Suction cup head device and suction cup head device adjusting method

Abstract

The invention relates to the technical field of dredging and dredging, and provides a suction cup head device of a suction cup dredger and a suction cup head device adjusting method, and the suction cup head device comprises a suction head, a movable baffle, a lower spray head, an upper spray head and a control module; the movable baffle plate is rotationally mounted at a slurry inlet of the suction cavity; the lower spray head is arranged on the suction head, and the upper spray head is arranged on the movable baffle; an included angle is formed between the spraying direction of the lower spray head and the spraying direction of the upper spray head; the control module is at least used for controlling the movable baffle to move so as to adjust the included angle between the movable baffle and the suction head. According to the suction cup head device, the suction cup head device is improved and can be adjusted based on the actual operation environment, so that the suction performance of the suction cup head device is optimized when the soil texture and the digging depth change, and the dredging efficiency of a suction cup is effectively guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of dredging and dredging, and in particular to a suction cup head device and a method for adjusting the suction cup head device. Background Art

[0002] The suction cup dredger is a dredger with unique functions and characteristics. It adopts the dredging operation mode of moving the ship along the longitudinal forward direction. It has good maneuverability and flexibility and can adapt to different water environments and working conditions.

[0003] The main feature that distinguishes the suction dredger from other dredgers is its ground-based working device. It mainly uses a special suction head device to break the ground and dredge. During operation, the suction dredger uses its mud pump system to suck up the mud and other materials on the bottom of the water, and transports and processes them through the relevant pipeline system. It has a high dredging efficiency and can better maintain the flatness of the dredging surface.

[0004] The existing suction cup head device can only adjust the position by lifting the suction cup frame winch, but cannot adjust the angle, and all of them are passive. There is only one suction mode of the suction cup head device for one dredging depth, and it cannot be adjusted for different soil types and dredging depths, nor can the deviation of the dredging depth and suction flow of the suction cup head device be adjusted, which affects the soil breaking efficiency, mud suction performance and soil adaptability of the suction cup head device. This in turn limits the overall dredging performance of the suction cup boat.

[0005] To this end, the present invention provides a suction cup head device and a suction cup head device adjustment method. The suction cup head device can be adjusted based on the actual working environment to optimize the suction performance of the suction cup head device when the soil quality and digging depth change, thereby effectively ensuring the dredging efficiency. Summary of the invention

[0006] The object of the present invention is to provide a suction cup head device and a suction cup head device adjustment method, wherein the suction cup head device can be adjusted based on the actual working environment to optimize the suction performance of the suction cup head device when the soil quality and digging depth change, thereby effectively ensuring the dredging efficiency.

[0007] The present invention provides a suction cup head device, comprising: a suction head, a movable baffle plate hinged to the suction head and forming a suction space therewith, a lower nozzle arranged on a side surface of the suction head, an upper nozzle arranged on a side surface of the movable baffle plate close to the lower nozzle head, and a control module for controlling the opening and closing amplitude of the movable baffle plate relative to the suction head;

[0008] The suction head has a suction cavity inside, and the suction cavity has a slurry outlet and a slurry inlet arranged opposite to each other; the slurry outlet is connected to an external power source, and the slurry inlet is rotatably connected to a movable baffle;

[0009] The inlets of the lower nozzle and the upper nozzle are connected to a liquid flushing power source; the spraying direction of the lower nozzle and the spraying direction of the upper nozzle are arranged at an angle;

[0010] The control module is at least used to control the movement of the movable baffle to adjust the angle between the movable baffle and the suction head.

