Automatic balancing device for water excavator and water excavator

Abstract

The present invention relates to an automatic balancing device for an underwater excavator and the underwater excavator. The device comprises a balancing negative pressure fan and a balancing adjustment mechanism. The balancing negative pressure fan is mounted on the counterweight of the underwater excavator, with the air outlet of the balancing negative pressure fan facing upward. The balancing adjustment mechanism comprises a movable guide rail, a movable cylinder, a balancing weight, an inclination sensor, and a controller. The movable guide rail and movable cylinder are mounted on the counterweight of the excavator. The movable cylinder is connected to the balancing weight, which is mounted on the movable guide rail and slidably connected to the movable guide rail. The inclination sensor is mounted on the counterweight of the underwater excavator and is in communication with the controller. The controller controls the movable cylinder and the balancing negative pressure fan based on angle data of the underwater excavator monitored by the inclination sensor. The movable cylinder drives the balancing weight to move on the movable guide rail, and the balancing negative pressure fan provides negative pressure to balance the underwater excavator. Compared with existing technologies, the device has a simpler structure and higher efficiency. During use, the device is less likely to increase the underwater volume of the underwater excavator, which would cause a sharp increase in motion resistance, thereby avoiding increased energy consumption.

Description

Technical Field

[0001] The present invention relates to the technical field of water excavator operation, and in particular to an automatic balancing device for a water excavator and the water excavator. Background Art

[0002] Water excavators are commonly used for dredging large rivers. The patent, publication number CN217460733U, is titled "A Telescopic Rod Balancing Device for Water Excavators." When the excavator begins operating, the movement and excavation of the pontoon cause slight swaying of the pontoon. A controller detects this swaying and controls the operation of various water pumps. These pumps pump water through inlet and outlet pipes to designated balancing tanks, thereby reducing or even eliminating swaying. However, this increases the underwater bulk of the excavator, dramatically increasing its motion resistance and energy consumption. Summary of the Invention

[0003] To this end, it is necessary to provide an automatic balancing device for a water excavator and a water excavator, which can solve the technical problem that the existing water excavator dredging telescopic rod balancing device increases the underwater volume of the water excavator when in use, causing a sharp increase in movement resistance and increased energy consumption.

[0004] To achieve the above-mentioned objectives, in a first aspect, the present invention provides an automatic balancing device for an underwater excavator, comprising a balancing negative pressure fan and a balancing adjustment mechanism, wherein the balancing negative pressure fan is mounted on the counterweight of the underwater excavator, and the air outlet of the balancing negative pressure fan faces upward; the balancing adjustment mechanism comprises a movable guide rail, a movable cylinder, a balancing block, an inclination sensor and a controller, wherein the movable guide rail and the movable cylinder are mounted on the counterweight of the excavator, the movable cylinder is connected to the balancing block, the balancing block is mounted on the movable guide rail and is slidably connected to the movable guide rail, the inclination sensor is mounted on the counterweight of the underwater excavator and is communicatively connected to the controller, the controller is used to control the movable cylinder and the balancing negative pressure fan according to the angle data of the underwater excavator monitored by the inclination sensor, the movable cylinder drives the balancing block to move on the movable guide rail, and the balancing negative pressure fan provides negative pressure to balance the underwater excavator.

[0005] As an embodiment of the present invention, the balancing adjustment mechanism also includes a control valve, a water tank and a circulation pump. The balancing block is provided with a balancing block water inlet and a balancing block water outlet, and a control valve is provided at the balancing block water outlet; the water tank is installed on the chassis of the water excavator, and the water outlet of the water tank is connected to the balancing block water inlet through the circulation pump, and the water inlet of the water tank is connected to the balancing block water outlet; wherein, a position sensor is provided at the rear end of the movable guide rail, and the controller is respectively communicated with the position sensor, the control valve and the circulation pump.

[0006] As an embodiment of the present invention, the balance adjustment mechanism also includes a water immersion sensor, which is installed at the bottom of the cab of the water excavator. The water immersion sensor is communicatively connected to the controller. The controller is also used to control the circulation pump according to the water immersion condition of the cab of the water excavator monitored by the water immersion sensor, and the water tank supplies water to the balance block to prevent the cab from being flooded.

