A mother-and-child type dredging vehicle structure

Abstract

The present invention provides a mother-and-child dredging vehicle structure, which belongs to the technical field of dredging equipment. It includes a transport vehicle with a modular chassis, wherein the modular chassis is provided with a modular robot cabin for installing a dredging robot, a hydraulic power station for providing power to the dredging robot, and a modular equipment cabin equipped with a winch system for supplying oil pipes and water hoses to the dredging robot, wherein the winch system is also connected to the hydraulic power station. The present invention arranges the auxiliary equipment required for the operation of the dredging robot on the same modular chassis in an integrated manner, and does not require the aid of external operating equipment throughout the process, which greatly reduces the transportation cost and the cost of renting external operating equipment, and the modular robot cabin can be moved by a mobile mechanism to improve the efficiency of transferring the dredging robot over a short distance.

Description

Technical Field

[0001] The invention belongs to the technical field of dredging equipment and relates to a mother-and-child type dredging vehicle structure. Background Art

[0002] At present, my country's pipeline robots are at the forefront of the world's development, but there are still problems such as high energy consumption, low efficiency, single function, and low degree of equipment integration. At the same time, most robots are powered by electricity, but there are flammable and explosive gases in underground pipelines, and sparks when the electric switch is turned on may cause explosions;

[0003] At present, there has been no significant progress in the integrated technology of dredging robots at home and abroad. In order to achieve the purpose of efficient dredging, dredging robots on the market generally need to be equipped with power stations, winches and other auxiliary tools. The power station provides power to the dredging robot, and the winch is used to cooperate with the dredging robot to provide the retraction and extension of the oil pipe and water hose;

[0004] Under the existing technical conditions, the dredging robots on the market have the following main shortcomings in dredging operations: 1. The degree of integration of the equipment is not high. The dredging robot needs the hydraulic power provided by the power station on a special vehicle to operate. On the premise of connecting the power of the power station, the dredging robot also needs to be equipped with a vehicle with a winch system to provide the dredging robot with oil pipes and water hoses, and perform the retraction and release operations of the oil pipes and water hoses at the same time. Secondly, when the dredging robot is working, it needs the assistance of multiple transport vehicles, which will make the dredging site very congested and the cost is high; 2. In addition to the above-mentioned special equipment vehicles, in order to quickly and efficiently perform dredging operations, a special transport vehicle is also required. Vehicles are used to load and transport the robot and other necessary tools. Since the weight of the dredging robot, power station and winch system far exceeds the carrying capacity of humans, the unloading of these equipment requires external tools, such as cranes or forklifts to assist in the loading and unloading of the equipment. The loading and unloading speed is slow and the use of auxiliary equipment will greatly increase the cost. In addition, when the dredging robot is dredging the pipeline, after each section of the pipeline is cleaned, the robot needs a crane to lift the dredging robot from the sewage well and transfer the dredging robot to the next sewage well. The hanger needs to follow the dredging robot almost all the time, and the reliance on the crane is very large, which will also lead to further increase in costs.

[0005] Therefore, it is necessary to design a dredging vehicle structure that can integrate the transportation and rapid disassembly and assembly of a dredging robot, a high-power hydraulic power station and a winch system into a transport vehicle and can realize the lifting and lowering of the dredging robot.

[0006] For example, a Chinese patent discloses a mobile pump station and drainage rescue vehicle [application number: 202010166791.0], which includes a hydraulic system, a control system and a power storage mechanism; the hydraulic system is connected to the power storage mechanism, and the hydraulic system is used to drive the power storage mechanism to generate electricity; the power storage mechanism is electrically connected to the control system, and the power storage mechanism is used to supply power to the control system, or to supply power to the control system through an external power supply; the control system is connected to the hydraulic system, and the control system is used to control the operation of the mobile pump station. This;

[0007] The mobile pump station of this invention utilizes the hydraulic power source of an external drainage rescue vehicle to convert hydraulic energy into electrical energy, realizes the hydraulic power generation function, and provides power for the control system; and the mobile pump station charges while operating to maintain sufficient power to ensure that the mobile pump station can operate for a long time, but it cannot solve the above-mentioned problem. Summary of the invention

[0008] The purpose of the present invention is to provide a mother-and-child type dredging vehicle structure in view of the above problems.

