Underwater dredging equipment

Abstract

The invention relates to underwater desilting equipment which comprises an underwater desilting robot and a remote control system, and the underwater desilting robot comprises a supporting base, a walking device, a desilting device, an output pipeline device, a power device and a robot control system. The desilting device, the output pipeline device, the power device and the robot control system are all installed on the supporting base, the walking device is installed on the supporting base, the desilting device comprises a desilting head, a suction pipeline and a desilting pump set, and the desilting head comprises a crushing cutter and a desilting suction head. The suction pipeline is connected with the desilting suction head and a pump inlet of the desilting pump set; the output pipeline device comprises a desilting conveying pipeline, the inlet end of the desilting conveying pipeline is connected with a pump outlet of the desilting pump set, and the power device is connected with the walking device, the crushing cutter and the desilting pump set. The robot control system is in control connection with the power device; and the remote control system is in communication connection with the robot control system.

Description

Technical Field

[0001] The invention relates to the technical field of underwater dredging operations, and in particular to underwater dredging equipment. Background Art

[0002] At present, my country's marine aquaculture is mainly concentrated in shallow offshore waters. The aquaculture method is extensive, the aquaculture layout is unreasonable, the aquaculture density is too high, and the aquaculture quality is not high. The limited coastal marine resources can no longer bear the pressure of the continuous growth of the total amount of aquatic products. my country has vast deep-sea aquaculture marine resources, and the country encourages the development of deep-sea aquaculture and the establishment of marine ranches.

[0003] The new concept of marine ranching based on modern large-scale aquaculture requires the establishment of a new model of large-scale deep-sea aquaculture using industrialized production. Among them, it is necessary to establish a fouling biological management service system to control the impact of deep-sea aquaculture on the ecology, thereby achieving green aquaculture.

[0004] Large-scale deep-sea aquaculture will accumulate a large amount of residual bait and farmed fish excrement on the seabed of the aquaculture area, which will lead to serious eutrophication of the seawater. Therefore, it is necessary to adopt proper methods to deal with these residual bait and farmed fish excrement, and removal is an effective method.

[0005] Therefore, it is necessary to develop an underwater dredging robot that can efficiently, greenly and safely remove these residual baits and farmed fish excrement to achieve automated operations. Summary of the invention

[0006] In view of the above-mentioned shortcomings of the prior art, the technical problem to be solved by the present invention is to provide an underwater dredging device that can achieve efficient and automated dredging operations of underwater aggregates.

[0007] To achieve the above-mentioned purpose, the present invention provides an underwater dredging equipment, including an underwater dredging robot and a remote control system, wherein the underwater dredging robot includes a supporting base, a walking device, a dredging device, an output pipeline device, a power device and a robot control system, wherein the dredging device, the output pipeline device, the power device and the robot control system are all installed on the supporting base, the walking device is installed on the supporting base, and is used to drive the supporting base to move, the dredging device includes a dredging head, a suction pipeline and a dredging pump group, the dredging head includes a crushing tool for crushing underwater aggregates, and a dredging suction head for sucking the crushed underwater aggregates, the suction pipeline connects the dredging suction head and the pump inlet of the dredging pump group; the output pipeline device includes a dredging delivery pipeline, and the inlet end of the dredging delivery pipeline is connected to the pump outlet of the dredging pump group; the power device is respectively connected to the walking device, the crushing tool and the dredging pump group, and can provide power to drive the walking device, the crushing tool and the dredging pump group to work; the robot control system is control-connected to the power device; and the remote control system is communicatively connected to the robot control system.

[0008] Furthermore, the dredging device also includes an adjustment mechanism connecting the support base and the dredging head, and the adjustment mechanism can adjust the upper and lower positions of the dredging head.

[0009] Furthermore, the adjustment mechanism includes an adjusting swing arm and an adjusting power cylinder, one end of the adjusting swing arm is hinged to the supporting base and the other end is connected to the dredging head, the adjusting power cylinder is hinged to the supporting base, and its piston rod is hinged to the dredging head or the adjusting swing arm; when the piston rod of the adjusting power cylinder moves telescopically, it drives the adjusting swing arm to rotate up and down; the power device provides power to the adjusting power cylinder to drive the piston rod of the adjusting power cylinder to move.

