Tunnel marine organism gathering and collecting front end device

Abstract

The application discloses a tunnel marine organism gathering and collecting front end device, which is connected to the front end of a main machine device and comprises a main frame arranged on the bottom surface of a tunnel, a conveying unit, a side wing collecting unit and an upper supporting arm unit. The conveying unit is floatingly connected to the main machine device and extends forward to the front of the main frame, collects marine organisms on the bottom surface of the tunnel and conveys the marine organisms to the main machine device. The side wing collecting unit is arranged on both sides of the front end of the conveying unit and is connected to the main frame, collects marine organisms on the side walls of the tunnel and gathers the marine organisms to the conveying unit. The upper supporting arm unit comprises upper supporting arm assemblies which are extended from the main frame to the side walls of the tunnel and are symmetrical to the vertical plane of the tunnel axis. The upper supporting arm assemblies on both sides are operatively telescopic to make the central surface of the main frame coincide with the central surface of the tunnel. The front end device of the application can automatically find the position of the tunnel wall and resist uneven external force to keep the position and posture, realizes the cleaning, gathering and conveying of marine organisms on the inner arc wall and the bottom plane of the tunnel.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tunnel foreign matter processing, and particularly relates to a tunnel marine organism gathering and collecting front-end device. BACKGROUND

[0002] After long-term use, a large amount of marine organisms grow on the inner wall of a submarine water intake tunnel, and too many marine organisms can reduce the water intake area of the water intake tunnel, thereby having a significant impact on the water intake capacity of the tunnel. The marine organisms in the submarine water intake tunnel are large in size and have many sundries (such as steel bars, stones, etc.). After tunnel cleaning, a large amount of marine organisms are accumulated on the inner wall arc surface and the middle plane of the tunnel.

[0003] Due to the limitation of the tunnel structure, the marine organisms on the inner wall arc surface of the tunnel are difficult to completely clean, and often there are marine organism residues; at the same time, the tunnel bottom is slippery, the channel is narrow, and the passage of large equipment is limited, and the tunnel should try to have small local stress to avoid causing internal cracks.

[0004] Therefore, a collecting device integrating marine organism cleaning, peeling, gathering and collecting functions is needed. The device should have good driving control performance, small ground pressure on the driving surface, strong grip, and can well adapt to the changes of the tunnel bottom surface and the changes caused by driving deviation, efficiently and cleanly clean the marine organisms on the tunnel surface and bottom surface. At the same time, the device is driven in the tunnel, the ground conditions are complex, and the driving position control is difficult, so the device's chassis offset adaptability is also required, and the device has certain independence and self-position correction function. SUMMARY

[0005] The technical problem to be solved by the present application is to provide a tunnel marine organism gathering and collecting front-end device to solve the defects of the prior art.

[0006] The technical solution adopted by the present application to solve the technical problem is: a tunnel marine organism gathering and collecting front-end device connected to the front end of a gathering and collecting host device, comprising a main frame arranged on the tunnel bottom surface, a conveying unit, a side wing collecting unit and an upper support arm unit;

[0007] The conveying unit is floatingly connected to the host device and extends forward of the main frame, and marine organisms located on the tunnel bottom surface are conveyed to the host device;

[0008] The side wing collecting unit is arranged on both sides of the front end of the conveying unit and connected to the main frame, and marine organisms on the side wall of the tunnel are gathered and collected to the conveying unit;

[0009] The upper support arm unit comprises upper support arm assemblies extending from the main frame to the tunnel side walls and symmetrically to the vertical plane of the tunnel axis, and the upper support arm assemblies on both sides are operatively telescopic to make the central plane of the main frame coincide with the central plane of the tunnel.

[0010] Further, each of the upper support arm assemblies preferably comprises an upper support arm base, a support arm hinged to the upper support arm base, and a support arm driving member.

[0011] The upper support arm base is hinged to the main frame, one end of the support arm driving member is connected to the main frame, and the other end of the support arm driving member is connected to the support arm, and the symmetrically arranged support arm driving members provide constant pressure to press the ends of the two support arms against the inner walls of the tunnel on both sides.

[0012] Further, the support arm preferably comprises an arm outer tube hinged to the upper support arm base, a telescopic tube telescopically connected to the arm outer tube, and a support base hinged to the end of the telescopic tube.

[0013] The output end of the support arm driving member is connected to the arm outer tube, the support base is provided with a roller, and the symmetrically arranged support arm driving members provide constant pressure to press the roller of the support base against the inner walls of the tunnel on both sides.

[0014] Further, the support base preferably extends to the tunnel wall surface at the same height as the tunnel axis.

[0015] Further, the side wing collecting unit preferably comprises a scraper assembly extending from the tunnel bottom surface to the tunnel inner wall surface on both sides and a spiral conveying assembly arranged in front of the scraper assembly, the scraper assembly is arranged in close contact with the tunnel inner wall surface to strip marine organisms from the tunnel side wall, and the output end of the spiral conveying assembly is arranged towards the conveying unit to convey marine organisms towards the conveying unit.

[0016] Further, the side wing collecting unit preferably comprises a semi-enclosed side wing gathering frame, a side wing hinged frame connected to both sides of the front end of the main frame and having an axis perpendicular to the tunnel bottom surface, and a side wing driving member, the front end of the side wing gathering frame is provided with the spiral conveying assembly, and the rear end of the side wing gathering frame is connected with the scraper assembly.

[0017] The side wing gathering frame is connected to both sides of the main frame through the side wing hinged frame, one end of the side wing driving member is hinged to the connection between the side wing gathering frame and the main frame, and the other end is hinged to the rear end of the side wing gathering frame, so that the side wing gathering frame swings around the axis of the side wing hinged frame.