[0009] In order to achieve the above object, the present invention adopts the following technical solutions:

[0010] A mother-and-child dredging vehicle structure comprises a transport vehicle with a modular chassis, wherein the modular chassis is provided with a modular robot cabin for installing a dredging robot, a hydraulic power station for providing power to the dredging robot, and a modular equipment cabin equipped with a winch system for supplying oil pipes and water hoses to the dredging robot, wherein the winch system is also connected to the hydraulic power station, and the hydraulic power station is connected to the dredging robot via an oil pipe. The modular robot cabin and the modular equipment cabin both have a moving mechanism and are detachably connected to the modular chassis, and a robot suspension transport mechanism is also provided in the modular robot cabin.

[0011] The present invention integrates a modular robot cabin for installing a dredging robot, a hydraulic power station for providing hydraulic power to the dredging robot, and a winch system for supplying oil pipes and water hoses to the dredging robot. When the dredging robot is operating, no other special equipment or vehicles are required to accompany it. Secondly, the modular robot cabin provides a moving mechanism that can achieve rapid disassembly and assembly, and does not require the assistance of auxiliary work vehicles such as cranes and forklifts. After the modular robot cabin is moved to the upper side of the pipeline wellhead, the robot can be suspended from the modular robot cabin through the pipeline well into the pipeline to be dredged through the robot suspension transportation mechanism, without the need for crane cooperation.

[0012] The present invention arranges the auxiliary equipment required for the operation of the dredging robot on the same modular chassis in an integrated manner, and does not require the use of external operating equipment throughout the process, which greatly reduces the transportation cost and the cost of renting external operating equipment. The modular robot cabin can be moved by the mobile mechanism and the efficiency of transferring the dredging robot over a short distance can be improved.

[0013] The winch system is arranged in the modular equipment cabin to facilitate loading and unloading. The present invention adopts the modular equipment cabin, the modular robot cabin and the modular chassis to cooperate with each other, so that when other special vehicles are urgently needed, the modular equipment cabin and the modular robot cabin can be unloaded, and the modular chassis can be used to install the modular equipment cabin with the required special equipment.

[0014] In the above-mentioned mother-and-child dredging vehicle structure, at least two cabin installation platforms are arranged on the modular chassis, and the modular robot cabin and the modular equipment cabin are detachably connected through a locking structure and the cabin installation platform.

[0015] In the above-mentioned structure of a mother-and-child dredging vehicle, the hydraulic power station includes a power take-off, a hydraulic pump, a control valve and a hydraulic oil tank connected to the power of the transport vehicle or the power of the transmission system. The hydraulic pump is connected to the dredging robot and the hoisting system through the control valve. The control valve is also connected to the hydraulic oil tank through a pipeline, and the hydraulic oil tank is connected to the input oil circuit of the hydraulic pump;

[0016] The power take-off and the hydraulic pump are arranged on the lower side of the modular chassis, the control valve is arranged in the modular equipment cabin, and the hydraulic oil tank is arranged in the modular equipment cabin or on the lower side of the modular chassis.

[0017] After the power take-off takes power from the power system of the transport vehicle, it can transmit power to the hydraulic pump. The hydraulic pump can provide power to the dredging robot and the winch system at the same time or provide power to the dredging robot and the winch system independently through the control valve. After unloading the dredging robot, the transport vehicle can become a mobile power station for the dredging robot, so that the dredging robot can work independently without the help of other power stations.

[0018] In the above-mentioned structure of a mother-and-child silt removal vehicle, the hoisting system includes two oil pipe reels independently driven by a reel driver, the oil pipe is wound on the oil pipe reels, and the reel driver is connected to the control valve;

[0019] It also includes a water hose reel and a high-pressure pump for outputting the water hose, and the high-pressure pump is connected to the control valve.

[0020] The reel drive can drive the oil pipe reel to rotate and retract or release the oil pipe to cooperate with the movement of the dredging robot in the pipeline. The water hose reel can also be driven by the driver to retract and release the water hose to cooperate with the movement of the dredging robot in the pipeline. The high-pressure pump can transport water to the high-pressure flushing device on the dredging robot, and the high-pressure flushing device can assist the robot in dredging.

[0021] In the above-mentioned mother-and-child dredging vehicle structure, the robot suspension transport mechanism includes a vertical entry and exit hatch arranged on the bottom plate of the modular robot cabin, and a lifting and transport mechanism that can vertically move the dredging robot in or out of the vertical entry and exit hatch is arranged directly above the vertical entry and exit hatch.