[0010] Furthermore, the crushing tool comprises a spiral blade and a rotation drive assembly for driving the spiral blade to rotate.

[0011] Furthermore, the walking device of the underwater dredging robot includes a crawler walking mechanism arranged on opposite sides of a supporting base.

[0012] Furthermore, the walking device of the underwater dredging robot can drive the supporting base to turn on the seabed surface, and the output pipeline device also includes a rotating joint. The inlet end of the dredging conveying pipeline is connected to the pump outlet of the dredging pump group through a rotating joint, and the rotation axis of the rotating joint is along the height direction of the underwater dredging robot.

[0013] Furthermore, the output pipeline device also includes a pipeline supporting mechanism, which can be rotatably installed on the supporting base, and its rotation axis is colinear with the rotation axis of the rotary joint. A section of the dredging and conveying pipeline close to the inlet end is located in the pipeline supporting mechanism, and the pipeline supporting mechanism is used to maintain the shape of the dredging and conveying pipeline located therein.

[0014] Furthermore, it also includes an aggregate storage device arranged on the water, and the outlet end of the dredging conveying pipeline of the underwater dredging robot is connected to the aggregate storage device.

[0015] Furthermore, the underwater dredging robot also includes a counterweight device, which includes a plurality of detachably mounted counterweight blocks, and the positions of the counterweight blocks in the underwater dredging robot are adjustable.

[0016] Furthermore, the underwater dredging robot also includes a video and lighting device, which includes a front lighting and camera mechanism, a rear lighting and camera mechanism, and a top lighting and camera mechanism. The front lighting and camera mechanism, the rear lighting and camera mechanism, and the top lighting and camera mechanism all include lamps and cameras, and the cameras are all communicatively connected to the robot control system. The front lighting and camera mechanism can illuminate and photograph the front of the supporting base, the rear lighting and camera mechanism can illuminate and photograph the rear of the supporting base, and the top lighting and camera mechanism can illuminate and photograph the output pipeline device.

[0017] As described above, the underwater dredging equipment according to the present invention has the following beneficial effects:

[0018] 1. The underwater dredging robot can be controlled by a remote control system on the water to walk to the designated area underwater and perform dredging. The underwater dredging robot can efficiently realize the dredging work by first crushing various underwater aggregates, then sucking, pressurizing and transporting them, and discharging them to the designated location on the water. The entire dredging work can be automated underwater, and only remote control is required. It can be especially used to remove residual fish bait and farmed fish excrement accumulated on the seabed of large-scale deep-sea aquaculture areas.

[0019] 2. The output pipeline device is provided with a rotating joint and a pipeline support mechanism. The pipeline support mechanism can protect the dredging conveying pipeline from being squeezed and deformed, and ensure that the dredging conveying pipeline can remain basically motionless when the underwater dredging robot performs a steering operation, so as to facilitate dredging operations in all directions and is convenient and flexible to use.

[0020] 3. It is equipped with lighting and camera functions, and has the ability to perceive the underwater working environment. During the dredging process, various status parameters of the underwater dredging robot can be monitored, counted and analyzed in the remote control system (above the water surface), which is conducive to the monitoring of the dredging process and the formulation of the construction plan for the dredging operation. The underwater dredging robot can achieve continuous operation for hours, and the dredging process is efficient, green and safe. In addition, the underwater working area can be preset, and the working path can be intelligently planned to automatically complete the dredging operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic structural diagram of the underwater dredging equipment of the present invention.

[0022] Figure 2 It is a schematic structural diagram of the underwater dredging robot of the present invention.

[0023] Figure 3 It is a top view of the partial structure of the underwater dredging robot in the present invention.

