the B-direction navigator can be fixedly connected to the first fixed ring 31, and its output shaft is driven by the B-axis 34. The housing of the C-direction actuator can be fixedly connected to the second fixed ring 33, and its output shaft is driven by the propeller 35. In addition, A-axis 32 and B-axis 34 can also be two rotatably connected half-shafts, such as a rotatably connected sleeve and a rotating shaft. In this case, the A-axis adjuster and the B-axis adjuster are used to make the sleeve rotate relative to the rotating shaft.

[0086] The A-axis and B-axis steering actuators can be equipped with servo motors featuring braking functions. This allows setting the rotation angle of axis A 32 and maintaining the first fixed ring 31 at a certain angle with axis C, as well as setting the rotation angle of axis B 34 and maintaining the second fixed ring 33 at a certain angle with axis C. The C-axis driver can be a motor.

[0087] In use, the first fixed ring 31 is kept at a certain angle to the C-axis by the A-direction adjuster, and the second fixed ring 33 is kept at a certain angle to the C-axis by the B-direction adjuster, thereby setting the drainage direction of the propeller 35.

[0088] In operation, both underwater propulsion units 3 can be configured so that their discharge direction is consistent with the submarine's forward direction, thus providing propulsion. Alternatively, one underwater propulsion unit 3 can be configured so that its discharge direction is consistent with the submarine's direction, while the other underwater propulsion unit 3 is configured so that its discharge direction is upward from below the submarine. In this way, as water flows out from below the submarine through the through-hole, the water from the sides of the submarine returns to replenish below the submarine, causing a decrease in water pressure below the submarine. The water pressure above the submarine then presses the submarine onto the riverbed, thus providing a pressing effect. Alternatively, one underwater propulsion unit 3 can be configured so that its discharge direction is consistent with the submarine's direction, while the other underwater propulsion unit 3 is configured so that its discharge direction is downward from above the submarine. In this way, as water flows out from below the submarine through the through-hole, some of it will flow through the auger, carrying away disturbed silt and sand, thus providing a flushing effect. The disturbance of sediment by the propeller adds it to the water flow, which helps maintain the sediment density and water velocity of the density flow, improves the success rate of the density flow, and better discharges the sediment through the dam gates into the reservoir area and into the downstream river channel.

[0089] In other embodiments, the underwater propulsion device 3 may also be configured as three, four or five or more sets.

[0090] See Figure 1-4 In this embodiment, the submarine support wheel assembly 2 has four sets. The submarine support wheel assembly 2 includes a wheel frame 21, an auger with a shaft, and an auger driver 25. The auger with a shaft consists of an auger shaft 22 and helical blades 23 fixed to the side of the auger shaft 22. The helical blades 23 are unidirectional helical blades. One helical blade 23 can be fixed on the auger shaft 22 to form a single-helix auger. Two helical blades 23 can be fixed on the auger shaft 22 to form a double-helix auger. Multiple helical blades 23 can be fixed on the auger shaft 22 to form a multi-helix auger.

[0091] See Figure 3In this embodiment, the auger with shaft is rotated around a horizontal axis and connected to the wheel frame 21. The housing of the auger driver 25 is fixedly connected to the wheel frame 21. A worm gear is mounted on the output shaft of the auger driver 25, and a worm wheel is mounted on the auger shaft 22. The worm wheel and the worm gear are meshed and connected for transmission. In this way, the auger driver 25 can drive the auger with shaft to rotate relative to the wheel frame 21.

[0092] See Figure 1-3 The wheel carrier 21 is positioned below the submarine 1 and connected to the rotating joint of the submarine 1 around a vertical axis. The housing of the wheel set steering device 24 is fixedly connected to the submarine 1, and the output shaft of the wheel set steering device 24 is drive-connected to the rotational shaft of the wheel carrier 21 relative to the submarine 1. In this way, the wheel set steering device 24 can set the steering angle of the wheel carrier 21 relative to the submarine 1.

[0093] The wheel set steering mechanism 24 can be a servo motor with braking function, which allows setting the steering angle of the wheel frame 21 relative to the submarine 1 and keeping the wheel frame 21 at a certain angle relative to the submarine 1. The auger drive 25 can be an electric motor.