[0007] As an embodiment of the present invention, the automatic balancing device for the water excavator also includes a floating mechanism, which is installed at the bottom of the chassis of the water excavator; the floating mechanism includes a deck platform, a gyroscope, a linear motor module and an internal balance box, and the deck platform is installed at the bottom of the chassis of the water excavator, and a gyroscope is provided in the deck platform. A linear motor module extending in a horizontal direction is arranged below the deck platform, and an internal balance box is installed at the movable end of the linear motor module, an internal balance box water inlet is provided at the bottom of the internal balance box, and an internal balance box water outlet is provided at the top of the internal balance box; wherein, the controller is respectively communicated with the gyroscope and the linear motor module, and the controller is used to control the linear motor module according to the inclination angle of the deck platform monitored by the gyroscope to balance the deck platform.

[0008] As an embodiment of the present invention, an air valve is installed on the top of the inner balance box, and the floating mechanism also includes a water inlet assembly, which includes a water inlet pipe, an electromagnetic throttle valve and a water inlet protective cover; the water inlet pipe is connected to the water inlet of the inner balance box, the electromagnetic throttle valve is installed on the water inlet pipe, and a water inlet protective cover is fixed to the outside of the electromagnetic throttle valve; wherein, the controller is also respectively communicated with the air valve and the electromagnetic throttle valve.

[0009] As an embodiment of the present invention, a groove is provided at the bottom of the inner balance box, the water inlet and the water inlet assembly of the inner balance box are arranged in the groove, and the vertical depth of the water inlet pipe is smaller than the vertical depth of the groove.

[0010] As an embodiment of the present invention, the floating mechanism also includes a drainage assembly, which includes a drainage pipe, a drainage pump and a drainage protective cover; the drainage pipe is connected to the water outlet of the internal balance box, the drainage pump is installed on the drainage pipe, and a drainage protective cover is fixed to the outside of the drainage pump; wherein the controller is also communicated with the drainage pump.

[0011] As an embodiment of the present invention, the floating mechanism also includes two auxiliary balancing components, and an auxiliary balancing component is connected to each side of the deck platform, and the auxiliary balancing component includes a driving motor, a bidirectional threaded screw extending in the horizontal direction, two fixed seats, two floating plates and two slides; the output end of the driving motor is connected to the bidirectional threaded screw, and the two fixed seats are respectively installed and fixed on the two ends of the bidirectional threaded screw, each fixed seat is hinged with a floating plate, the floating plate is provided with a slide groove, each slide corresponds to a slide groove, the slide is slidably connected to the slide groove, and the slide is threadedly connected to the bidirectional threaded screw; the driving motor is used to drive the bidirectional threaded screw to rotate, and the two slides move toward or away from each other to expand or close the floating plate.

[0012] As an embodiment of the present invention, the floating mechanism further includes four floating negative pressure fans, each of the four corners of the deck platform is provided with a floating negative pressure fan, and the controller is also communicatively connected with the four floating negative pressure fans.

[0013] To achieve the above-mentioned purpose, in a second aspect, the inventor provides an underwater excavator, comprising a chassis, a track, a cockpit, a robotic arm, a counterweight, and an automatic balancing device for an underwater excavator as described above by the inventor; the track is installed under the chassis; the cockpit is installed above the chassis; the robotic arm is installed above the chassis and is located on one side of the cockpit; the counterweight is installed above the chassis and is located behind the cockpit.

[0014] Unlike existing technologies, the present invention incorporates a balancing negative pressure fan on the counterweight to provide downward negative pressure and generate a balancing torque. Furthermore, a balancing adjustment mechanism specifically designed to balance the excavator is provided. Using an inclination sensor to monitor the excavator's angle data in real time, the balancing block is controlled to move along the guide rails, ensuring the excavator's balance during operation. Because the balancing negative pressure fan and balancing adjustment mechanism are directly attached to the excavator's counterweight to adjust its balance, the structure is simpler and more efficient than existing technologies. This prevents the excavator from increasing its underwater volume and dramatically increasing its motion resistance during operation, thus avoiding increased energy consumption.

[0015] The above-mentioned records related to the content of the invention are only an overview of the technical solution of this application. In order to enable ordinary technicians in this field to understand the technical solution of this application more clearly, and then implement it according to the text of the specification and the contents recorded in the drawings, and to make the above-mentioned purposes and other purposes, features and advantages of this application easier to understand, the following is an explanation in combination with the specific implementation methods and drawings of this application. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are only used to illustrate the principles, implementation methods, applications, characteristics and effects of the specific embodiments of this application and other related contents, and are not to be considered as limiting this application.