[0024] Description of Figure Numbers

[0025] 1 Support base

[0026] 11 Support chassis

[0027] 12 Upper support frame

[0028] 121 Protective structure

[0029] 13 Docking structure

[0030] 2 Walking device

[0031] 21 crawler travel mechanism

[0032] 211 Tracks

[0033] 212 driving wheel

[0034] 213 Guide wheel

[0035] 214 Support components

[0036] 215 tensioning assembly

[0037] 3. Dredging device

[0038] 31 Dredging Head

[0039] 311 Dredging Frame

[0040] 312 Crushing tool

[0041] 3121 Spiral Blade

[0042] 3122 Rotation drive assembly

[0043] 32 Suction line

[0044] 33 Desilting Pump Set

[0045] 34 Adjustment mechanism

[0046] 341 Adjustment of the swing arm

[0047] 342 Adjustment cylinder

[0048] 4 Output pipeline device

[0049] 41 Desilting pipeline

[0050] 42 Rotary joint

[0051] 43 Pipeline support mechanism

[0052] 44 Lifting mechanism

[0053] 5 Power plant

[0054] 6. Counterweight device

[0055] 71 Front lighting and camera mechanism

[0056] 72 Rear lighting and camera mechanism

[0057] 73 Top lighting and camera mechanism

[0058] 8 Aggregate storage device

[0059] 9 Remote Control System

[0060] 10 Connecting cables DETAILED DESCRIPTION

[0061] The following is a description of the implementation of the present invention by means of specific embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0062] It should be noted that the structures, proportions, sizes, etc. drawn in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention, so they have no substantial technical significance. Any modification of the structure, change of the proportional relationship or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the effects and purposes that can be achieved by the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and so on quoted in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of the present invention. The change or adjustment of their relative relationship should also be regarded as the scope of the implementation of the present invention without substantially changing the technical content.

[0063] See also Figures 1 to 3 The present invention provides an underwater dredging device, including an underwater dredging robot and a remote control system 9. The underwater dredging robot includes a supporting base 1, a walking device 2, a dredging device 3, an output pipeline device 4, a power device 5 and a robot control system. The dredging device 3, the output pipeline device 4, the power device 5 and the robot control system are all installed on the supporting base 1. The walking device 2 is installed on the supporting base 1 to drive the supporting base 1 and each device thereon to move, thereby driving the entire underwater dredging robot to move. The dredging device 3 includes a dredging head 31, a suction pipeline 32 and a dredging pump group 33. The dredging head 31 is arranged at the side of the supporting base 1 and can contact the bottom of the water, including a crushing knife for crushing the bottom aggregates. The tool 312 and the dredging suction head for sucking up the crushed underwater aggregates, the suction pipeline 32 connects the dredging suction head (not shown in the attached figure) and the pump inlet of the dredging pump group 33, the output pipeline device 4 includes a dredging delivery pipeline 41, the inlet end of the dredging delivery pipeline 41 is connected to the pump outlet of the dredging pump group 33, and the outlet end is used for discharging dredged materials, the power device 5 is respectively connected to the walking device 2, the crushing tool 312 and the dredging pump group 33, and can provide power to drive the walking device 2, the crushing tool 312 and the dredging pump group 33 to work; the robot control system is connected to the power device 5 for control; the remote control system 9 is connected to the robot control system for communication, and specifically, wired or wireless methods can be used for data transmission and communication.

[0064] The main working principle of the underwater dredging equipment involved in the present invention is: the underwater dredging equipment can be used for dredging work on the seabed or the bottom of other waters. When underwater dredging work is required, the underwater dredging robot is sunk to the bottom of the water. At this time, the dredging head 31 can contact the bottom of the water, and the outlet end of the dredging conveying pipeline 41 extends out of the water surface and is connected to the designated discharge position. The remote control system 9 is generally arranged on the water, and the remote control system 9 outputs control instructions to the robot control system of the underwater dredging robot. The robot control system controls the work of the power device 5 and drives the walking device 2 and the dredging device 3 to automatically perform corresponding work. When the dredging device 3 is working, the crushing tool 312 in the dredging head 31 breaks up the underwater aggregates, and then the dredging pump group 33 provides pumping force, and the broken underwater aggregates (i.e., dredging materials) are sucked by the dredging suction head, through the suction pipeline 32 to the dredging pump group 33, and then output to the designated position on the water surface through the dredging conveying pipeline 41 of the output pipeline device 4. The underwater dredging robot walks and turns on the bottom of the water through the walking device 2 to perform dredging work in different places. The underwater dredging equipment of the present invention can efficiently realize dredging work by first crushing various underwater aggregates, sucking and discharging them to the surface, and the entire dredging work can be automated underwater, especially for removing residual bait and farmed fish excrement accumulated on the seabed of large-scale deep-sea aquaculture areas.