[0018] Further, preferably, the spiral conveying assembly comprises a rotating shaft mounted on the wing converging frame and a spiral driving member for driving the rotating shaft to rotate, and a blade arranged outside the rotating shaft, the rotating directions of the blades of the two spiral conveying assemblies are opposite.

[0019] Further, preferably, each of the blades has a variable outer diameter structure, and the spiral diameter of each of the blades gradually increases from the inner wall of the tunnel to the conveying unit.

[0020] Further, preferably, the outer side of each of the wing converging frames is provided with a supporting wheel, and the supporting wheel is in contact with the inner wall of the tunnel.

[0021] Further, preferably, the scraping plate assembly comprises a fixed frame connected to the back of the wing converging frame, and a swing scraping plate movably connected to the fixed frame, the swing scraping plate moves up and down relative to the fixed frame and swings forward and backward relative to the fixed frame, the swing scraping plate is arranged from the inner wall of the tunnel to the bottom of the tunnel, and the lower edge of the swing scraping plate is in contact with the inner wall of the tunnel.

[0022] Further, preferably, the fixed frame is provided with a guide shaft system arranged in parallel and a scraping plate driving member for driving the swing scraping plate to swing up and down, the scraping plate driving member is drivingly connected to the swing scraping plate, the swing scraping plate can move up and down relative to the guide shaft system, the bottom of the swing scraping plate is hinged to the fixed frame through a rotating shaft system, and the swing scraping plate has a swing degree of freedom along the axis of the rotating shaft system.

[0023] Further, preferably, the conveying unit comprises a hollow conveying frame, a chain harrow driven shaft system and a chain harrow driving shaft system arranged at the front end and the rear end of the conveying frame respectively;

[0024] The conveying frame is arranged at an angle with the bottom of the tunnel and extends between the output ends of the two wing collecting units.

[0025] One end of the chain harrow driving shaft system is connected to the main machine device, and the conveying frame swings around the axis of the chain harrow driving shaft system.

[0026] Further, preferably, the conveying frame comprises oppositely arranged side plates, a chain harrow arranged between the two side plates, a harrow plate arranged at the front end of the conveying frame and extending forward from the side plates, and a limiting shaft head arranged on the side plates, and the main frame is provided with a limiting plate above the limiting shaft head to limit the swing amplitude of the conveying frame.

[0027] Furthermore, preferably, the front-end device includes a telescopic push rod assembly, the rear end of which is connected to the host device, the front end of which is connected to the main frame, and the rear end of which is positioned higher than the front end.

[0028] Furthermore, the push rod assembly preferably includes a front end shaft, an outer tube connected to the front end shaft, an inner tube telescopically sleeved within the outer tube, a limiting pin, and a fixing pin. The inner tube has a limiting groove for installing the limiting pin, and the outer tube has a limiting through hole. The fixing pin limits and fixes the push rod assembly through the limiting through hole and the limiting pin.

[0029] Furthermore, preferably, the main frame includes a gantry upper beam, vertical beams disposed on both sides of the gantry upper beam, two upper support arm assemblies symmetrically hinged to the gantry upper beam, two side wing collection units respectively connected to the corresponding vertical beams, and the conveying unit disposed between the two vertical beams.

[0030] Furthermore, the main frame preferably includes a blade holder at the bottom and swing wheels respectively disposed on the outside of the upright beam, and the front end of the blade holder is provided with a blade that extends obliquely from the edge of the blade holder to the bottom surface of the tunnel.

[0031] Furthermore, preferably, a flexible sealing component is provided at the connection between the main frame and the host device. The flexible sealing component includes a main frame pressure plate disposed on the outer side of the main frame, a host pressure plate disposed on the outer wall of the material collection chamber of the host device, and a flexible connector that extends from the main frame pressure plate to the host pressure plate.

[0032] The implementation of this invention has the following beneficial effects: The tunnel marine organism gathering and collection front-end device of this invention realizes the centralized gathering and cleaning of marine organisms on the bottom plane of the tunnel through the conveying unit, and then collects the marine organisms located on the bottom plane of the tunnel through the side wing collection unit and conveys them to the main equipment. The conveying unit conveys the marine organisms into the collection chamber of the main equipment, and the upper support arm assembly, which is symmetrically supported on the side wall of the tunnel and moves synchronously, makes the entire front-end device always as close as possible to the tunnel wall, and can automatically find the position of the tunnel wall and resist uneven external forces to maintain its posture, thereby realizing the cleaning, gathering and translational conveying of marine organisms on the inner arc wall and bottom plane of the tunnel. Attached Figure Description

[0033] The above and other objects, features and advantages of the present invention will become more apparent from the more detailed description of exemplary embodiments of the invention in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same parts.

[0034] Figure 1 is a front isometric view of the tunnel marine life aggregation collection front end device in an embodiment of the present invention with the host device whole body in front of the tunnel;

[0035] Figure 2 is a front view of the tunnel marine life aggregation collection front end device in an embodiment of the present invention; Figure 1

[0036] Figure 3 is a top view of the tunnel marine life aggregation collection front end device in an embodiment of the present invention;

[0037] Figure 4 is a front isometric view of the tunnel marine life aggregation collection front end device in an embodiment of the present invention;

[0038] Figure 5 is a rear isometric view of the tunnel marine life aggregation collection front end device in an embodiment of the present invention;

[0039] Figure 6 is a cross-sectional view of the tunnel marine life aggregation collection front end device in an embodiment of the present invention;

[0040] Figure 7 is a perspective view of the conveying unit in an embodiment of the present invention;

[0041] Figure 8 is a cross-sectional view of the conveying unit in an embodiment of the present invention;

[0042] Figure 9 is a perspective view of the upper support arm assembly in an embodiment of the present invention;

[0043] Figure 10 is a cross-sectional view of the upper support arm assembly in an embodiment of the present invention;

[0044] Figure 11 is a side view of the scraper assembly in an embodiment of the present invention;

[0045] Figure 12 is a perspective view of the swing caster in an embodiment of the present invention;

[0046] Figure 13 is a perspective view of the push rod assembly in an embodiment of the present invention;

[0047] Figure 14 is a top view of the push rod assembly in an embodiment of the present invention. DETAILED DESCRIPTION

[0048] ​Embodiments of the present application will be described herein below with reference to the drawings. Although embodiments of the present application are illustrated in the drawings, it is understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present application will be thorough and complete, and will fully convey the scope of the present application to those skilled in the art.