[0011] Optionally, the suction cup head device further includes a data acquisition module, a database module, and a data processing module;

[0012] The data acquisition module is used to acquire data sets during the operation of the suction cup head device, and the data sets include working environment data, working state data of the suction cup head device, and mud suction volume;

[0013] The database module is used to store each data set acquired by the data acquisition module and generate historical data;

[0014] The data processing module is used to receive the real-time data set acquired by the data acquisition module, traverse the historical data based on the real-time working environment data in the real-time data set, and use a data set in the historical data as the target data set. The working environment data in the target data set is the same as the real-time working environment data, and the mud suction volume in the target data set is the same as the target suction volume;

[0015] The control module is used to receive the target data set and adjust the working state data of the suction cup head device based on the target data set so that the real-time mud suction volume approaches the target suction volume.

[0016] Optionally, the data acquisition module is further used to collect the real-time mud suction volume and compare it with the target suction volume after the control module adjusts the working state data of the suction cup head device. If the error between the real-time mud suction volume and the target suction volume is within the error threshold range, the suction cup head device traverses the historical data again after working normally for a set time and then adjusts the working state data of the suction cup head device through the control module; if the error between the real-time mud suction volume and the target suction volume is outside the error threshold range, the control module finely adjusts the working state data of the suction cup head device based on the magnitudes of the real-time mud suction volume and the target suction volume so that the real-time mud suction volume approaches the target suction volume.

[0017] If the error between the real-time mud suction volume and the target suction volume is outside the error threshold range, the control module finely adjusts the working state data of the suction cup head device based on the magnitudes of the real-time mud suction volume and the target suction volume so that the real-time mud suction volume approaches the target suction volume.

[0018] Optionally, the working state data of the sucker head device includes the depth of the suction head, the angle of the movable baffle, the rotation speed of the mud pump, and the rotation speed of the flushing pump.

[0019] Optionally, the lower spray head is arranged at the bottom of the slurry outlet, and the movable baffle is rotatably connected to the top of the slurry outlet.

[0020] Optionally, the spraying direction of the lower spray head faces one side of the movable baffle and extends obliquely downward, and the spraying direction of the upper spray head faces the slurry inlet and extends obliquely downward.

[0021] Optionally, a filter grille is arranged at the opening of the slurry inlet.

[0022] Optionally, the suction head is provided with a lower high-pressure water chamber, the inlet of the lower spray head is communicated with the lower high-pressure water chamber, and the flushing power source is used to supply liquid to the lower high-pressure water chamber;

[0023] And / or, the movable baffle is provided with an upper high-pressure water chamber, the inlet of the upper spray head is communicated with the upper high-pressure water chamber, and the flushing power source is used to supply liquid to the upper high-pressure water chamber.

[0024] The present invention also provides a method for adjusting a sucker head device, including the following steps:

[0025] S1: Collect data groups during the operation of the sucker head device to form historical data. The data groups include operation environment data, working state data of the sucker head device, and mud suction volume;

[0026] S2: Collect a real-time data group during the operation of the sucker head device. Based on the real-time operation environment data in the real-time data group, traverse the historical data, and use a group of data in the historical data as the target data group. The operation environment data in the target data group is the same as the real-time operation environment data, and the mud suction volume in the target data group is the same as the target suction volume;

[0027] S3: Adjust the working state data of the sucker head device based on the target data group so that the real-time mud suction volume approaches the target suction volume.

[0028] Optionally, it further includes the following steps:

[0029] S4: Collect the real-time mud suction volume after the sucker head device is adjusted, and compare it with the target suction volume;

[0030] If the error between the real-time mud suction volume and the target suction volume is within the error threshold range, the sucker head device executes step S2 after working for a set time;

[0031] If the error between the real-time mud suction volume and the target suction volume is outside the error threshold range, the operating state data of the sucker head device is finely adjusted based on the magnitudes of the real-time mud suction volume and the target suction volume, so that the real-time mud suction volume approaches the target suction volume.

[0032] In summary, the sucker head device includes: a suction head, a movable baffle, a lower spray head, an upper spray head, and a control module; the suction head has a suction cavity, the slurry outlet of the suction cavity is communicated with the inlet of a slurry pump, and the movable baffle is rotatably installed at the slurry inlet of the suction cavity; the lower spray head is arranged on the suction head, and the upper spray head is arranged on the side of the movable baffle close to the suction head; the inlets of the lower spray head and the upper spray head are communicated with the outlet of a flushing liquid pump; the spraying direction of the lower spray head and the spraying direction of the upper spray head are arranged at an angle; the control module is at least used to control the movement of the movable baffle to adjust the angle of the movable baffle relative to the suction head.