[0094] In operation, the wheel frame 21 is maintained at a certain angle relative to the submarine 1 by the wheel set steering mechanism 24. The auger actuator 25 drives the axle-driven auger to rotate relative to the wheel frame, causing the auger to stir up silt, sediment, and other debris from the riverbed. (See also...) Figure 4 During operation, the spiral blades can only displace the silt and river sand below the auger shaft. Figure 4 Taking the auger with shaft and its rotation direction as an example, the direction of its force on the discharged material is to the right rear. Therefore, by selecting the rotation direction of the spiral blades of the four augers with shaft, three types of dredging equipment can be constructed.

[0095] See Figure 10 In this embodiment, four sets of submarine support wheel sets are respectively set at the four corners of the rectangle, and the blades of any two adjacent augers with shafts rotate in opposite directions.

[0096] See Figure 10 a) Set the auger shaft of the auger with shaft parallel to the forward direction of the submarine, and make the shafts of the two augers with shaft on one side of the forward direction of the submarine collinear. In this way, the submarine will move upward.

[0097] See Figure 10 b. If the auger shaft of the forward-rotating blade at the stern of the submarine is parallel to the auger shaft of the reverse-rotating blade, and the auger shaft of the forward-rotating blade at the bow of the submarine is collinear with the auger shaft of the reverse-rotating blade, and the auger shaft of the forward-rotating blade at the bow of the submarine is perpendicular to the auger shaft of the forward-rotating blade at the stern of the submarine, then during the upward movement of the submarine, the two auger shafts at the bow of the submarine will push the debris in front of the submarine to one or both sides in the direction of the submarine's movement, thereby realizing the trench dredging operation.

[0098] See Figure 10c. Set the auger shaft of the auger with shaft to be parallel to the forward direction of the submarine, and make the shafts of the two augers with shaft on one side of the forward direction of the submarine collinear. In this way, the submarine will move to the left.

[0099] See Figure 10 d. If the shafts of any two adjacent augers are perpendicular to each other, and the angle between the directions of action of the two augers on the diagonal on the displaced object is obtuse, then the submarine will rotate and move forward.

[0100] In other embodiments, the submarine support wheel assembly 2 can also be configured as three sets, with each set positioned at one of the three corner points of the triangle. Alternatively, the submarine support wheel assembly 2 can be configured as six sets.

[0101] In this embodiment, the submarine 1 has multiple independent compartments along its bow and stern. Each independent compartment is equipped with a water inlet, a water outlet, and a drainage pump. The water inlet is connected to an inlet valve, and the drainage pump is located inside the independent compartment. The drainage outlet of the drainage pump is connected to the outlet pipe, and the outlet is also connected to an outlet valve. By discharging some water from the independent compartments, the submarine's bottom can be angled relative to the riverbed, facilitating drilling operations.

[0102] In this embodiment, side observation modules are installed on all four sides of the submarine 1. Each side observation module includes a supplementary light 42 and a camera 41. The supplementary light 42 can illuminate the scenery in front of the camera 41, so that the camera 41 can capture the scenery in front of it, thereby facilitating remote operation of the dredging equipment.

[0103] Example 4: A dredging device, see Figure 1-5 This includes a submarine 1, a submarine support wheel assembly 2, and a wheel assembly steering mechanism 24. It is largely the same as embodiments 1, 2, or 3, except that, see [link to embodiment 1]. Figure 6-7 In this embodiment, the underwater propulsion device 3 further includes an adjustable vent-type louver 36 and a louver adjuster. The adjustable vent-type louver 36 includes a window frame 361, blades 362, and a blade angle adjuster 363. The blades 362 are rotatably connected to the window frame 361. The blade angle adjuster 363 includes a lever and an electric push rod. The lever is set perpendicular to the rotation direction of the blades 362 and is movably connected to each blade 363. The lever has a connection hole. The electric push rod is fixedly connected to the window frame 361, and the piston rod of the electric push rod is movably connected to the connection hole. When the piston rod of the electric push rod extends, it pushes the lever to move, and the lever drives each blade 363 to rotate a certain angle. When the piston rod of the electric push rod retracts, it pulls the lever to move, and the lever drives each blade 363 to rotate back a certain angle.