[0017] In the drawings of the specification:

[0018] Figure 1 This is a structural diagram of a water excavator according to an embodiment of the present application;

[0019] Figure 2 This is a schematic structural diagram of a floating mechanism according to an embodiment of the present application;

[0020] Figure 3 This is another structural schematic diagram of a floating mechanism according to an embodiment of the present application;

[0021] Figure 4 This is a structural diagram of a linear motor module and an internal balance box according to an embodiment of the present application;

[0022] Figure 5 for Figure 4 A magnified view of middle A;

[0023] Figure 6 This is another structural schematic diagram of a linear motor module and an internal balance box according to an embodiment of the present application;

[0024] Figure 7 for Figure 6 Enlarged view of middle B;

[0025] Figure 8 This is a structural diagram of an auxiliary balancing assembly according to one embodiment of the present application;

[0026] Figure 9 This is a structural schematic diagram of a threaded connection between a sliding member and a bidirectional threaded screw according to an embodiment of the present application.

[0027] The reference numerals in the above drawings are described as follows:

[0028] 100-Water excavator; 1-Automatic balancing device for water excavator; 11-Balancing negative pressure fan; 12-Balancing adjustment mechanism; 121-Moving guide rail; 122-Moving cylinder; 123-Balancing block; 124-Tilt sensor; 125-Control valve; 126-Water tank; 127-Circulating pump; 128-Water immersion sensor; 13-Floating mechanism; 131-Deck platform; 1311-Ventilation grid; 132-Gyroscope; 133-Linear motor module; 134-Internal balancing box; 1341-Air valve; 1342-Groove; 135-Buoyancy platform; 1351-Avoidance chamber; 136-Water inlet Components; 1361-water inlet pipe; 1362-electromagnetic throttle valve; 1363-water inlet protection cover; 137-drainage assembly; 1371-drainage pipe; 1372-drainage pump; 1373-drainage protection cover; 138-auxiliary balancing assembly; 1381-drive motor; 1382-bidirectional threaded screw; 1383-fixed seat; 1384-floating plate; 1385-slide; 1386-mounting seat; 1387-limit block; 1388-chute; 139-floating negative pressure fan; 2-chassis; 3-tracks; 4-cockpit; 5-mechanical arm; 6-counterweight; X-horizontal direction; Y-vertical direction. DETAILED DESCRIPTION

[0029] In order to explain in detail the possible application scenarios, technical principles, specific solutions that can be implemented, and the purpose and effects of this application, the following is a detailed description of the specific embodiments listed in conjunction with the accompanying drawings. The embodiments described herein are only used to more clearly illustrate the technical solutions of this application and are therefore only examples and are not intended to limit the scope of protection of this application.

[0030] References to "embodiments" herein mean that the specific features, structures, or characteristics described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the word "embodiment" in various places in the specification does not necessarily refer to the same embodiment, nor does it particularly limit its independence or relevance to other embodiments. In principle, in this application, as long as there are no technical contradictions or conflicts, the various technical features mentioned in the embodiments can be combined in any manner to form a corresponding implementable technical solution.

[0031] Unless otherwise defined, the technical terms used herein have the same meanings as those generally understood by those skilled in the art to which this application belongs; the use of relevant terms herein is only for describing specific embodiments and is not intended to limit this application.

[0032] In the description of this application, the term "and / or" is used to describe a logical relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A exists, B exists, and both A and B exist. In addition, the character " / " in this document generally indicates that the objects before and after are in a logical "or" relationship.

[0033] In this application, terms such as "first" and "second" are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual quantity, priority or sequence relationship between these entities or operations.

[0034] Without further limitations, in this application, the words "include", "comprise", "have" or other similar expressions used in the sentences are intended to cover non-exclusive inclusion. These expressions do not exclude the presence of additional elements in the process, method or product including the elements, so that the process, method or product including a series of elements may include not only those defined elements, but also other elements not explicitly listed, or elements inherent to such process, method or product.

[0035] Consistent with the understanding in the Examination Guidelines, in this application, expressions such as "greater than," "less than," and "exceed" are understood to exclude the number itself; expressions such as "above," "below," and "within" are understood to include the number itself. Furthermore, in the description of the embodiments of this application, "multiple" means more than two (including two), and similar expressions related to "multiple" are also understood in this manner, such as "multiple groups," "multiple times," etc., unless otherwise specifically defined.

[0036] In the description of the embodiments of the present application, the space-related expressions used, such as "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "vertical", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicate the orientation or position relationship based on the orientation or position relationship shown in the specific embodiments or drawings, and are only for the convenience of describing the specific embodiments of the present application or facilitating the reader's understanding, and do not indicate or imply that the device or component referred to must have a specific position, a specific orientation, or be constructed or operated in a specific orientation. Therefore, it should not be understood as a limitation on the embodiments of the present application.