[0033] With such a configuration, the above-mentioned sucker head device can reasonably and effectively adjust the angle of the movable baffle based on the actual operation conditions, and then adjust the triangular suction space between the movable baffle and the suction head; the cooperation of the upper spray head and the lower spray head can be used to cut the underwater mud surface, so that the soil and water are fully mixed to form a cement mixture, and this part of the cement mixture is restricted within the triangular suction space between the movable baffle and the suction head and then is ensured to be sucked by the suction head.

[0034] The adjustment of the triangular suction space between the movable baffle and the suction head can adjust the concentration of the mud in the cement mixture, and then adjust the unit-time mud adsorption volume of the sucker head device to adapt to different operation environments. In addition, the adjustment of the angle of the above-mentioned movable baffle can also adjust the cutting angle of the upper spray head to adjust the cutting angle of the underwater mud surface, and can also adapt to different operation environments. The upper spray head and the lower spray head are arranged at an angle, and their cooperation is conducive to forming a local eddy current within the triangular suction space between the movable baffle and the suction head, so that the soil and water are fully mixed, which is conducive to improving the suction effect.

[0035] The above-mentioned sucker head device can reasonably and effectively adjust the angle of the movable baffle and the spraying angle of the upper spray head based on the actual operation conditions. The device can automatically adjust the high-pressure flushing and soil-breaking ability and the suction ability of the sucker head device in real time according to the dredging requirements of different digging depths and different soil qualities, realize the optimal matching of the dredging performance of the sucker head device, improve the soil-breaking efficiency, mud suction performance and soil adaptability of the sucker head device, and contribute to improving the overall dredging performance of the dredger. Description of the Drawings

[0036] Figure 1 Partial structural schematic diagram of the sucker head device according to an embodiment of the present invention Figure One ;

[0037] Figure 2 Partial structural schematic of the suction cup head device according to an embodiment of the present invention Figure Two ;

[0038] Figure 3 Block diagram of the connections of each module of the suction cup head device according to an embodiment of the present invention;

[0039] Figure 4 Flowchart of the method for adjusting the suction cup head device according to an embodiment of the present invention.

[0040] Among them, the reference numerals are as follows:

[0041] 10 - suction head; 11 - slurry outlet; 12 - slurry inlet; 13 - filter grille; 14 - first hinge seat; 15 - hydraulic cylinder; 16 - lower high - pressure water chamber; 17 - first high - pressure pipe; 18 - second high - pressure pipe;

[0042] 20 - movable baffle; 21 - second hinge seat; 22 - upper high - pressure water chamber;

[0043] 30 - lower spray head;

[0044] 40 - upper spray head;

[0045] 50 - control module;

[0046] 60 - data acquisition module;

[0047] 70 - database module;

[0048] 80 - data processing module. Detailed implementation manners

[0049] The following further elaborates on the suction cup head device and the method for adjusting the suction cup head device proposed by the present invention in conjunction with the accompanying drawings and specific embodiments. According to the following description, the advantages and features of the present invention will be clearer. It should be noted that the accompanying drawings are all in a very simplified form and use non - precise scales, only for conveniently and clearly assisting in explaining the purpose of the embodiments of the present invention.