[0022] In the above-mentioned structure of a mother-and-child silt removal vehicle, the lifting and transporting mechanism includes at least two groups of traveling cranes, which are symmetrically arranged along the center line of the vertical hatch, and the traveling cranes include tracks and a traveling seat, and the traveling seat is provided with a device that can travel along the track, and the traveling seat is connected with a hook through a lifting assembly;

[0023] The track is arranged perpendicularly to the entry and exit direction of the dredging robot at a horizontal entry and exit hatch arranged on one side of the modular robot cabin.

[0024] In the above-mentioned structure of a mother-and-child dredging vehicle, the lifting assembly includes a lifting driver, a reducer, a drum, a drum frame and a wire rope, and the end of the wire rope away from the drum is connected to the hook;

[0025] The traveling seat is also connected with a traveling gear through a traveling driver, and the traveling gear meshes with a rack on the track, and the rack is arranged parallel to the track. When the cabin is located on the ground, the dredging robot can drive in or out of the cabin from the horizontal hatch, and the dredging robot can be lowered and moved out and raised and moved in from the vertical hatch through the traveling crane, and the dredging robot can be moved horizontally in the cabin.

[0026] Specifically, after the dredging robot equipped with a square cabin is moved to the mouth of the pipeline, the dredging robot can be moved vertically to the bottom of the pipeline through the vertical entry and exit hatch and the pipeline shaft by the traveling crane. After completing the pipeline dredging, the dredging robot returns to the pipeline shaft, and the traveling crane can be used again to lift the dredging robot back into the carriage.

[0027] In the above-mentioned mother-and-child dredging vehicle structure, the locking structure includes four rectangularly distributed locking grooves arranged on the bottom plate of the modular robot cabin or the modular equipment cabin, and the locking grooves are in the shape of long strips;

[0028] The lock structure also includes four lock cores which are arranged on the cabin installation platform and distributed in a rectangular shape. The top of the lock core is in a long strip shape, and a handle is also provided at the bottom of the lock core. Turning the handle can drive the lock core to rotate.

[0029] The four lock cores on the cabin installation platform cooperate with the four lock slots on the bottom plate of the modular robot cabin or the modular equipment cabin to unlock or lock the modular robot cabin or the modular equipment cabin. Turning the handle can drive the lock core to rotate, thereby changing the modular robot cabin or the modular equipment cabin from an unlocked state to a locked state or from a locked state to an unlocked state.

[0030] The modular robot cabin integrates the functions of robot storage, loading and unloading, small-range movement and lifting. After arriving at the dredging site, no other large equipment such as cranes, forklifts, etc. are required to assist in loading and unloading, moving and lifting, which greatly saves the cost of pipeline dredging and can improve the transfer efficiency of dredging robots between multiple pipelines.

[0031] In the above-mentioned mother-and-child dredging vehicle structure, the said cabin installation platform is composed of two parallel supporting beams. The cabin installation platform of the above-mentioned structure has high modification efficiency and can complete the operation of transforming a common chassis into a modular chassis in a short time.

[0032] In the above-mentioned structure of a mother-and-child silt removal vehicle, the moving mechanism includes two fixed brackets, and the fixed brackets are connected to a lifting assembly through a translation driver. The lifting assembly includes a fixed seat connected to the output shaft of the translation driver, and a lifting driver is fixedly connected to the fixed seat. The output shaft of the lifting driver is vertically arranged downward and fixedly connected to a roller, and a limiting structure is also provided between the fixed seat and the fixed bracket;

[0033] The limiting structure includes a limiting slide groove and a limiting slider set on the fixed bracket, the two ends of the limiting slider are respectively connected to the fixed seat and the output shaft of the translation driver, and the limiting slider is connected to at least two pulleys inserted into the limiting slide groove;

[0034] The modular robot cabin and the modular equipment cabin are also provided with four cavities for accommodating lifting components.

[0035] Compared with the prior art, the advantages of the present invention are:

[0036] 1. The present invention arranges the auxiliary equipment required for the operation of the dredging robot on the same modular chassis in an integrated manner, and does not require the use of external operating equipment throughout the process, which greatly reduces the transportation cost and the cost of renting external operating equipment. The modular robot cabin can be moved by the mobile mechanism and the efficiency of transferring the dredging robot over a short distance can be improved.