[0065] See also Figures 1 to 3 The present invention is further described below with a specific embodiment:

[0066] In this embodiment, see Figure 2 and Figure 3As a preferred design, the dredging device 3 also includes an adjustment mechanism 34 connecting the supporting base 1 and the dredging head 31, and the adjustment mechanism 34 can adjust the upper and lower positions of the dredging head 31. Specifically, the dredging head 31 includes a dredging frame 311, and the crushing tool 312 and the dredging suction head are both installed on the dredging frame 311, and the adjustment mechanism 34 is connected to the dredging frame 311. Further, the adjustment mechanism 34 includes an adjustment swing arm 341 and an adjustment power cylinder 342. One end of the adjustment swing arm 341 is hinged to the support base 1 and the other end is connected to the dredging head 31. The adjustment power cylinder 342 is hinged to the support base 1, and its piston rod is hinged to the dredging head 31 or the adjustment swing arm 341. The adjustment power cylinder 342, the adjustment swing arm 341 and the support base 1 form a triangular frame structure. When the piston rod of the adjustment power cylinder 342 moves in a telescopic manner, it drives the adjustment swing arm 341 to rotate up and down; the power device 5 provides power to the adjustment power cylinder 342 to drive the piston rod of the adjustment power cylinder 342 to move. In this embodiment, the adjustment power cylinder 342 preferably adopts a hydraulic cylinder, and the power device 5 provides hydraulic oil to the adjustment power cylinder 342. The robot control system controls the telescopic action of the adjustment power cylinder 342 by controlling the oil supply of the power device 5 to the adjustment power cylinder 342. In other embodiments, while ensuring waterproofness and sealing properties, the adjusting power cylinder 342 may also adopt an electric cylinder or a gas cylinder. Correspondingly, the power device 5 provides electricity or compressed gas for the adjusting power cylinder 342.

[0067] In this embodiment, see Figure 2 and Figure 3 As a preferred design, the crushing tool 312 includes a spiral blade 3121 and a rotation drive assembly 3122 for driving the spiral blade 3121 to rotate, wherein the rotation drive assembly 3122 preferably adopts a hydraulic motor, the spiral blade 3121 is rotatably mounted on the dredging frame 311, and the hydraulic motor is mounted on the dredging frame 311 and fixedly connected to the central axis of the spiral blade 3121. The power device 5 provides hydraulic power for the rotation of the hydraulic motor. The robot control system controls the hydraulic motor to drive the spiral blade 3121 to rotate by controlling the oil supply of the power device 5 to the hydraulic motor, and the underwater aggregates are efficiently broken up by the rotation of the spiral blade 3121.

[0068] In this embodiment, see Figure 2 and Figure 3 As a preferred design, the walking device 2 of the underwater dredging robot includes a crawler walking mechanism 21 arranged on opposite sides of the supporting base 1. Through the cooperation of the crawler walking mechanisms 21 on both sides, the underwater dredging robot can move forward, backward, differential steering and in-situ steering. The crawler walking mechanism 21 can enable the underwater dredging robot to walk well on the soft surface of the bottom of the water to avoid sinking into the mud.

[0069] In this embodiment, see Figure 2 and Figure 3 Preferably, the support base 1 includes a support chassis 11 and an upper support frame 12 installed on the upper side of the support chassis 11. The support chassis 11 and the upper support frame 12 are fixedly connected by a docking structure 13. The docking structure 13 can specifically adopt a flange for easy assembly. The two crawler walking mechanisms 21 are respectively arranged on the left and right sides of the support chassis 11, and together constitute the walking chassis structure of the underwater dredging robot. The upper support frame 12 is composed of structural parts, which serves as the installation support foundation for structures such as the dredging device 3, the output pipeline device 4, the power device 5 and the robot control system. Preferably, a protective structure 121 is provided around the outside of the upper support frame 12 to protect other device structures installed on the upper support frame 12 and located on the inner side of the protective structure 121.