[0050] As used in the present invention, the singular forms "a", "an", and "the" include plural referents, the term "or" is generally used in the sense of including "and / or", the term "several" is generally used in the sense of including "at least one", the term "at least two" or "a plurality of" is generally used in the sense of including "two or more". In addition, the terms "first", "second", "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first", "second", "third" may explicitly or implicitly include one or at least two of such features. In addition, as used in the present invention, "mounted", "connected", "coupled", an element "disposed" on another element should be understood in a broad sense, generally only indicating that there is a connection, coupling, cooperation or transmission relationship between the two elements, and the two elements may be directly or indirectly connected, coupled, cooperated or transmitted through an intermediate element, and should not be construed as indicating or implying the spatial position relationship between the two elements, that is, an element may be in any orientation such as inside, outside, above, below or on one side of another element, unless otherwise explicitly specified in the content. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. In addition, directional terms such as above, below, up, down, upward, downward, left, right are used relative to the exemplary embodiments as shown in the figures, and the upward or upper direction faces the top of the corresponding figure, and the downward or lower direction faces the bottom of the corresponding figure.

[0051] This embodiment provides a suction head device, which includes a suction head 10, a movable baffle 20 that is coupled to the suction head 10 and forms a suction space therebetween, a lower nozzle 30 disposed on one side of the suction head 10, an upper nozzle 40 disposed on one side of the movable baffle 20 and opposite to the lower nozzle 30, a control module 50 for controlling the swinging movement of the movable baffle 20 relative to the suction head 10, a data acquisition module 60 electrically connected to the control module 50, a database module 70 for storing the data sets collected by the data acquisition module 60, and a data processing module 80 for processing the data.

[0052] Please refer to Figure 1 and Figure 2 As shown, the suction head 10 is the main structural component of the entire suction head device. The suction head 10 has a suction cavity inside, and the suction cavity has a slurry outlet 11 and a slurry inlet 12 that are oppositely arranged.

[0053] Specifically, the rear end of the suction head 10 is tapered to a rectangular opening, which serves as the slurry outlet 11. The slurry outlet 11 is connected to the inlet of a slurry pump (not shown in the figure) through a slurry conveying pipeline.

[0054] The front end of the suction head 10 has a trapezoidal cross-section, so the front end of the suction head 10 is a wide and flat trapezoidal suction port, and this suction port serves as the slurry inlet 12. During normal operation, the bottom of the slurry inlet 12 is in direct contact with the underwater mud surface, and a filter grille 13 is provided at the opening of the slurry inlet 12. The filter grille 13 has mesh holes, and the size of the mesh holes is set based on its filtering requirements. The filter grille 13 is used to prevent larger particulate matter from being sucked into the slurry inlet 12.

[0055] Please refer to Figure 1 and Figure 2 As shown, the movable baffle 20 is rotatably installed at the slurry inlet 12, and the distance between it and the slurry inlet 12 is changed by the rotation of the movable baffle 20, that is, the suction space is changed.

[0056] Specifically, the rotating baffle 20 is generally in the shape of a rectangular plate. A first hinge seat 14 is connected to the top of the suction head 10, and the first hinge seat 14 is generally in the shape of a triangular block structure. A second hinge seat 21 is connected to the back (the side away from the slurry inlet 12) of the rotating baffle 20. The second hinge seat 21 is in an approximate "L" shape, and the second hinge seat 21 and the first hinge seat 14 are rotatably connected by a baffle driving member.

[0057] In this embodiment, the baffle driving member adopts a hydraulic cylinder 15. One end of the hydraulic cylinder 15 is rotatably matched with the second hinge seat 21, and the other end of the hydraulic cylinder 15 is rotatably matched with the first hinge seat 14. Therefore, when the hydraulic cylinder 15 expands and contracts, it can drive the rotating baffle 20 to rotate to adjust the angle between the rotating baffle 20 and the slurry inlet 12.

[0058] In other alternative embodiments, the baffle driving member can also adopt a waterproof linear motor or other linear driving structures. In addition, the rotating baffle 20 can also be driven by a rotating motor, and its driving method can be adjusted adaptively based on actual usage requirements, which will not be elaborated here one by one.