[0049] It should be understood that, although the terms "first", "second", "third", etc. can be employed in describing various information in the present application, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another type of information. For example, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as the first information, without departing from the scope of the present application. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0050] In the description of the present application, it should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0051] Unless otherwise specifically defined and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be broadly understood, for example, they can be fixedly connected, or detachably connected or integrated; they can be mechanically connected, or electrically connected; they can be directly connected, or indirectly connected through an intermediate medium; they can be the internal communication or interaction relationship of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0052] Figures 1-6 A tunnel marine organism gathering and collecting front end device in some preferred embodiments of the present application is shown, which is connected to the front end of a gathering and collecting host device 10. The host device 10 is the walking part of the device, provides operating power and realizes the driving function of the gathering and collecting front end device, provides pushing force, and provides the installation basis. The host device 10 can be a four-column crawler walking device, which can realize the lifting and angle pose control change of the chassis of the host. The host device 10 is provided with a material collecting cavity for collecting tunnel marine organism materials.

[0053] The tunnel marine organism gathering and collecting front-end device is used for marine organism cleaning and collecting of a nuclear power water intake tunnel 100, which comprises a main frame 1 arranged on the bottom surface of the tunnel 100, a conveying unit 3 floatingly connected to the main frame 10 and extending forward to the front of the main frame 1, a wing collecting unit 4 arranged at the front end of the conveying unit 3 and connected to the main frame 1, and an upper support arm unit, wherein the upper support arm unit comprises an upper support arm assembly 5 extending from the main frame 1 to the sidewall surface of the tunnel and symmetrically perpendicular to the tunnel axis plane, so as to form the center holding force of the front-end device. It can be understood that the main frame 1 is used for providing a mounting base, a connecting base, and providing a certain support force, the main frame 1 and the conveying unit 3 are arranged on the bottom plane of the tunnel 100, and the conveying unit 3 collects marine organisms on the bottom surface of the tunnel and conveys them to the main machine device 10; the wing collecting unit 4 and the upper support arm assembly 5 are symmetrically arranged on the inner wall of the arc surface of the tunnel 100, and the wing collecting unit 4 collects marine organisms on the sidewall of the tunnel to the conveying unit 3. The upper support arm assembly 5 is symmetrically supported on the inner wall of the tunnel, and the upper support arm assemblies 5 on both sides are operatively telescopic to make the center plane of the main frame 1 coincide with the center plane of the tunnel, so as to form the center holding force of the front-end device. When the front-end device deviates, the upper support arm assembly 5 on one side is retracted due to pressure exceeding the pressure limit, and the displacement changes, and then the control system adjusts the synchronous displacement of the upper support arm assemblies 5 on both sides. When the tunnel wall increases, the pressure in the upper support arm assembly 5 on one side or both sides will be reduced below the limit value, and then the control system controls the upper support arm assembly 5 to synchronously extend and keep the working state. In this way, the main frame 1 can always work in the state that the center plane thereof is basically coincident with the center plane of the tunnel 100.

[0054] In a specific embodiment, as Figures 9-10As shown, the upper support arm assemblies 5 are symmetrically arranged with respect to the vertical plane of the center axis of the tunnel 100, each upper support arm assembly 5 comprising an upper support arm base 51, a support arm 50 hingedly connected to the upper support arm base 51, and a powered arm drive 55. Specifically, the upper support arm base 51 is hingedly connected to the main frame 1, one end of the arm drive 55 is connected to the main frame 1, and the other end of the arm drive 55 is connected to the support arm 50. The symmetrically arranged arm drives 55 provide constant pressure to press the ends of the two support arms 50 against the inner walls of the tunnel 100. The upper support arm base 51 is symmetrically mounted on the top of the main frame 1 with respect to the center plane, and the bottom ends of the two arm drives 55 are hingedly connected to the top of the main frame 1 with respect to the center plane, and the other ends are hingedly connected to the support arms 50. The extension and retraction of the arm drives 55 (which can be drive oil cylinders) are kept in synchronization by a hydraulic servo system or a shunt valve scheme, so that the movement of the two support arms 50 with respect to the center plane is symmetric, and the upper support arm assemblies 5 maintain constant pressure against the walls of the tunnel 100. When the device deviates, the arm drive 55 on one side retracts due to pressure exceeding the pressure limit, and the displacement changes, then the control system supplements high-pressure oil to adjust the synchronous displacement and the pressure state of the oil cylinder. When the wall of the tunnel increases, the pressure in the arm drive 55 on one side or both sides will decrease below the limit value, then the control system drives the oil cylinder to extend synchronously to maintain the working state. In this way, it can be ensured that the main frame 1 always works in a state where the center plane is basically coincident with the center plane of the tunnel 100.