[0037] 2. The present invention integrates a modular robot cabin for installing a dredging robot, a hydraulic power station for providing hydraulic power to the dredging robot, and a winch system for supplying oil pipes and water hoses to the dredging robot. When the dredging robot is operating, no other special equipment or vehicles are required. Secondly, the modular robot cabin provides a mobile mechanism that can achieve rapid disassembly and assembly, and does not require the assistance of auxiliary work vehicles such as cranes and forklifts. After the modular robot cabin is moved to the upper side of the pipeline wellhead, the robot can be suspended from the modular robot cabin through the pipeline well into the pipeline to be dredged through the robot suspension transportation mechanism, without the need for crane cooperation.

[0038] 3. After the power take-off takes power from the power system of the transport vehicle, it can transmit power to the hydraulic pump. The hydraulic pump can provide power to the dredging robot and the winch system at the same time or provide power to the dredging robot and the winch system separately through the control valve. After unloading the dredging robot, the transport vehicle can become a mobile power station for the dredging robot, so that the dredging robot can work independently without the help of other power stations.

[0039] 4. The reel drive can drive the oil pipe reel to rotate and retract or release the oil pipe to cooperate with the movement of the dredging robot in the pipeline. The water hose reel can also be driven by the driver to retract and release the water hose to cooperate with the movement of the dredging robot in the pipeline. The high-pressure pump can transport water to the high-pressure flushing device on the dredging robot, and the high-pressure flushing device can assist the robot in dredging.

[0040] 5. Move the cabin to the pipeline well. The dredging robot can be directly lowered from the vertical hatch to the bottom of the pipeline well through the lifting and transportation mechanism without the help of external operating equipment.

[0041] Other advantages, objectives and features of the present invention will be embodied in part through the following description, and in part will be understood by those skilled in the art through study and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a front view of the present invention;

[0043] Figure 2 is a top view of the present invention;

[0044] Figure 3 It is a left side view of the present invention;

[0045] Figure 4 It is a structural diagram of the shelter installation platform;

[0046] Figure 5 It is a schematic diagram of an application scenario of the present invention;

[0047] Figure 6It is a structural diagram of a modular equipment shelter;

[0048] Figure 7 It is an exploded view of the lock structure when it is unlocked;

[0049] Figure 8 It is an exploded view of the lock structure in the locked state;

[0050] Fig. 9 It is a schematic diagram of the structure of the modular robot cabin;

[0051] Fig.10 This is a bottom view of the modular robot cabin;

[0052] Fig.11 It is a structural diagram of the mobile mechanism;

[0053] Fig.12 It is the hydraulic control principle diagram of the present invention.

[0054] In the figure, modular chassis 1, transport vehicle 2, dredging robot 3, modular robot cabin 4, hydraulic power station 5, modular equipment cabin 6, oil pipe 7, moving mechanism 8, water hose 9, winch system 10, cabin installation platform 11, locking structure 12, high-pressure pump 13, control valve 14, hydraulic oil tank 15, reel drive 16, oil pipe reel 17, vertical access hatch 18, traveling crane 19, track 20, walking seat 21, hook 22, horizontal access hatch 23, lock groove 25, lock core 26, handle 27, support beam 28, fixed bracket 29, translation drive 30, fixed seat 31, lifting drive 32, roller 33, limit slide groove 34, limit slider 35, pulley 36, cavity 37, power take-off 101, hydraulic pump 102, No. 1 joint group 103, No. 2 joint group 104. DETAILED DESCRIPTION

[0055] like Figure 1-Figure 5 As shown, a mother-and-child dredging vehicle structure includes a transport vehicle 2 with a modular chassis 1, wherein the modular chassis 1 is provided with a modular robot cabin 4 for installing a dredging robot 3, a hydraulic power station 5 for providing power to the dredging robot 3, and a modular equipment cabin 6 equipped with a hoisting system 10 for supplying oil pipes 7 and water hoses 9 to the dredging robot 3, wherein the hoisting system 10 is also connected to the hydraulic power station 5, and the hydraulic power station 5 is connected to the dredging robot 3 through the oil pipe 7, the modular robot cabin 4 and the modular equipment cabin 6 both have a moving mechanism 8 and are detachably connected to the modular chassis 1, and a robot suspension transport mechanism is also provided in the modular robot cabin 4.