[0104] The window frame 361 is rotated around the C-axis and connected to the second fixed ring 33 via a rotating joint. The housing of the louver adjuster is fixedly connected to the second fixed ring 33. The output shaft of the louver adjuster is connected to the window frame 361 via a transmission connection to drive the window frame 361 to rotate relative to the second fixed ring 33. The adjustable vent-type louver 36 is located on the drainage side of the propeller 35.

[0105] See Figure 5 When the A-axis steering mechanism drives the first fixed ring 31 to rotate 180°, and the B-axis steering mechanism drives the second fixed ring 33 to rotate 0°, and the C-axis actuator drives the propeller to rotate, the propeller discharges water from above the submarine through the through-hole to below the submarine. However, if the blade angle adjuster 363 adjusts the angle of the blade 362 to close the adjustable vent louver 36, the propeller's drainage side opening is closed by the louver. In this case, the water discharged by the propeller impacts the louver, thus better propelling the submarine downwards. Alternatively, rotating the first fixed ring 31 0° with the A-axis steering mechanism and the second fixed ring 33 180° with the B-axis steering mechanism can also achieve the same effect: when the C-axis actuator drives the propeller to rotate, the propeller discharges water from above the submarine through the through-hole to below the submarine.

[0106] In this invention, the wheel set steering mechanism 24 achieves precise setting of the steering angle of the wheel frame 21 relative to the submarine through the following means: the wheel set steering mechanism 24 uses a servo motor with braking function, and a microcontroller drives the encoder of the servo motor to drive the wheel frame 21 to rotate the target angle. To improve accuracy, a proximity switch can also be added. An initial position is set on the submarine, and a proximity switch is installed at the initial position. A sensor that cooperates with the proximity switch is installed on the wheel frame. In this way, when the encoder shows that the wheel frame 21 has been reset, and the proximity switch also senses the sensor, it can be confirmed that the function of the servo motor with braking function driving the wheel frame 21 to rotate the target angle relative to the submarine is normal.

[0107] Similarly, the method by which the A-direction adjuster drives the first fixed ring 31 to rotate around the A-axis 32 to the target angle, the method by which the B-direction adjuster drives the second fixed ring 33 to rotate around the B-axis 34 to the target angle, and the method by which the venetian blind adjuster drives the window frame 361 to rotate around the C-axis with the second fixed ring 33 to the target angle are also achieved in this way.

[0108] The present invention has been described in detail above with reference to the accompanying drawings and embodiments. It should be understood that it is impossible to exhaustively describe all possible implementations in practice; the inventive concept of the present invention is illustrated to the extent possible through examples. Without departing from the inventive concept of the present invention and without any creative effort, any specific embodiments formed by selecting and combining technical features in the above embodiments, experimentally changing specific parameters, or conventionally replacing the disclosed technical means of the present invention using existing technology should be considered as implicit disclosures of the present invention.