[0055] Further, the support arm 50 comprises an arm outer tube 52 hinged to the upper support arm base 51, a telescopic tube 53 telescopically sleeved in the arm outer tube 52, and a support base 54 hinged to the end of the telescopic tube 53; the upper support arm base 51 is hinged to the main frame 1, one end of the support arm driving member 55 is connected to the main frame 1, the other end of the support arm driving member 55 is connected to the arm outer tube 52, a plurality of rollers are arranged on the support base 54, and the symmetrically arranged support arm driving members 55 provide constant pressure to press the rollers of the support base 54 against the inner walls of the tunnel 100. It can be understood that the telescopic tube 53 can be extended or retracted relative to the arm outer tube 52 to adjust the length of the support arm 50, when the upper support arm assembly 5 is not in use, the telescopic tube 53 is retracted to reduce the size of the equipment and facilitate the equipment to enter or exit the scene, when it is ready to be used, the telescopic tube 53 is extended to adjust to the appropriate length, so that the rollers of the support base 54 are pressed against the inner walls of the tunnel 100, and then the telescopic tube 53 is fixedly connected to the arm outer tube 52. The limiting structure of the telescopic tube 53 is fixed with an elastic limiting seat 56, which can be shortened and stored when the upper support arm assembly 5 is not in use, thereby reducing the size of the equipment. Specifically, the upper support arm base 51 of the upper support arm assembly 5 is symmetrically installed on the top of the main frame 1 relative to the center, the bottom ends of the two support arm driving members 55 are symmetrically hinged to the top of the main frame 1 relative to the center, and the other ends are hinged to the arm outer tube 52, the telescopic extension of the support arm driving member 55 (specifically, a driving oil cylinder) is kept in stroke synchronization through a hydraulic servo system or a shunt valve scheme, in this way, the movement of the two upper support arm assemblies 5 relative to the center is symmetrical movement, and the upper support arm assembly 5 keeps constant pressure against the wall of the tunnel 100, when the equipment deviates, the support arm driving member 55 on one side is retracted due to pressure exceeding the pressure limit, the displacement changes, the control system supplements high-pressure oil to adjust the synchronous displacement and the pressure state of the oil cylinder, when the wall of the tunnel increases, the pressure in the support arm driving member 55 on one side or both sides will be reduced below the limit value, then the control system drives the oil cylinder to extend synchronously to keep the working state, in this way, it can be ensured that the main frame 1 always works in the state that the center plane is basically coincident with the center plane of the tunnel 100.

[0056] Further, the support base 54 extends to the wall surface of the tunnel 100 at the same height as the center position of the tunnel 100, so that the upper support arm assembly 5 is supported on the wall surface of the tunnel 100 at the same height as the center position of the tunnel 100.

[0057] As Figures 1-3 , Figure 11As shown, the side wing collecting unit 4 includes a scraper assembly 41 extending from the bottom of the tunnel 100 to the inner wall surface of the two sides of the tunnel 100 and a spiral conveying assembly 42 arranged in front of the scraper assembly 41. The scraper assembly 41 is pressed against the wall of the tunnel 100 with a constant force, and the scraper assembly 41 is arranged in close contact with the inner wall surface of the tunnel 100 to peel off the marine organisms on the side wall of the tunnel 100. The scraper assembly 41 can be lifted and deflected. When the device encounters excessive reaction force when scraping the hole wall, the device can avoid obstacles by floating and deflecting backward. The output end of the spiral conveying assembly 42 is arranged towards the conveying unit 3 to convey marine organisms to the conveying unit 3.

[0058] As shown in Figures 4-8 , the conveying unit 3 is floatingly connected to the main machine device 10 and extends forward to the front of the main frame 1. It can be understood that the rack of the conveying unit 3 is semi-floatingly installed and can rotate around the shaft of the driving shaft by a certain angle to adapt to different heights of materials and reduce the occurrence of blockage. The output end of the conveying unit 3 is arranged corresponding to the inlet end of the main machine device 10, which is used for peeling off marine organisms on the bottom surface of the tunnel 100 and conveying marine organisms from the side wing collecting unit 4 to the material collecting cavity of the main machine device 10 at the rear end.

[0059] In some specific embodiments, as shown in Figures 4-5 , the main frame 1 is a flat quadrilateral frame structure. Specifically, the main frame 1 includes a portal top beam 12, vertical beams 13 arranged on both sides of the portal top beam 12, and the portal top beam 12 is a horizontally placed box beam, the center of the length of which is vertically coincident with the axis of the tunnel 100. Two upper support arm assemblies 5 are symmetrically hinged to the portal top beam 12, and a push rod assembly front seat 27 is also fixed on the portal top beam 12. The push rod assembly front seat 27 is used to connect the main frame 1 and the push rod assembly 2. Two side wing collecting units 4 are respectively connected to the corresponding vertical beams 13, and the conveying unit 3 is arranged between the two vertical beams 13, so that each component is reasonably arranged in the tunnel 100, has high adhesion and high adaptability with the tunnel 100, and the whole device tends to be symmetrical, thereby improving the convenience of operation of the device and the efficiency of collaborative work of multiple devices, and facilitating the correction of the position of the device.

[0060] In a specific embodiment, due to the spatial arrangement of the host device 10, the material collection cavity of the host device 10 is designed to be offset. In order to ensure that the center line of the device and the center line of the tunnel 100 are in the same plane during operation, thereby improving the convenience of device operation, improving the efficiency of multi-device collaborative operation, and ensuring that there is sufficient space between the device and the tunnel 100, the wing collection unit 4 is designed to be asymmetric. The asymmetric structure here means that one side of the wing collection unit 4 is better in shape and size, and the other side of the wing collection unit 4 is smaller in shape and size, but the structures of the two are the same and the installation positions are symmetrical. Of course, when the material collection cavity of the host device 10 is not offset, the wing collection units 4 on both sides are symmetrical structures.