[0056] The present invention integrates a modular robot cabin 4 for installing a dredging robot, a hydraulic power station 5 for providing hydraulic power to the dredging robot, and a winch system 10 for supplying oil pipes and water hoses to the dredging robot. When the dredging robot is operating, no other special equipment or vehicles are required to accompany it. Secondly, the modular robot cabin 4 provides a moving mechanism that can achieve rapid disassembly and assembly, and does not require the assistance of auxiliary work vehicles such as cranes and forklifts. After the modular robot cabin is moved to the upper side of the pipeline wellhead, the robot can be suspended from the modular robot cabin through the pipeline well into the pipeline to be dredged through the robot suspension transportation mechanism, without the need for crane cooperation.

[0057] The present invention arranges the auxiliary equipment required for the operation of the dredging robot on the same modular chassis in an integrated manner, and does not require the use of external operating equipment throughout the entire process, which greatly reduces the transportation cost and the cost of renting external operating equipment. The modular robot cabin 4 can be moved by the mobile mechanism and the efficiency of transferring the dredging robot over a short distance can also be improved.

[0058] The winch system 10 is arranged in the modular equipment cabin 6 to facilitate loading and unloading. The present invention adopts the modular equipment cabin 6, the modular robot cabin 4 and the modular chassis to cooperate with each other so that when other special vehicles are in urgent need, the modular equipment cabin 6 and the modular robot cabin 4 can be unloaded and the modular chassis can be used to install the modular equipment cabin with the required special equipment.

[0059] Preferably, the dredging robot hydraulically driven by the hydraulic power station has high safety when working in a pipeline with flammable and explosive gases.

[0060] Preferably, combined Figure 4 As shown, at least two cabin installation platforms 11 are arranged on the modular chassis 1 , and the modular robot cabin 4 and the modular equipment cabin 6 are both detachably connected to the cabin installation platforms 11 via a locking structure 12 .

[0061] Specifically, combined with Figure 1-Figure 3 , Fig.12 As shown, the hydraulic power station 5 includes a power take-off 101 connected to the power or transmission system of the transport vehicle 2, a hydraulic pump 102, a control valve 14 and a hydraulic oil tank 15. The hydraulic pump 102 is connected to the dredging robot 3 and the hoisting system 10 through the control valve 14. The control valve 14 is also connected to the hydraulic oil tank 15 through a pipeline. The hydraulic oil tank 15 is connected to the input oil circuit of the hydraulic pump 102;

[0062] The power take-off 101 and the hydraulic pump 102 are arranged on the lower side of the modular chassis 1, the control valve 14 is arranged in the modular equipment cabin 6, and the hydraulic oil tank 15 is arranged in the modular equipment cabin or on the lower side of the modular chassis.

[0063] After taking power from the power system of the transport vehicle, the power take-off 101 can transmit power to the hydraulic pump. The hydraulic pump can provide power to the dredging robot 3 and the winch system at the same time or provide power to the dredging robot 3 and the winch system independently through the control valve 14. After unloading the dredging robot, the transport vehicle can become a mobile power station for the dredging robot, so that the dredging robot can work independently without the help of other power stations.

[0064] Preferably, the side of the modular chassis is also provided with a No. 1 connector group 103 corresponding to the modular equipment cabin and a No. 2 connector group 104 corresponding to the modular robot cabin. The output oil circuit of the hydraulic pump 102 is connected to the control valve 14 via the input connector in the No. 1 connector group 103, the hydraulic oil tank is connected to the return oil circuit of the hydraulic pump via the output connector in the No. 1 connector group 103, and the control valve 14 is connected to the dredging robot via two oil pipes and the No. 2 connector group 104.

[0065] Preferably, the hydraulic oil tank is arranged on the lower side of the modular chassis 1 and is located on the spare tire installation position of the original chassis.

[0066] Specifically, combined with Figure 1-Figure 3 , Figure 6 As shown, the hoisting system 10 includes two oil pipe reels 17 independently driven by a reel driver 16, the oil pipe 7 is wound around the oil pipe reel 17, and the reel driver 16 is connected to the control valve 14;

[0067] It also includes a water hose reel and a high-pressure pump 13 for outputting the water hose 9 , and the high-pressure pump 13 is connected to a control valve 14 .

[0068] The reel drive 16 can be used to drive the oil pipe reel to rotate and retract or release the oil pipe to cooperate with the movement of the dredging robot in the pipeline. The water hose reel can also be driven by the driver to retract and release the water hose to cooperate with the movement of the dredging robot in the pipeline. The high-pressure pump can transport water to the high-pressure flushing device on the dredging robot, and the high-pressure flushing device can assist the robot in dredging.