[0070] In this embodiment, see Figure 2 and Figure 3 As a preferred design, the crawler walking mechanism 21 includes a crawler 211, a driving wheel 212, a guide wheel 213, a support assembly 214, a tensioning assembly 215, a walking drive assembly and other structures, wherein the crawler 211 is mounted on the driving wheel 212 and the guide wheel 213 at both ends, and the walking drive assembly drives the driving wheel 212 to rotate, thereby driving the crawler 211 to move, and the guide wheel 213 is a driven wheel. The support assembly 214 is arranged on the inner side of the crawler 211, and is composed of a plurality of groups of support wheels, supported on the upper side of the contact part of the crawler 211 with the bottom surface of the water, and has a shock absorbing function. The tensioning assembly 215 is used to ensure that the crawler 211 always maintains a predetermined tension. The walking drive assembly preferably also adopts a hydraulic motor, which is powered by the power device 5. Under the condition of ensuring sealing, an electric motor can also be used, and the power device 5 provides electricity to the motor. The lubrication assembly and sensor assembly of the crawler walking mechanism 21 can also be arranged on the supporting chassis 11. In other embodiments, the crawler walking mechanism 21 may also adopt other existing suitable design structures.

[0071] In this embodiment, see Figure 2 and Figure 3, since the underwater dredging robot walking device 2 can drive the support base 1 to turn on the seabed, as a preferred design, the output pipeline device 4 also includes a rotary joint 42, and the inlet end of the dredging delivery pipeline 41 is connected to the pump outlet of the dredging pump group 33 through the rotary joint 42. The rotation axis of the rotary joint 42 is along the height direction of the underwater dredging robot, preferably overlapping with the rotation axis of the underwater dredging robot when turning in situ. With the above method, when the walking device 2 of the underwater dredging robot drives the support base 1 to turn in situ, the dredging device 3 rotates with the support base 1, and the dredging delivery pipeline 41 may not rotate with the support base 1, and basically remain motionless relative to the bottom of the water, so that the dredging head 31 can be smoothly rotated to various directions for dredging, which is more flexible and convenient to use. In this embodiment, the dredging head 31 is arranged on the front side of the support base 1, and cooperates with the steering of the support base 1 to perform dredging work in various directions. In other embodiments, the dredging head 31 can also be arranged in multiple different directions of the support base 1.

[0072] In this embodiment, see Figure 2 and Figure 3 The output pipeline device 4 also includes a pipeline support mechanism 43. The pipeline support mechanism 43 can be rotatably installed on the support base 1, and its rotation axis is colinear with the rotation axis of the rotary joint 42. A section of the dredging and conveying pipeline 41 close to the inlet end is located in the pipeline support mechanism 43. The pipeline support mechanism 43 is used to position the shape of the dredging and conveying pipeline 41 located therein. The pipeline support mechanism 43 can specifically adopt a frame structure to protect the dredging and conveying pipeline 41 located therein from being squeezed and deformed. When the dredging device 3 rotates with the support base 1, the dredging and conveying pipeline 41 and the pipeline support mechanism 43 can both rotate relative to the support base 1, so that they can basically remain stationary relative to the ground. Preferably, a hoisting mechanism 44 is also provided on the pipeline support mechanism 43, which is used to cooperate with the deployment system to realize the hoisting and recovery of the underwater dredging robot underwater.

[0073] In this embodiment, see Figure 1 and Figure 2 As a preferred design, it also includes an aggregate storage device 8 arranged on the water. The aggregate storage device 8 can be specifically arranged on the shore or on a ship. The outlet end of the dredging conveying pipeline 41 of the underwater dredging robot is connected to the aggregate storage device 8, and the dredged waste is conveyed to the aggregate storage device 8 for storage.

[0074] In this embodiment, see Figure 2As a preferred design, the underwater dredging robot also includes a counterweight device 6, which includes a plurality of detachably mounted counterweight blocks, which can be installed on or removed from the underwater dredging robot. The counterweight blocks can be installed on the pipeline support mechanism 43, the support base 1 or other suitable parts, and the position of the counterweight blocks in the underwater dredging robot is adjustable. When in use, the corresponding counterweight blocks are installed or removed as needed to adjust the overall weight of the underwater dredging robot, and the center of gravity of the underwater dredging robot can be adjusted by adjusting the position of the counterweight blocks.