[0037] Unless otherwise expressly specified or limited, in the description of the embodiments of the present application, the terms "installed", "connected", "connected", "fixed", "set", etc. used should be understood in a broad sense. For example, the "connection" can be a fixed connection, a detachable connection, or an integrated setting; it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. For those skilled in the art of the present application, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0038] For the convenience of explanation, the horizontal direction and the vertical direction are set, and the horizontal direction and the vertical direction are directions perpendicular to each other. Figures 2 to 4 As shown by the arrows, the direction of arrow X is the horizontal direction, and the direction of arrow Y is the vertical direction.

[0039] According to some embodiments of this application, please refer to Figure 1 This embodiment relates to an underwater excavator 100, which includes a chassis 2, a crawler 3, a cab 4, a mechanical arm 5, a counterweight 6, and an automatic balancing device 1 for an underwater excavator; the crawler 3 is installed below the chassis 2; the cab 4 is installed above the chassis 2; the mechanical arm 5 is installed above the chassis 2 and is located on one side of the cab 4; the counterweight 6 is installed above the chassis 2 and is located behind the cab 4.

[0040] Tracks 3 are installed below the chassis 2 and on both sides of the chassis 2. Buoys can be installed inside the tracks 3 to provide buoyancy. A cockpit 4, a robotic arm 5, and a counterweight 6 are installed on the chassis 2. The robotic arm 5 is installed on one side of the cockpit 4, and the counterweight 6 is installed behind the cockpit 4.

[0041] The technical solution of this application incorporates a balancing negative pressure fan 11 on the counterweight 6 to provide downward negative pressure and generate a balancing torque. Furthermore, a balancing adjustment mechanism 12 is provided specifically for balancing the excavator 100. A tilt sensor 124 monitors the angle of the excavator 100 in real time, thereby controlling the movement of a balancing block 123 on a movable guide rail 121, thereby maintaining the balance of the excavator 100 during operation. Because the balancing negative pressure fan 11 and the balancing adjustment mechanism 12 are directly mounted on the counterweight 6 of the excavator 100 to adjust its balance, the structure is simpler and more efficient than existing technologies. During operation, the excavator 100's underwater volume is less likely to increase, significantly increasing its motion resistance and thus avoiding increased energy consumption.

[0042] According to some embodiments of this application, please refer to Figure 1The present embodiment also relates to an automatic balancing device 1 for a water excavator, comprising a balanced negative pressure fan 11 and a balancing adjustment mechanism 12. The balanced negative pressure fan 11 is mounted on the counterweight 6 of the water excavator 100, and the air outlet of the balanced negative pressure fan 11 faces upward; the balancing adjustment mechanism 12 comprises a movable guide rail 121, a movable cylinder 122, a balancing block 123, an inclination sensor 124, and a controller. The movable guide rail 121 and the movable cylinder 122 are mounted on the counterweight 6 of the excavator, and the movable cylinder 122 and the balancing block 123 are in contact with each other. The balancing block 123 is mounted on the movable guide rail 121 and is slidably connected to the movable guide rail 121. The inclination sensor 124 is mounted on the counterweight 6 of the water excavator 100 and is communicatively connected to the controller. The controller is used to control the moving cylinder 122 and the balancing negative pressure fan 11 according to the angle data of the water excavator 100 monitored by the inclination sensor 124. The moving cylinder 122 drives the balancing block 123 to move on the movable guide rail 121, and the balancing negative pressure fan 11 provides negative pressure to balance the water excavator 100.

[0043] The balanced negative pressure fan 11 is an existing high-speed fan that provides downward negative pressure and has an adjustable operating power. Optionally, the balanced negative pressure fan 11 is arranged at the rear end of the counterweight 6 to better balance the load. In some embodiments, multiple balanced negative pressure fans 11 may be provided.

[0044] The tilt sensor 124, also known as an inclinometer, inclinometer, level, or inclinometer, is often used to measure changes in the horizontal angle of a system. Since the excavator 100's mechanical arm 5 tilts with it when in operation, the tilt sensor 124 monitors the excavator's angular data in real time and transmits it to the controller. The controller then controls the movement of the balancing weight 123 on the movable guide rail 121 based on this angular data, ensuring that the angle data monitored by the tilt sensor 124 remains within a specified range (e.g., 0°-10°) to balance the excavator 100. The balancing weight 123 is initially positioned at the front end of the counterweight 6, which subsequently enhances the balance at the rear end of the counterweight 6.