Claims

1. A dredging device, comprising a submarine, a submarine support wheel assembly, and a wheel assembly steering mechanism, wherein the submarine has an underwater propulsion device, characterized in that, The submarine support wheel assembly has at least three sets, each including a wheel frame, an axle-driven auger, and an auger driver. The axle-driven auger is rotatably connected to the wheel frame around a horizontal axis, and the auger driver is used to drive the axle-driven auger to rotate relative to the wheel frame. The wheel frame is located below the submarine and is rotatably connected to the submarine around a vertical axis. The wheel assembly steering mechanism is used to set the steering angle of the wheel frame relative to the submarine. The submarine is provided with a through hole extending to the upper and lower surfaces of the submarine. The underwater propulsion device is disposed in the through hole, and there are at least two sets of the underwater propulsion device. The underwater propulsion device includes a propeller, an A-axis directional switch, a B-axis directional switch, and a C-axis actuator. The propeller is connected to the spherical lower pair of the submarine. The rotation axis of the propeller is C-axis, and the other two rotation axes of the propeller relative to the submarine are A-axis and B-axis, respectively. The A-axis directional switch is used to set the turning angle of the propeller relative to the A-axis of the submarine. The B-axis directional switch is used to set the turning angle of the propeller relative to the B-axis of the submarine. The C-axis actuator is used to drive the propeller to rotate. The underwater propulsion device further includes a first fixed ring and a second fixed ring. The centerline of the second fixed ring coincides with the C-axis, so that the propeller is connected to the second fixed ring via a rotating joint. The B-axis is perpendicular to the C-axis and intersects the C-axis. The B-axis is fixedly connected to the second fixed ring, which is located inside the first fixed ring, and the B-axis is connected to the first fixed ring via a rotating joint. The A-axis is perpendicular to both the B-axis and the C-axis and intersects the C-axis. The A-axis is fixedly connected to the first fixed ring and is connected to the inner wall of the through hole via a rotating joint. The propeller is connected to the submarine's spherical lower joint. The housing of the A-axis directional controller is fixedly connected to the submarine, and the output shaft of the A-axis directional controller is driven by the A-axis. The housing of the B-axis directional controller is fixedly connected to the first fixed ring, and the output shaft of the B-axis directional controller is driven by the B-axis. The housing of the C-axis actuator is fixedly connected to the second fixed ring, and the output shaft of the C-axis actuator is driven by the propeller. The submarine support wheel assembly consists of four sets, which are respectively located at the four corners of the rectangle, and all the blades of the auger with shafts rotate in the same direction. Alternatively, the submarine support wheel assembly may have four sets, each set at one of the four corners of a rectangle, with the blades of the two adjacent augers being forward-rotating blades and the blades of the other two augers being reverse-rotating blades. Alternatively, the submarine support wheel assembly may have four sets, each located at one of the four corners of a rectangle, with the blades of any two adjacent augers rotating in opposite directions.

2. The dredging equipment as described in claim 1, characterized in that, The underwater propulsion device also includes an adjustable vent-type louver, which includes a window frame, blades, and a blade angle adjuster. The window frame is rotatably connected to the submarine with the C-axis as the rotation axis, and the adjustable vent-type louver is located on the drainage side of the propeller.

3. The dredging equipment as described in claim 1, characterized in that, The submarine has multiple independent compartments along its bow and stern. Each independent compartment is equipped with a water inlet, a water outlet, and a drain pump. The water inlet is connected to a water inlet valve. The drain pump is located inside the independent compartment, and its drain outlet is connected to the water outlet pipe. The water outlet is also connected to a water outlet valve.

4. The method of using the dredging equipment as described in any one of claims 1-3, characterized in that, The submarine support wheel assembly has four sets, each located at one of the four corners of a rectangle. All the blades of the auger with shafts rotate in the same direction. Assuming the direction of the force exerted by the submarine support wheel assembly on the displaced object is the first direction, the process includes the following steps: The steering angle of each wheel frame relative to the submarine is set using a wheel set steering mechanism, so that the first directions of two adjacent sets of submarine support wheel sets are perpendicular to each other, and the first directions of the four sets of submarine support wheel sets are set along the same direction of rotation.

5. The method of using the dredging equipment as described in any one of claims 1-3, characterized in that, The submarine support wheel assembly has four sets, respectively located at the four corners of a rectangle. The blades of the two adjacent augers with shafts are forward-rotating blades, and the blades of the other two augers with shafts are reverse-rotating blades. Let the direction of the force exerted by the forward-rotating blades on the discharged material be the first direction, and the direction of the force exerted by the reverse-rotating blades on the discharged material be the second direction. The assembly includes the following steps: The steering angle of each wheel frame relative to the submarine is set using a wheel set steering mechanism, such that the rotation axis of the adjacent forward-rotating blade is coaxial with the rotation axis of the reverse-rotating blade, and the first direction corresponding to the forward-rotating blade and the second direction corresponding to the reverse-rotating blade are respectively located on both sides of the rotation axis.

6. The method of using the dredging equipment as described in any one of claims 1-3, characterized in that, The submarine support wheel assembly has four sets, respectively located at the four corners of a rectangle. The blades of any two adjacent augers with shafts rotate in opposite directions. The process includes the following steps: The steering angle of each wheel frame relative to the submarine is set using a wheel set steering mechanism, so that the auger shaft of the auger with shaft is parallel to the forward direction of the submarine, and the auger shafts of the two augers with shaft on one side of the forward direction of the submarine are collinear.

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