[0061] In a specific embodiment, as shown in Figures 4-5 The main frame 1 further includes a blade holder 14 arranged at the bottom and swing ground wheels 15 arranged at the outer sides of the vertical beams 13. The blade holder 14 is provided with a blade 141 at the front end, which is inclinedly extended from the edge of the blade holder 14 to the bottom surface of the tunnel 100. The blade 141 is arranged at an angle with the bottom surface of the tunnel 100 and is used to scrape the bottom surface of the tunnel 100 and peel off seabed organisms on the ground into the rear side of the main frame 1. The blade holder 14 is provided with swing ground wheels 15 on both sides, as shown in Figure 12 The swing ground wheels 15 can support the weight of the main frame 1 and roll close to the bottom surface, so that the blade 141 always closely contacts the bottom surface of the tunnel 100. The swing ground wheels 15 are provided with a plurality of height-consistent casters 152 at the bottom of the swing bracket 151. The swing bracket 151 is hinged to the blade holder 14 through a swing pin 153, and the axis thereof is parallel to the horizontal plane and perpendicular to the axis of the tunnel 100. When the main frame 1 is inclined forward and backward, the swing ground wheels 15 rotate around the axis of the swing pin 153, so that all the casters 152 uniformly contact the bottom surface and jointly bear the load. The blade holder 14 is provided with two rows of bottom casters 142 on the rib plate at the bottom, which can independently roll and contact the ground to jointly bear the load of the device.

[0062] In a specific embodiment, as shown in Figures 2-4As shown, the side wing collecting unit 4 comprises a semi-enclosed structure of side wing gathering frame 43, side wing hinged frame 44 connected to the two sides of the front end of the main frame 1 and the axis perpendicular to the bottom surface of the tunnel 100, and side wing driving member 45. The side wing gathering frame 43 is connected to the two sides of the main frame 1 through the side wing hinged frame 44, one end of the side wing driving member 45 is hinged to the connection between the side wing gathering frame 43 and the main frame 1, and the other end is hinged to the rear end of the side wing gathering frame 43, so that the side wing gathering frame 43 swings around the axis of the side wing hinged frame 44, the front end of the side wing gathering frame 43 is provided with a spiral conveying assembly 42, the rear end of the side wing gathering frame 43 is connected with a scraper assembly 41, and the side wing driving member 45 drives the side wing gathering frame 43 to swing around the axis of the side wing hinged frame 44, and the swinging of the side wing gathering frame 43 drives the scraper assembly 41 and the spiral conveying assembly 42 to swing. The side wing driving member 45 can be a side wing driving oil cylinder. When the device is working, the side wing driving member 45 applies a constant pressure to make the side wing gathering frame 43 unfold, so that the side wing gathering frame 43 is arranged to be opened at a certain angle with the circumference of the device, the rotation axis is the vertical direction, and the side wing gathering frame 43 is horizontally rotated and opened until the support wheel 46 at the outermost side of the side wing gathering frame 43 is tightly attached to the inner wall of the tunnel 100, and then the side wing driving member 45 is locked to maintain a constant pressure so that the scraper assembly 41 is tightly attached to the inner wall of the tunnel 100.

[0063] In a specific embodiment, as shown in Figures 2-4 The outer side of each side wing gathering frame 43 is provided with a support wheel 46, which is in contact with the inner wall of the tunnel 100, and the support wheel 46 can roll along the inner wall of the tunnel 100. The support wheel 46 has a certain supporting and guiding effect on the device. When the chassis of the main machine 10 is about to deviate to one side during walking, the three support wheels 46 of the side wing gathering frame 43 on the deviation side are tightly attached to the tunnel wall, and the walking deviation trend will increase the load bearing of the support wheel 46, and the reaction force is transmitted to the walking main machine 10, balancing the steering force of the chassis, so that it continues to walk along the guiding position of the two side support wheels 46, and continues to tightly attach to the tunnel wall to complete the scraping work of the material.

[0064] In a specific embodiment, as shown in Figures 3-4 The front end of the side wing gathering frame 43 is obliquely installed with the spiral conveying assembly 42 at an angle with the tunnel 100, the spiral conveying assembly 42 comprises a rotating shaft 421 installed on the side wing gathering frame 43, a spiral driving member 423 for driving the rotating shaft 421 to rotate, and a blade 422 arranged outside the rotating shaft 421, the rotating directions of the blades 422 of the two spiral conveying assemblies 42 are opposite; the spiral driving member 423 can be a driving motor, and the driving motor rotates to drive the rotating shaft 421 and the blade 422 to rotate, so as to convey the marine organisms accumulated on the side wing gathering frame 43 to the extending direction, that is, to the conveying unit 3.

[0065] In a specific embodiment, as shown in Figures 3-4As shown, each blade 422 on the screw conveying assembly 42 is of a variable outer diameter structure, and the spiral diameter of each blade 422 gradually increases from the inner wall of the tunnel 100 to the conveying unit 3, that is, the spiral conveying capacity of the inner side is larger, which can optimize the accumulation and blockage problem caused by the accumulation of marine biological materials. When the rotating shaft 421 and the blade 422 are driven to rotate by the driving motor, the marine organisms are pushed inward by the blade 422 from the bottom to gather, and the bottom of the side wing gathering frame 43 is an arc lower edge structure with a certain spacing from the arc surface of the tunnel 100.