[0045] According to some embodiments of the present application, optionally, Figure 1 As shown, the balance adjustment mechanism 12 also includes a control valve 125, a water tank 126 and a circulating pump 127. The balance block 123 is provided with a balance block water inlet and a balance block water outlet, and the balance block water outlet is provided with a control valve 125; the water tank 126 is installed on the chassis 2 of the water excavator 100, and the water outlet of the water tank 126 is connected to the balance block water inlet through the circulating pump 127, and the water inlet of the water tank 126 is connected to the balance block water outlet; wherein, the rear end of the movable guide rail 121 is provided with a position sensor, and the controller is respectively communicated with the position sensor, the control valve 125 and the circulating pump 127.

[0046] In actual use, even when the balancing weight 123 has moved to the rear end of the movable guide rail 121, the angle data monitored by the inclination sensor 124 may still be outside the specified range. Therefore, a water tank 126 is provided to increase the weight of the balancing weight 123. Furthermore, to ensure that the pipe connecting the water tank 126 to the balancing weight 123 can move with the balancing weight 123, the pipe is a flexible telescopic tube. The position sensor is used to sense whether the balancing weight 123 has moved to the rear end of the movable guide rail 121. In actual use, if the water excavator 100 can be balanced solely by the weight of the balancing weight 123, the water tank 126 does not need to be filled with water. Only when the controller receives position data from the position sensor and the angle data monitored by the inclination sensor 124 is still outside the specified range does it control the circulation pump 127 to operate. Water in the water tank 126 enters the balancing weight 123 until the angle data monitored by the inclination sensor 124 is within the specified range, at which point the circulation pump 127 stops operating. When the water excavator 100 stops working, the controller controls the control valve 125 to open, and the water in the balance block 123 flows back into the water tank 126 .

[0047] According to some embodiments of the present application, optionally, Figure 1 As shown, the balance adjustment mechanism 12 also includes a water immersion sensor 128, which is installed at the bottom of the cab 4 of the water excavator 100. The water immersion sensor 128 is communicated with the controller. The controller is also used to control the circulation pump 127 and the water tank 126 to supply water to the balance block 123 according to the water immersion condition of the cab 4 of the water excavator 100 monitored by the water immersion sensor 128, so as to prevent the cab 4 from being flooded.

[0048] The provision of the water sensor 128 provides a fundamental safeguard against flooding of the cab 4, preventing flooding even when the tilt sensor 124 malfunctions, thereby ensuring the driver's safety. In actual use, when the water sensor 128 detects flooding of the cab 4 of the water excavator 100, the controller activates the circulating pump 127, causing water in the water tank 126 to flow into the balancing block 123 until the water sensor no longer detects flooding of the cab 4 of the water excavator 100, at which point the circulating pump 127 stops operating.

[0049] According to some embodiments of the present application, optionally, Figures 2 to 7As shown, the automatic balancing device 1 for the water excavator further includes a floating mechanism 13, which is installed at the bottom of the chassis 2 of the water excavator 100; the floating mechanism 13 includes a deck platform 131, a gyroscope 132, a linear motor module 133 and an internal balancing box 134. The deck platform 131 is installed at the bottom of the chassis 2 of the water excavator 100, and the deck platform 131 has a gyroscope 132. A linear motor module 133 extending in the horizontal direction X is provided below the deck platform 131, and an internal balancing box 134 is installed at the movable end of the linear motor module 133. The bottom of the internal balancing box 134 is provided with an internal balancing box water inlet, and the top of the internal balancing box 134 is provided with an internal balancing box water outlet; wherein, a controller is respectively communicated with the gyroscope 132 and the linear motor module 133, and the controller is used to control the linear motor module 133 according to the tilt angle of the deck platform 131 monitored by the gyroscope 132 to balance the deck platform 131.

[0050] The linear motor module 133 is an existing module, and its movement direction is consistent with the movement direction of the balance block 123. In some embodiments, the movement direction of the linear motor module 133 can be perpendicular to the movement direction of the balance block 123, so that one module can adjust the balance in the front-to-back direction and the other module can adjust the balance in the left-to-right direction within a plane, thereby achieving better coordination. In other embodiments, the floating mechanism 13 also includes a buoyancy platform 135, which is integrally formed with the deck platform 131. The linear motor module 133 is disposed between the buoyancy platform 135 and the deck platform 131. The buoyancy platform 135 is provided with an avoidance cavity 1351, which is used to avoid the inner balance box 134.

[0051] The floating mechanism 13 plays a role in floating and also plays a role in adjusting balance. Cooperating with the balance adjustment mechanism 12, the water excavator 100 can be better balanced.