[0069] Preferably, the oil pipe reel 17 is fixed on the upper side of the hydraulic oil tank 15, and the reel driver is a rotary oil cylinder, and the oil inlet and outlet of the rotary oil cylinder are respectively connected to the control valve and the hydraulic oil tank.

[0070] Specifically, combined with Figure 1-Figure 3 , Figure 5 and Fig.10 As shown, the robot suspension transport mechanism includes a vertical entry and exit hatch 18 arranged on the bottom plate of the modular robot cabin 4, and a lifting and transport mechanism that can vertically move the dredging robot 3 into or out of the vertical entry and exit hatch 18 is arranged directly above the vertical entry and exit hatch 18.

[0071] The cabin is moved to the pipeline well, and the dredging robot can be directly lowered from the vertical entry and exit hatch to the bottom of the pipeline well through the lifting and transportation mechanism without the help of external operating equipment.

[0072] Specifically, combined with Figure 5 , Fig. 9 and Fig.10 As shown, the lifting and transporting mechanism includes at least two groups of traveling cranes 19, which are symmetrically arranged along the center line of the vertical access hatch 18. The traveling cranes 19 include a track 20 and a traveling seat 21. The traveling seat 21 is provided with a device that can travel along the track 20. The traveling seat 21 is connected with a hook 22 through a lifting assembly.

[0073] The track 20 is arranged perpendicularly to the entry and exit direction of the dredging robot 3 at the horizontal entry and exit hatch 23 arranged on one side of the modular robot cabin 4; the lifting assembly includes a lifting driver, a reducer, a drum, a drum frame and a wire rope, and the end of the wire rope away from the drum is connected to the hook 22; the walking seat 21 is also connected to a walking gear through a walking driver, and the walking gear is meshed with the rack on the track 20, and the rack is arranged parallel to the track 20. When the cabin is located on the ground, the dredging robot can drive in or out of the cabin from the horizontal entry and exit hatch, and the dredging robot can be lowered and moved out and raised and moved in from the vertical entry and exit hatch through the traveling crane, and the dredging robot can be moved horizontally in the cabin.

[0074] Specifically, after the dredging robot equipped with a square cabin is moved to the mouth of the pipeline, the dredging robot can be moved vertically to the bottom of the pipeline through the vertical entry and exit hatch and the pipeline shaft by the traveling crane. After completing the pipeline dredging, the dredging robot returns to the pipeline shaft, and the traveling crane can be used again to lift the dredging robot back into the carriage.

[0075] Preferably, after the dredging robot enters the cabin, the dredging robot is first moved horizontally to one side by a traveling crane, so that the track on one side of the dredging robot can be placed on the bottom plate, and the track on the other side is suspended in the vertical entrance and exit hatch and supported by the traveling crane. This can prevent the dredging robot from shaking when the cabin is moved; in addition, a horizontal sliding door can also be provided at the vertical entrance and exit hatch to support the dredging robot.

[0076] Those skilled in the art should understand that both the lifting drive and the traveling drive are rotary cylinders.

[0077] Specifically, combined with Figure 1 , Figure 3 , Figure 7 and Figure 8As shown, the locking structure 12 includes four rectangularly distributed locking grooves 25 arranged on the bottom plate of the modular robot cabin 4 or the modular equipment cabin 6, and the lock grooves 25 are in the shape of long strips; the locking structure 12 also includes four rectangularly distributed lock cores 26 arranged on the cabin mounting platform 11, and the top of the lock core 26 is in the shape of long strips, and a handle is also provided at the bottom of the lock core 26, and turning the handle 27 can drive the lock core 26 to rotate.

[0078] The four lock cores on the cabin installation platform cooperate with the four lock slots on the bottom plate of the modular robot cabin or the modular equipment cabin to unlock or lock the modular robot cabin or the modular equipment cabin. Turning the handle can drive the lock core to rotate, thereby changing the modular robot cabin or the modular equipment cabin from an unlocked state to a locked state or from a locked state to an unlocked state.

[0079] The modular robot cabin integrates the functions of robot storage, loading and unloading, small-range movement and lifting. After arriving at the dredging site, no other large equipment such as cranes, forklifts, etc. are required to assist in loading and unloading, moving and lifting, which greatly saves the cost of pipeline dredging and can improve the transfer efficiency of dredging robots between multiple pipelines.