[0075] In this embodiment, see Figure 2 As a preferred design, the underwater dredging robot also includes a video and lighting device, which includes a front lighting and camera mechanism 71, a rear lighting and camera mechanism 72, and a top lighting and camera mechanism 73. The front lighting and camera mechanism 71, the rear lighting and camera mechanism 72, and the top lighting and camera mechanism 73 all include lamps and cameras, and the cameras are all connected to the robot control system for communication, and transmit the captured image data to the robot control system, and then to the remote control system 9, and the operation of the lamps is controlled by the robot control system. Among them, the front lighting and camera mechanism 71 is arranged at the front side of the support base 1, and a dual-degree-of-freedom pan-tilt is provided, and a high-definition, low-light and color surveillance camera is configured, and a spotlight and a floodlight are installed, which can illuminate and shoot the front of the support base 1, so as to realize video monitoring of the dredging head 31 in the forward direction of the underwater dredging robot, the dredging status, etc. The rear lighting and camera mechanism 72 is arranged at the rear side of the support base 1, and is provided with a single-degree-of-freedom pan / tilt, a color surveillance camera, and a floodlight, which can illuminate and shoot the rear of the support base 1, so as to realize video monitoring of the rear environment status of the underwater dredging robot during the dredging process. The top lighting and camera mechanism 73 can be arranged at the pipeline support mechanism 43 or other suitable positions, and is provided with a color surveillance camera and a floodlight, which can illuminate and shoot the output pipeline device 4, and is mainly used for video monitoring of the status of the output pipeline device 4 during the dredging process of the underwater dredging robot.

[0076] In this embodiment, see Figure 1, the remote control system 9 is set on the surface structure on the water surface, and the remote control system 9 and the robot control system of the underwater dredging robot are connected by a connecting cable 10. Preferably, the remote control system 9 also supplies power to the underwater dredging robot through the connecting cable 10. In some cases, the remote control system 9 and the robot control system can also be connected by wireless communication. In addition, the underwater dredging robot can also be powered by a battery to ensure sealing during use. The remote control system 9 is used to send operation commands, and receive camera data and other monitoring data from the robot control system to monitor the status of the underwater dredging robot. The robot control system can receive the control command data sent by the remote control system 9, and control the various functional devices of the underwater dredging robot to perform corresponding operations.

[0077] As can be seen from the above, the underwater dredging equipment of the present invention has the following beneficial effects:

[0078] 1. The underwater dredging robot can be controlled by the remote control system 9 on the water to walk to the designated area underwater and perform dredging. The underwater dredging robot can efficiently realize the dredging work by first crushing various underwater aggregates, then sucking, pressurizing and transporting, and discharging them to the designated position on the water. The entire dredging work can be automated underwater, and only remote control is required. It can be especially used to remove residual bait and farmed fish excrement accumulated on the seabed of large-scale deep-sea aquaculture areas.

[0079] 2. The output pipeline device 4 is provided with a rotating joint 42 and a pipeline support mechanism 43. The pipeline support mechanism 43 can protect the dredging conveying pipeline 41 from being squeezed and deformed, and ensure that the dredging conveying pipeline 41 can remain basically motionless when the underwater dredging robot performs a steering operation, so as to facilitate dredging operations in all directions and be convenient and flexible to use.

[0080] 3. It is equipped with lighting and camera functions and has the ability to perceive the underwater working environment. During the dredging process, various state parameters of the underwater dredging robot can be monitored, counted and analyzed in the remote control system 9 (above the water surface), which is conducive to the monitoring of the dredging process and the formulation of the construction plan for the dredging operation. The underwater dredging robot can achieve continuous operation for hours, and the dredging process is efficient, green and safe. In addition, the underwater working area can be preset, and the working path can be intelligently planned to automatically complete the dredging operation.

[0081] In summary, the present invention effectively overcomes various shortcomings in the prior art and has high industrial utilization value.