[0052] According to some embodiments of the present application, optionally, Figure 2 and Figure 3 As shown, two or more ventilation grids 1311 are provided in the middle of the deck platform 131, and the linear motor module 133 is located directly below the ventilation grids 1311. The ventilation grids 1311 can improve the heat dissipation of the linear motor module 133 during operation.

[0053] According to some embodiments of the present application, optionally, Figure 4 and Figure 5As shown, an air valve 1341 is installed on the top of the inner balance box 134, and the floating mechanism 13 also includes a water inlet assembly 136, which includes a water inlet pipe 1361, an electromagnetic throttle valve 1362 and a water inlet protective cover 1363; the water inlet pipe 1361 is connected to the water inlet of the inner balance box, the electromagnetic throttle valve 1362 is installed on the water inlet pipe 1361, and a water inlet protective cover 1363 is fixed to the outside of the electromagnetic throttle valve 1362; wherein, the controller is also communicated with the air valve 1341 and the electromagnetic throttle valve 1362 respectively.

[0054] In actual use, the controller adjusts the weight of the internal balance tank 134 based on the operating depth of the underwater excavator 100 at the start of the robotic arm 5 operation. Specifically, the controller opens the air valve 1341 and the electromagnetic throttle valve 1362, allowing water to flow directly into the water inlet pipe 1361 until the specified water volume is reached, thereby bringing the internal balance tank 134 to the specified weight. The water inlet protective cover 1363 effectively prevents water from eroding the electromagnetic throttle valve 1362.

[0055] The amount of water in the internal balance tank 134 can be adjusted according to the operating depth of the water excavator 100 to achieve the weight increase of the balanced water volume, thereby making the operating depth of the water excavator 100 meet the actual operating requirements. It is suitable for operating areas with a depth greater than the maximum length of the swing arm. At the same time, the water filling time of the internal balance tank 134 is short, which ensures the operating efficiency of the water excavator 100.

[0056] According to some embodiments of the present application, optionally, Figure 5 As shown, a groove 1342 is provided at the bottom of the inner balance box 134 , the inner balance box water inlet and the water inlet assembly 136 are arranged in the groove 1342 , and the depth of the water inlet pipe 1361 along the vertical direction Y is less than the depth of the groove 1342 along the vertical direction Y.

[0057] By setting the depth of the groove 1342 and the water inlet pipe 1361 along the vertical direction Y to be smaller than the depth of the groove 1342 along the vertical direction Y, it is possible to prevent strong water flow from causing impact damage to the water inlet assembly 136.

[0058] According to some embodiments of the present application, optionally, Figure 6 and Figure 7 As shown, the floating mechanism 13 also includes a drainage component 137, which includes a drainage pipe 1371, a drainage pump 1372 and a drainage protection cover 1373; the drainage pipe 1371 is connected to the water outlet of the inner balance box, the drainage pump 1372 is installed on the drainage pipe 1371, and a drainage protection cover 1373 is fixed to the outside of the drainage pump 1372; wherein, the controller is also communicated with the drainage pump 1372.

[0059] Drain pipe 1371 is in an inverted L-shape. Similarly, in actual use, the controller can adjust the weight of the internal balance tank 134 based on the operating depth of the underwater excavator 100 at the start of the robotic arm 5 operation. Specifically, the controller controls the opening of air valve 1341 and drain pump 1372, allowing drain pipe 1371 to directly drain water until the specified drainage volume is reached, thereby bringing the internal balance tank 134 to the specified weight. The drainage protection cover 1373 effectively prevents water from eroding the drain pump 1372.

[0060] The amount of water in the internal balance tank 134 can be adjusted according to the operating depth of the water excavator 100 to achieve unloading of the balanced water volume, thereby making the operating depth of the water excavator 100 meet the actual operating requirements. It is suitable for operating areas with a depth greater than the maximum length of the swing arm. At the same time, the drainage time of the internal balance tank 134 is short, which ensures the operating efficiency of the water excavator 100.