[0080] Preferably, combined Figure 4 As shown, the shelter installation platform 11 is composed of two parallel supporting beams 28. The shelter installation platform of the above structure has high modification efficiency and can complete the operation of transforming a common chassis into a modular chassis in a short time.

[0081] Specifically, combined with Figure 1-Figure 5 , Fig.11 As shown, the moving mechanism 8 includes two fixed brackets 29, and a lifting assembly is connected to the fixed bracket 29 through a translation driver 30. The lifting assembly includes a fixed seat 31 connected to the output shaft of the translation driver 30, and a lifting driver 32 is fixedly connected to the fixed seat 31. The output shaft of the lifting driver 32 is vertically downwardly arranged and fixedly connected to a roller 33. A limiting structure is also provided between the fixed seat 31 and the fixed bracket 29; the limiting structure includes a limiting groove 34 and a limiting slider 35 arranged on the fixed bracket 29, and the two ends of the limiting slider 35 are respectively connected to the fixed seat 31 and the output shaft of the translation driver 30, and the limiting slider 35 is connected to at least two pulleys 36 inserted into the limiting groove 34; the modular robot cabin 4 and the modular equipment cabin 6 are also provided with four cavities 37 for accommodating the lifting assembly.

[0082] When loading and unloading the cabin, the output shaft of the lifting drive extends to make the roller contact with the ground. When the roller contacts the ground, the output shaft of the lifting drive continues to extend to lift the cabin and separate it from the chassis through the reaction force. At this time, the transport vehicle moves forward to separate the cabin and the chassis, so as to achieve rapid disassembly of the cabin. Similarly, when loading the cabin, it is only necessary to lift the cabin above the chassis through the lifting drive, move the cabin to the top of the chassis through the rollers of the cabin, or move the chassis to the bottom of the cabin when the vehicle is in reverse gear; the translation drive can drive the fixed seat The lifting drive moves horizontally with the lifting drive, thereby increasing the distance between the two lifting drives when loading and unloading the cabin, preventing the chassis and the lifting drive from colliding when the transport vehicle unloads the cabin, and being able to retract the lifting drive during transportation of the cabin to reduce the impact of the lifting drive on the chassis width; the limiting structure can limit the fixed seat and the lifting drive; at least two pulleys on the limiting slider cooperate with the limiting groove to limit the fixed seat; the cavity 37 can accommodate the lifting assembly during transportation of the cabin to reduce the impact of the moving assembly on the width of the modular chassis.

[0083] The specific embodiments described herein are merely examples of the spirit of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, but they will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

[0084] Although this article uses more modular chassis 1, transport vehicle 2, dredging robot 3, modular robot cabin 4, hydraulic power station 5, modular equipment cabin 6, oil pipe 7, mobile mechanism 8, water hose 9, winch system 10, cabin installation platform 11, locking structure 12, high-pressure pump 13, control valve 14, hydraulic oil tank 15, reel drive 16, oil pipe reel 17, vertical access hatch 18, traveling crane 19, track 20, walking seat 21, hook 22, horizontal access hatch 23, Lock slot 25, lock core 26, handle 27, support beam 28, fixed bracket 29, translation drive 30, fixed seat 31, lifting drive 32, roller 33, limiting slide slot 34, limiting slider 35, pulley 36, cavity 37, power take-off 101, hydraulic pump 102, joint group No. 1 103, joint group No. 2 104, etc., these terms are used only to more conveniently describe and explain the essence of the present invention; interpreting them as any additional limitations is contrary to the spirit of the present invention.

Claims

1. A mother-and-child dredging vehicle structure, comprising a transport vehicle (2) having a modular chassis (1), characterized in that: The modular chassis (1) is provided with a modular robot cabin (4) for installing a dredging robot (3), a hydraulic power station (5) for providing power to the dredging robot (3), and a modular equipment cabin (6) provided with a hoisting system (10) for supplying an oil pipe (7) and a water hose (9) to the dredging robot (3). The hoisting system (10) is also connected to the hydraulic power station (5). The hydraulic power station (5) is connected to the dredging robot (3) via an oil pipe (7). The modular robot cabin (4) and the modular equipment cabin (6) both have a moving mechanism (8) and are detachably connected to the modular chassis (1). The modular robot cabin (4) is also provided with a robot suspension transport mechanism. The robot suspension transport mechanism comprises a vertical entry and exit hatch (18) arranged on the bottom plate of the modular robot cabin (4), and a lifting transport mechanism capable of vertically moving the dredging robot (3) in or out of the vertical entry and exit hatch (18) is arranged directly above the vertical entry and exit hatch (18).