[0066] In a specific embodiment, as shown in Figure 5 The rear end of the side wing gathering frame 43 is provided with a scraper assembly 41 side by side, which covers the arc surface range of the tunnel 100 that needs to be scraped. The scraper assembly 41 includes a fixed frame 411 connected to the back of the side wing gathering frame 43, and a swing scraper 412 movably connected to the fixed frame 411. The swing scraper 412 moves up and down relative to the fixed frame 411 and swings forward and backward relative to the fixed frame 411. The swing scraper 412 is arranged extending from the inner wall of the tunnel 100 to the bottom surface of the tunnel 100, and the lower edge of the swing scraper 412 is in contact with the inner wall of the tunnel 100. When the scraper assembly 41 encounters excessive resistance during scraping the hole wall, the swing scraper 412 avoids obstacles by floating upward and biasing backward.

[0067] Further, as shown in Figure 11 The fixed frame 411 is provided with a guide shaft system 413 and a scraper driving element (not shown) for driving the swing scraper 412 to swing up and down, which are arranged in parallel. The scraper driving element is drivingly connected to the swing scraper 412. Specifically, the scraper driving element is a driving oil cylinder arranged along the height direction of the fixed frame 411. The guide shaft system 413 includes guide shafts arranged in parallel on both sides of the driving oil cylinder and a guide plate perpendicular to the guide shaft system 413 and drivingly connected to the driving oil cylinder. The swing scraper 412 is drivingly connected to the guide plate. The driving oil cylinder extends and retracts to drive the swing scraper 412 to move up and down relative to the guide shaft system 413 (as shown by the double-headed arrows). Figure 11 The swing scraper 412 is hingedly connected to the fixed frame 411 by a rotating shaft system 414, and has a swing degree of freedom along the axis of the rotating shaft system 414 (as shown by the curved double-headed arrows). Figure 11 When the device encounters excessive resistance during scraping the hole wall, the swing avoids obstacles by floating upward and biasing backward.

[0068] In a specific embodiment, as shown in Figures 7-8As shown, the conveying unit 3 includes a hollow conveying frame 31, a chain harrow driven shaft system 32 and a chain harrow driving shaft system 33 arranged at the front end and the rear end of the conveying frame 31 respectively; the conveying frame 31 is arranged at an angle with the bottom surface of the tunnel 100 and extends to the output ends between the two side wing collecting units 4 and is connected with the spiral conveying assembly 42; one end of the chain harrow driving shaft system 33 is connected with the main machine device 10 and can be fixed on the inner wall of the material collecting cavity, and the bearing seat of the chain harrow driving shaft system 33 is fixedly installed on the side plate 311, and the conveying frame 31 swings around the shaft of the chain harrow driving shaft system 33.

[0069] Further, the conveying frame 31 includes oppositely arranged side plates 311, two groups of coaxial four bearings are installed on the front and rear of the conveying frame 31, and are installed on the chain harrow driving shaft system 33 and the chain harrow driven shaft system 32 respectively, the inner ring of the bearing holds the main shaft of the shaft system, forming a stable frame, and each shaft of the chain harrow driving shaft system 33 and the chain harrow driven shaft system 32 is fixed with four sprockets distributed on both sides, and the double-chain harrow 34 is installed on the sprockets; the conveying unit 3 as a whole can swing around the chain harrow driving shaft system 33, and when the head of the conveying unit 3 is excessively fed, the head can be appropriately floated to reduce material blockage, and the chain harrow driving shaft system 33 of the conveying unit 3 can rotate forward and backward, and the reverse rotation can be started when the material is blocked, which can effectively remove the blocked state. Further, the limit shaft head 312 is arranged on the side plate 311, and the limiting plate 11 corresponding to the limit shaft head 312 is arranged above the main frame 1 to limit the swing amplitude of the conveying frame 31.

[0070] In a specific embodiment, as shown in the drawings, Figures 13-14 The front end device further includes a telescopic push rod assembly 2, which is symmetrically connected between the main frame 1 and the main machine device 10, the rear end of the push rod assembly 2 is connected to the main machine device 10, and the front end of the push rod assembly 2 is connected to the main frame 1. One end of the push rod assembly 2 is connected to the main machine device 10, and the other end is connected to the top surface of the main frame 1, so that the entire device moves forward under the push of the bottom plate of the main machine device 10, and when the front end device deviates to one side, the push rod assembly 2 adjusts by different passive telescopic amounts, so that at least one side of the push rod assembly 2 can apply a pushing force to the front end device. The rear end position of the push rod assembly 2 is higher than the front end position of the push rod assembly 2, so that the connection makes the front end device always receive a forward and downward pressure and always adhere to the horizontal plane of the bottom surface of the tunnel 100.

[0071] Specifically, the push rod assembly 2 comprises a rear end shaft head 26, an outer tube 22 connected with the rear end shaft head 26, an inner tube 23 telescopically sleeved in the outer tube 22, a front end shaft head 21 connected with the inner tube 23, a limiting pin 24 and a fixing pin 25; the outer tube 22 has a ball head at one end, which is the rear end shaft head 26, and has a cavity inside; the inner tube 23 extends into the inner side of the outer tube 22; the end of the inner tube 23 also has a ball head, which is the front end shaft head 21; a limiting groove 231 for installing the limiting pin 24 is arranged on the shaft of the inner tube 23; a limiting through hole 221 is arranged on the outer tube 22; the fixing pin 25 is fixed through the limiting through hole 221 and the limiting pin 24 to limit and fix the push rod assembly 2; after the limiting pin 24 is installed in the inner tube 23, the inner tube 23 and the limiting pin 24 can be assembled into the outer tube 22, and the fixing pin 25 is fixed; at this time, the length of the push rod assembly 2 can be telescopically changed; by taking out and increasing the number of limiting pins 24, the elongation of the push rod assembly 2 can be adjusted; when the main machine device 10 deviates to one side, the push rod assembly 2 is adjusted passively in different ways, and at least one side of the push rod assembly 2 can always apply a pushing force to the device.