[0061] According to some embodiments of the present application, optionally, Figure 2 、 Figure 3 、 Figure 8 and Figure 9 As shown, the floating mechanism 13 also includes two auxiliary balancing components 138. An auxiliary balancing component 138 is connected to each side of the deck platform 131. The auxiliary balancing component 138 includes a driving motor 1381, a bidirectional threaded screw 1382 extending in the horizontal direction X, two fixing seats 1383, two floating plates 1384 and two sliding members 1385. The output end of the driving motor 1381 is connected to the bidirectional threaded screw 1382, and the two fixing seats 1383 are respectively installed and fixed on the bidirectional threaded screw. At both ends of the screw rod 1382, each fixed seat 1383 is hinged with a floating plate 1384, and the floating plate 1384 is provided with a slide groove 1388. Each slide 1385 corresponds to a slide groove 1388. The slide 1385 is slidably connected to the slide groove 1388, and the slide 1385 is threadedly connected to the bidirectional threaded screw rod 1382; the drive motor 1381 is used to drive the bidirectional threaded screw rod 1382 to rotate, and the two slides 1385 move toward or away from each other to expand or close the floating plate 1384.

[0062] To prevent the fixed seat 1383 from rotating with the bidirectional threaded screw 1382, a through groove is provided in the middle of the fixed seat 1383, and the bidirectional threaded screw 1382 directly passes through the through groove, and there is no contact between the bidirectional threaded screw 1382 and the through groove. In some embodiments, the auxiliary balancing assembly 138 also includes a mounting seat 1386 and a limit block 1387. One end of the mounting seat 1386 is movably connected to the bidirectional threaded screw 1382 through a bearing sleeve, and the other end of the mounting seat 1386 is fixed to the drive motor 1381. One end of the bidirectional threaded screw 1382 is connected to the mounting seat 1386, and the other end of the bidirectional threaded screw 1382 is connected to the limit block 1387. In other embodiments, the end of the slider 1385 that slides with the chute 1388 is a round rod, and the diameter of the round rod is slightly smaller than the width of the chute 1388. The round rod can ensure the stability of the slider 1385 sliding in the chute 1388.

[0063] In actual use, the drive motor 1381 drives the bidirectional threaded screw 1382 to rotate, and the slider 1385 is threadedly connected to the bidirectional threaded screw 1382. Therefore, the two sliders 1385 move toward or away from each other within the corresponding chute 1388, which in turn pushes or pulls the float 1384, thereby causing the two floats 1384 to be synchronously deployed or retracted. When the water flow is strong or the wind is strong, affecting the balance of the deck platform 131, the drive motor 1381 is activated to control the bidirectional threaded screw 1382 to rotate. At this time, the two sliders 1385 move in opposite directions, and one end of the slider 1385 moves along the chute 1388, pushing the float 1384 to deploy, thereby increasing the contact area between the entire device and the water surface and effectively improving the balance of the entire device in the water.

[0064] According to some embodiments of the present application, optionally, Figure 2 and Figure 3 As shown, the angle between the deck platform 131 and the horizontal direction X is 5° to 70°. When the slide 1385 moves, the angle between the floating plate 1384 and the horizontal direction X can be changed, thereby realizing the expansion and closure of the floating plate 1384.

[0065] According to some embodiments of the present application, optionally, Figure 2 and Figure 3 As shown, the floating mechanism 13 further includes four floating negative pressure fans 139 . Each of the four corners of the deck platform 131 is provided with a floating negative pressure fan 139 , and the controller is also in communication connection with the four floating negative pressure fans 139 .

[0066] The four floating negative pressure fans 139 are started, and the controller can adjust the working power of the floating negative pressure fans 139 according to the inclination of the deck platform 131 to achieve fine adjustment of the balance between the deck platform 131 and the water excavator 100.

[0067] It should be noted that although the above embodiments have been described herein, this does not limit the scope of patent protection of the present invention. Therefore, based on the innovative concept of the present invention, changes and modifications to the embodiments described herein, or equivalent structural or equivalent process transformations made using the contents of the present invention's specification and drawings, and direct or indirect application of the above technical solutions to other related technical fields, are all included in the scope of patent protection of the present invention.