[0082] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. An underwater dredging device, characterized in that: The invention comprises an underwater dredging robot and a remote control system (9), wherein the underwater dredging robot comprises a supporting base (1), a walking device (2), a dredging device (3), an output pipeline device (4), a power device (5) and a robot control system, wherein the dredging device (3), the output pipeline device (4), the power device (5) and the robot control system are all installed on the supporting base (1), the walking device (2) is installed on the supporting base (1) and is used to drive the supporting base (1) to move, the dredging device (3) comprises a dredging head (31), a suction pipeline (32) and a dredging pump group (33), the dredging head (31) comprises a crushing tool (312) for crushing underwater aggregates, a suction pipeline (32) and a dredging pump group (33), and the dredging head (31) comprises a crushing tool (312) for crushing underwater aggregates, a suction pipeline (32) and a dredging pump group (33). and a dredging suction head for sucking up broken underwater aggregates, wherein the suction pipeline (32) is connected to the dredging suction head and the pump inlet of the dredging pump group (33); the output pipeline device (4) includes a dredging delivery pipeline (41), the inlet end of the dredging delivery pipeline (41) is connected to the pump outlet of the dredging pump group (33); the power device (5) is respectively connected to the walking device (2), the crushing tool (312) and the dredging pump group (33), and can provide power to drive the walking device (2), the crushing tool (312) and the dredging pump group (33) to work; the robot control system is connected to the power device (5); and the remote control system (9) is connected to the robot control system for communication.

2. The underwater dredging equipment according to claim 1, characterized in that: The dredging device (3) further comprises an adjustment mechanism (34) connecting the support base (1) and the dredging head (31), wherein the adjustment mechanism (34) is capable of adjusting the upper and lower positions of the dredging head (31).

3. The underwater dredging equipment according to claim 2, characterized in that: The adjustment mechanism (34) comprises an adjustment swing arm (341) and an adjustment power cylinder (342); one end of the adjustment swing arm (341) is hinged to the support base (1) and the other end is connected to the dredging head (31); the adjustment power cylinder (342) is hinged to the support base (1), and its piston rod is hinged to the dredging head (31) or the adjustment swing arm (341); when the piston rod of the adjustment power cylinder (342) moves in a telescopic manner, it drives the adjustment swing arm (341) to rotate up and down; the power device (5) provides power to the adjustment power cylinder (342) to drive the piston rod of the adjustment power cylinder (342) to move.

4. The underwater dredging equipment according to claim 1, characterized in that: The crushing tool (312) comprises a spiral blade (3121) and a rotation driving assembly (3122) for driving the spiral blade (3121) to rotate.

5. The underwater dredging equipment according to claim 1, characterized in that: The walking device (2) of the underwater dredging robot comprises a crawler walking mechanism (21) arranged on two opposite sides of the supporting base (1).

6. The underwater dredging equipment according to claim 1 or 3, characterized in that: The underwater dredging robot walking device (2) can drive the supporting base (1) to turn on the seabed surface, and the output pipeline device (4) also includes a rotating joint (42). The inlet end of the dredging delivery pipeline (41) is connected to the pump outlet of the dredging pump group (33) through the rotating joint (42), and the rotation axis of the rotating joint (42) is along the height direction of the underwater dredging robot.

7. The underwater dredging equipment according to claim 1, characterized in that: The output pipeline device (4) further comprises a pipeline support mechanism (43), wherein the pipeline support mechanism (43) is rotatably mounted on the support base (1), and its rotation axis is colinear with the rotation axis of the rotary joint (42); a section of the dredging and conveying pipeline (41) close to the inlet end is located in the pipeline support mechanism (43), and the pipeline support mechanism (43) is used to maintain the shape of the dredging and conveying pipeline (41) located therein.

8. The underwater dredging equipment according to claim 1, characterized in that: It also includes an aggregate storage device (8) arranged on the water, and the outlet end of the dredging conveying pipeline (41) of the underwater dredging robot is connected to the aggregate storage device (8).

9. The underwater dredging equipment according to claim 1, characterized in that: The underwater dredging robot further comprises a counterweight device (6), wherein the counterweight device (6) comprises a plurality of detachably mounted counterweight blocks, and the positions of the counterweight blocks in the underwater dredging robot are adjustable.

10. The underwater dredging equipment according to claim 1, characterized in that: The underwater dredging robot also includes a video camera and lighting device, which includes a front lighting and camera mechanism (71), a rear lighting and camera mechanism (72) and a top lighting and camera mechanism (73). The front lighting and camera mechanism (71), the rear lighting and camera mechanism (72) and the top lighting and camera mechanism (73) all include lamps and cameras, and the cameras are all connected to the robot control system for communication. The front lighting and camera mechanism (71) can illuminate and photograph the front of the support base (1), the rear lighting and camera mechanism (72) can illuminate and photograph the rear of the support base (1), and the top lighting and camera mechanism (73) can illuminate and photograph the output pipeline device (4).

Images