2. The structure of a mother-and-child dredging vehicle according to claim 1, characterized in that: At least two cabin installation platforms (11) are arranged on the modular chassis (1), and the modular robot cabin (4) and the modular equipment cabin (6) are both detachably connected via a locking structure (12) and the cabin installation platforms (11).

3. The structure of a mother-and-child dredging vehicle according to claim 1, characterized in that: The hydraulic power station (5) comprises a power take-off (101) connected to the power or transmission system of the transport vehicle (2), a hydraulic pump (102), a control valve (14) and a hydraulic oil tank (15); the hydraulic pump (102) is connected to the dredging robot (3) and the hoisting system (10) via the control valve (14); the control valve (14) is also connected to the hydraulic oil tank (15) via a pipeline; and the hydraulic oil tank (15) is connected to the input oil circuit of the hydraulic pump (102); The power take-off (101) and the hydraulic pump (102) are arranged on the lower side of the modular chassis (1), the control valve (14) is arranged in the modular equipment cabin (6), and the hydraulic oil tank (15) is arranged in the modular equipment cabin (6) or on the lower side of the modular chassis (1).

4. The structure of a mother-and-child dredging vehicle according to claim 3 is characterized in that: The hoisting system (10) comprises two oil pipe reels (17) independently driven by a reel driver (16), the oil pipe (7) is wound on the oil pipe reel (17), and the reel driver (16) is connected to a control valve (14); It also includes a water hose reel and a high-pressure pump (13) for outputting the water hose (9), and the high-pressure pump (13) is connected to a control valve (14).

5. The structure of a mother-and-child dredging vehicle according to claim 1, characterized in that: The lifting and transporting mechanism comprises at least two groups of traveling cranes (19), the two groups of traveling cranes (19) are symmetrically arranged along the center line of the vertical access hatch (18), the traveling crane (19) comprises a track (20) and a traveling seat (21), the traveling seat (21) can travel along the track (20), and the traveling seat (21) is connected with a hook (22) via a lifting assembly; The track (20) is arranged perpendicularly to the entry and exit direction of the dredging robot (3) at a horizontal entry and exit hatch (23) arranged on one side of the modular robot cabin (4).

6. The structure of a mother-and-child dredging vehicle according to claim 5, characterized in that: The lifting assembly comprises a lifting driver, a reducer, a drum, a drum frame and a steel wire rope, wherein one end of the steel wire rope away from the drum is connected to a lifting hook (22); A traveling gear is also connected to the traveling seat (21) via a traveling driver, the traveling gear is meshed with a rack on the track (20), and the rack is arranged parallel to the track (20).

7. The structure of a mother-and-child dredging vehicle according to claim 2, characterized in that: The locking structure (12) comprises four rectangularly distributed locking grooves (25) arranged on the bottom plate of the modular robot cabin (4) or the modular equipment cabin (6), and the locking grooves (25) are in the shape of long strips; The lock structure (12) further comprises four lock cores (26) arranged on the cabin installation platform (11) and distributed in a rectangular shape. The top of the lock core (26) is in an elongated strip shape. The bottom of the lock core (26) is also provided with a handle. Turning the handle (27) can drive the lock core (26) to rotate.

8. The structure of a mother-and-child dredging vehicle according to claim 2, characterized in that: The cabin installation platform (11) is composed of two parallel supporting beams (28).

9. A mother-and-child dredging vehicle structure according to any one of claims 1 to 4, characterized in that: The moving mechanism (8) comprises two fixed brackets (29), the fixed brackets (29) are connected to a lifting assembly via a translation driver (30), the lifting assembly comprises a fixed seat (31) connected to an output shaft of the translation driver (30), a lifting driver (32) is fixedly connected to the fixed seat (31), the output shaft of the lifting driver (32) is vertically arranged downward and is fixedly connected to a roller (33), and a limiting structure is further provided between the fixed seat (31) and the fixed bracket (29); The limiting structure comprises a limiting slide groove (34) and a limiting slider (35) arranged on the fixed bracket (29); two ends of the limiting slider (35) are respectively connected to the fixed seat (31) and the output shaft of the translation driver (30); and the limiting slider (35) is connected to at least two pulleys (36) inserted into the limiting slide groove (34); The modular robot cabin (4) and the modular equipment cabin (6) are also provided with four cavities (37) for accommodating lifting components.

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