Claims

1. An automatic balancing device for a water excavator, characterized in that: include: A balanced negative pressure fan, wherein the balanced negative pressure fan is installed on the counterweight of the water excavator, and the air outlet of the balanced negative pressure fan faces upward; a balance adjustment mechanism, the balance adjustment mechanism comprising a movable guide rail, a movable cylinder, a balance weight, an inclination sensor, and a controller, the movable guide rail and the movable cylinder being mounted on the counterweight of the excavator, the movable cylinder being connected to the balance weight, the balance weight being mounted on the movable guide rail and slidably connected to the movable guide rail, the inclination sensor being mounted on the counterweight of the water excavator and being in communication with the controller, the controller being configured to control the movable cylinder and the balance negative pressure fan based on angle data of the water excavator monitored by the inclination sensor, the movable cylinder driving the balance weight to move on the movable guide rail, and the balance negative pressure fan providing negative pressure to balance the water excavator; The automatic balancing device for the water excavator further includes a floating mechanism, which is installed at the bottom of the chassis of the water excavator; The floating mechanism includes a deck platform, a gyroscope, a linear motor module, and an internal balance box. The deck platform is installed at the bottom of the chassis of the water excavator. The gyroscope is installed in the deck platform. The linear motor module extending in the horizontal direction is arranged below the deck platform. The movable end of the linear motor module is installed with the internal balance box. The bottom of the internal balance box is provided with an internal balance box water inlet, and the top of the internal balance box is provided with an internal balance box water outlet. The controller is respectively connected to the gyroscope and the linear motor module for controlling the linear motor module according to the tilt angle of the deck platform monitored by the gyroscope to balance the deck platform. The floating mechanism further includes four floating negative pressure fans. Each of the four corners of the deck platform is provided with a floating negative pressure fan. The controller is also in communication connection with the four floating negative pressure fans.

2. The automatic balancing device for a water excavator according to claim 1, characterized in that: The balance adjustment mechanism also includes a control valve, a water tank and a circulation pump. The balance block is provided with a balance block water inlet and a balance block water outlet, and the balance block water outlet is provided with a control valve; The water tank is installed on the chassis of the water excavator, the water outlet of the water tank is connected to the water inlet of the balance block through a circulation pump, and the water inlet of the water tank is connected to the water outlet of the balance block; Wherein, a position sensor is provided at the rear end of the movable guide rail, and the controller is communicatively connected with the position sensor, the control valve and the circulation pump respectively.

3. The automatic balancing device for a water excavator according to claim 2, characterized in that: The balance adjustment mechanism also includes a water immersion sensor, which is installed at the bottom of the cab of the water excavator. The water immersion sensor is communicatively connected to the controller. The controller is also used to control the circulation pump according to the water immersion condition of the cab of the water excavator monitored by the water immersion sensor. The water tank supplies water to the balance block to prevent the cab from being flooded.

4. The automatic balancing device for a water excavator according to claim 1, characterized in that: An air valve is installed on the top of the inner balance box, and the floating mechanism also includes a water inlet assembly, which includes a water inlet pipe, an electromagnetic throttle valve and a water inlet protection cover; The water inlet pipe is connected to the water inlet of the inner balance tank, the electromagnetic throttle valve is installed on the water inlet pipe, and the water inlet protection cover is fixed to the outside of the electromagnetic throttle valve; Wherein, the controller is also respectively connected to the gas valve and the electromagnetic throttle valve for communication.

5. The automatic balancing device for a water excavator according to claim 4, characterized in that: A groove is provided at the bottom of the inner balance box, the water inlet of the inner balance box and the water inlet assembly are arranged in the groove, and the depth of the water inlet pipe along the vertical direction is smaller than the depth of the groove along the vertical direction.

6. The automatic balancing device for a water excavator according to claim 5, characterized in that: The floating mechanism further includes a drainage assembly, which includes a drainage pipe, a drainage pump, and a drainage protection cover; The drain pipe is connected to the water outlet of the inner balance tank, the drain pump is installed on the drain pipe, and the drainage protection cover is fixed on the outside of the drain pump; Wherein, the controller is also communicatively connected with the drainage pump.

7. The automatic balancing device for a water excavator according to claim 1, characterized in that: The floating mechanism further includes two auxiliary balancing assemblies, one of which is connected to each side of the deck platform, and the auxiliary balancing assembly includes a drive motor, a bidirectional threaded screw extending in the horizontal direction, two fixing seats, two floating plates, and two sliding members; The output end of the driving motor is connected to the bidirectional threaded screw, and the two fixing seats are respectively installed and fixed on the two ends of the bidirectional threaded screw. Each of the fixing seats is hinged with a floating plate, and the floating plate is provided with a sliding groove. Each of the sliding members corresponds to a sliding groove, and the sliding member is slidably connected to the sliding groove, and the sliding member is threadedly connected to the bidirectional threaded screw; The driving motor is used to drive the bidirectional threaded screw to rotate, and the two sliding members move toward or away from each other to expand or close the floating plate.

8. A water excavator, characterized in that: include: chassis; crawler tracks, the crawler tracks being installed below the chassis; a cockpit, the cockpit being installed above the chassis; a mechanical arm, the mechanical arm being installed above the chassis and located on one side of the cockpit; counterweight , the counterweight is installed above the chassis and located behind the cockpit; An automatic balancing device for a water excavator according to any one of claims 1 to 7.

Images