[0072] In a specific embodiment, a flexible sealing assembly 6 is arranged at the connection between the main frame 1 and the main machine device 10; the flexible sealing assembly 6 comprises a main frame pressing plate 61 arranged on the outer side of the main frame 1, a main machine pressing plate 62 arranged on the outer side wall of the material collecting cavity of the main machine device 10, and a flexible connecting piece 63 curled and extended from the main frame pressing plate 61 to the main machine pressing plate 62. The curled flexible connecting piece 63 serves as a connecting transition side plate 311 to avoid leakage during material conveying connection. Specifically, the main frame pressing plate 61 presses one side of the flexible connecting piece 63 on the outer side of the main frame 1, the main machine pressing plate 62 presses the other end of the flexible connecting piece 63 on the vertical surface of the side wall of the material collecting cavity of the main machine, and when the front end device has distance changes with the main machine device 10, the flexible connecting piece 63 will be stretched to adapt, so that the marine biological material is sealed inside and the working state of no leakage is maintained.

[0073] When the main equipment 10 is in operation, after the main equipment 10 and the front-end device travel to the centerline of the tunnel 100, the device falls to the bottom wheel of the main frame 1 and is in contact with the ground of the tunnel 100. The side wing collection units 4 on both sides are opened under the pull of the side wing drive 45 until the support wheel 46 of the side wing gathering frame 43 is in close contact with the tunnel wall. The side wing drive 45 remains locked during operation. At this time, the support arm drive 55 on the main frame 1 is pushed synchronously until the upper support arm assembly 5 is in contact with the upper tunnel wall and maintains a certain pressure. The support arm drive 55 is dynamically controlled and adjusted throughout the working time according to the requirements of pressure holding and stroke. In this state, the device has obtained sufficient positioning support on the tunnel 100. At this time, all components of the device are opened. The front-end device is pushed and gathers the material under the push of the chassis of the main equipment 10. The material is pushed from the side wing collection unit 4 to the middle and then conveyed to the rear through the conveying unit 3. When the chassis of the main equipment 10 deviates to one side, the push rod assembly 2 adjusts through different passive extensions and retractions, ensuring that at least one push rod assembly 2 can always apply a pushing force to the front end device. Under the positioning and limiting effect of the upper support arm assembly 5 and rolling structures, the device always maintains a centered position and moves forward, continuously cleaning, gathering, and conveying materials.

[0074] The present invention has been described in detail above with reference to the accompanying drawings. In the above embodiments, the descriptions of each embodiment have their own emphasis; for parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments. Those skilled in the art should also understand that the actions and modules involved in the specification are not necessarily essential to the present invention. Furthermore, it is understood that the steps in the method of the embodiments of the present invention can be adjusted in order, combined, and deleted according to actual needs, and the modules in the device of the embodiments of the present invention can be combined, divided, and deleted according to actual needs.

[0075] The various embodiments of the present invention have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A tunnel marine organism agglomeration and collection front-end device, connected to the front end of the agglomeration and collection main unit (10), characterized in that, It includes a main frame (1) set on the bottom surface of the tunnel, a conveying unit (3), a side wing collection unit (4) and an upper support arm unit; The conveying unit (3) is floatingly connected to the main equipment (10) and extends forward to the front of the main frame (1) to collect marine organisms located on the bottom surface of the tunnel and convey them to the main equipment (10); The side-wing collection unit (4) is located on both sides of the front end of the conveying unit (3) and connected to the main frame (1) to collect and gather marine organisms on the tunnel sidewalls to the conveying unit (3); The side collection unit (4) includes a scraper assembly (41) extending from the bottom of the tunnel to the inner walls on both sides of the tunnel and a spiral conveying assembly (42) disposed in front of the scraper assembly (41). The scraper assembly (41) is fitted to the inner wall of the tunnel to peel off marine organisms from the tunnel sidewall. The output end of the spiral conveying assembly (42) is disposed towards the conveying unit (3) to convey marine organisms toward the conveying unit (3). The upper support arm unit includes an upper support arm assembly (5) extending from the main frame (1) to the two side walls of the tunnel and symmetrical about the vertical plane of the tunnel axis. The upper support arm assemblies (5) on both sides are operable to extend and retract so that the center plane of the main frame (1) coincides with the center plane of the tunnel. The upper support arm unit includes two symmetrically arranged upper support arm assemblies. Each upper support arm assembly (5) includes an upper support arm base (51), a support arm (50) hinged to the upper support arm base (51), and a support arm drive (55). The upper support arm base (51) is hinged to the main frame (1), one end of the support arm drive (55) is connected to the main frame (1), and the other end of the support arm drive (55) is connected to the support arm (50). The symmetrically arranged support arm drive (55) provides constant pressure to press the end of the support arm (50) against the inner walls on both sides of the tunnel.

2. The tunnel marine organism agglomeration and collection front-end device according to claim 1, characterized in that, The support arm (50) includes an outer tube (52) hinged to the upper support arm base (51), a telescopic tube (53) telescopically sleeved inside the outer tube (52), and a support seat (54) hinged to the end of the telescopic tube (53); the output end of the support arm drive (55) is connected to the outer tube (52), and the support seat (54) is provided with rollers. The symmetrically arranged support arm drive (55) provides constant pressure to press the rollers of the two support seats (54) against the inner walls of both sides of the tunnel.

3. The tunnel marine organism agglomeration and collection front-end device according to claim 2, characterized in that, The support (54) extends to the tunnel wall at the same height as the tunnel axis.

4. The tunnel marine organism agglomeration and collection front-end device according to claim 1, characterized in that, The side-wing collection unit (4) includes a semi-enclosed side-wing gathering frame (43), a side-wing hinge frame (44) connected to both sides of the front end of the main frame (1) with its axis perpendicular to the bottom of the tunnel, and a side-wing drive component (45). The front end of the side-wing gathering frame (43) is equipped with the spiral conveying assembly (42), and the rear end of the side-wing gathering frame (43) is connected to the scraper assembly (41). The side-wing gathering frame (43) is connected to both sides of the main frame (1) through the side-wing hinge frame (44). One end of the side-wing drive component (45) is hinged to the connection between the side-wing gathering frame (43) and the main frame (1), and the other end is hinged to the rear end of the side-wing gathering frame (43) so that the side-wing gathering frame (43) swings around the axis of the side-wing hinge frame (44).

5. The tunnel marine organism agglomeration and collection front-end device according to claim 4, characterized in that, The spiral conveying assembly (42) includes a rotating shaft (421) mounted on the side wing gathering frame (43), a spiral drive (423) for driving the rotating shaft (421) to rotate, and blades (422) disposed outside the rotating shaft (421). The blades (422) of the two spiral conveying assemblies (42) rotate in opposite directions.

6. The tunnel marine organism agglomeration and collection front-end device according to claim 5, characterized in that, Each of the side wing gathering frames (43) is provided with a support wheel (46) on its outer side, and the support wheel (46) is in contact with the inner wall of the tunnel.

7. The tunnel marine organism agglomeration and collection front-end device according to claim 4, characterized in that, The scraper assembly (41) includes a fixed frame (411) connected to the back of the side wing gathering frame (43) and a swing scraper (412) movably connected to the fixed frame (411). The swing scraper (412) moves up and down relative to the fixed frame (411) and swings back and forth relative to the fixed frame (411). The swing scraper (412) extends from the inner walls of both sides of the tunnel to the bottom surface of the tunnel, and the lower edge of the swing scraper (412) is in contact with the inner wall of the tunnel.

8. The tunnel marine organism agglomeration and collection front-end device according to claim 7, characterized in that, The fixed frame (411) is provided with a guide shaft system (413) and a scraper drive component that drives the swing scraper (412) to swing up and down. The scraper drive component is driven to connect with the swing scraper (412). The swing scraper (412) can move up and down relative to the guide shaft system (413). The bottom of the swing scraper (412) is hinged to the fixed frame (411) through a rotating shaft system (414). The swing scraper (412) has a swinging degree of freedom along the axis of the rotating shaft system (414).

9. The tunnel marine organism agglomeration and collection front-end device according to claim 1, characterized in that, The conveying unit (3) includes a hollow conveyor frame (31), a chain rake passive shaft system (32) and a chain rake active shaft system (33) respectively disposed at the front end and rear end of the conveyor frame (31); the conveyor frame (31) is set at an angle to the bottom surface of the tunnel and extends to the output end between the two side wing collection units (4); one end of the chain rake active shaft system (33) is connected to the main equipment (10), and the conveyor frame (31) swings around the axis of the chain rake active shaft system (33).

10. The tunnel marine organism agglomeration and collection front-end device according to claim 9, characterized in that, The conveyor frame (31) includes a side plate (311) arranged opposite to each other and a limiting shaft head (312) arranged on the side plate (311). The main frame (1) is provided with a limiting plate (11) above the limiting shaft head (312) to limit the swing amplitude of the conveyor frame (31).

11. The tunnel marine organism agglomeration and collection front-end device according to claim 1, characterized in that, The front-end device includes a telescopic push rod assembly (2), the rear end of which is connected to the host device (10), the front end of which is connected to the main frame (1), and the rear end of which is higher than the front end of which is higher.

12. The tunnel marine organism agglomeration and collection front-end device according to claim 11, characterized in that, The push rod assembly (2) includes a rear end shaft head (26), an outer tube (22) connected to the rear end shaft head (26), an inner tube (23) telescopically sleeved inside the outer tube (22), a front end shaft head (21) connected to the inner tube (23), a limiting pin (24), and a fixing pin (25). The inner tube (23) has a limiting groove (231) for installing the limiting pin (24), and the outer tube (22) has a limiting through hole (221). The fixing pin (25) limits and fixes the push rod assembly (2) through the limiting through hole (221) and the limiting pin (24).

13. The tunnel marine organism agglomeration and collection front-end device according to claim 1, characterized in that, The main frame (1) includes a gantry upper beam (12) and upright beams (13) arranged on both sides of the gantry upper beam (12). Two upper support arm assemblies (5) are symmetrically hinged to the gantry upper beam (12). Two side wing collection units (4) are respectively connected to the corresponding upright beams (13). The conveying unit (3) is arranged between the two upright beams (13).

14. The tunnel marine organism agglomeration and collection front-end device according to claim 13, characterized in that, The main frame (1) also includes a blade plate frame (14) at the bottom and swing wheels (15) respectively located on the outside of the vertical beam (13). The front end of the blade plate frame (14) is provided with a blade plate (141) that extends obliquely from the edge of the blade plate frame (14) to the bottom surface of the tunnel.

15. The tunnel marine organism agglomeration and collection front-end device according to claim 1, characterized in that, A flexible sealing component (6) is provided at the connection between the main frame (1) and the host device (10). The flexible sealing component (6) includes a main frame pressure plate (61) disposed on the outer side of the main frame (1), a host pressure plate (62) disposed on the outer side wall of the host device (10), and a flexible connector (63) that extends from the main frame pressure plate (61) to the host pressure plate (62).

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