[0059] Please refer to Figure 1 and Figure 2As shown, the lower nozzle 30 is arranged on one side surface of the suction head 10, and the upper nozzle 40 is arranged on one side surface of the movable baffle 20 close to the suction head 10; the inlets of the lower nozzle 30 and the upper nozzle 40 are communicated with the outlet of a liquid flushing pump (not shown in the figure). The liquid flushing pump can adopt an existing high-pressure water pump, and its rated pressure can be adaptively selected based on the requirements of the lower nozzle 30 and the upper nozzle 40 for cutting the mud surface; the spraying directions of the lower nozzle 30 and the upper nozzle 40 are arranged at an angle; the control module 50 is at least used to control the movement of the movable baffle 20 to adjust the angle between the movable baffle 20 and the suction head 10. The control module 50 can be a PLC, a Central Processing Unit (CPU), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), etc. The control module 50 sends a signal to the above-mentioned baffle driving part to control the action of the driving part; an angle is arranged between the movable baffle 20 and the suction head 10, so the two form an approximately triangular suction space, so that the slurry inlet 12 sucks the slurry liquid located in the suction space.

[0060] The above-mentioned sucker head device can reasonably and effectively adjust the angle of the movable baffle 20 based on the actual working conditions, and then adjust the triangular suction space between the movable baffle 20 and the suction head 10; the cooperation of the upper nozzle 40 and the lower nozzle 30 can be used to cut the underwater mud surface, so that the soil and water are fully mixed to form a cement mixture, and this part of the cement mixture is restricted in the triangular suction space between the movable baffle 20 and the suction head 10 and then is ensured to be sucked by the suction head 10.

[0061] Adjusting the triangular suction space between the movable baffle 20 and the suction head 10 can adjust the concentration of the slurry in the cement mixture, and then adjust the unit-time slurry adsorption amount of the sucker head device to adapt to different working environments. In addition, adjusting the angle of the above-mentioned movable baffle 20 can also adjust the cutting angle of the upper nozzle 40 to adjust the cutting angle of the underwater mud surface, and can also adapt to different working environments. The upper nozzle 40 and the lower nozzle 30 are arranged at an angle, and their cooperation is conducive to forming a local eddy current in the triangular suction space between the movable baffle 20 and the suction head 10, so that the soil and water are fully mixed, which is conducive to improving the suction effect.

[0062] In summary, the above suction head device can reasonably and effectively adjust the angle of the movable baffle 20 and the spraying angle of the upper spray head 40 based on the actual working conditions. The device can automatically adjust the high-pressure water breaking ability and suction ability of the suction head device in real time according to the dredging requirements of different dredging depths and different soil types, realize the optimal matching of the dredging performance of the suction head device, and improve the overall dredging performance of the dredger.

[0063] Please continue to refer to Figure 1 and Figure 2 As shown, the connection ends of the lower spray head 30 and the movable baffle 20 to the slurry inlet 12 are respectively connected to the upper and lower sides of the slurry inlet 12 along its height direction; preferably, the lower spray head 30 is arranged at the bottom of the slurry inlet 12, and the movable baffle 20 is rotatably connected to the top of the slurry inlet 12.

[0064] This setting method enables the triangular suction space directly enclosed by the lower spray head 30 and the movable baffle 20 to be adjacent to the underwater mud surface, thereby ensuring that the mud-water mixture formed after cutting the mud surface is located within the triangular space. Moreover, this setting method is also conducive to ensuring that the lower spray head 30 is relatively close to the underwater mud surface to improve its overall cutting effect.

[0065] Please continue to refer to Figure 1 and Figure 2 As shown, the spraying direction of the lower spray head 30 extends obliquely downward toward the side of the movable baffle 20, that is, the spraying direction of the lower spray head 30 is obliquely downward and forward toward the underwater mud surface; the spraying direction of the upper spray head 40 extends obliquely downward toward the slurry inlet 12, that is, the spraying direction of the upper spray head 40 is obliquely downward and backward toward the underwater mud surface. During normal operation, the working height of the upper spray head 40 is higher than that of the lower spray head 30. The above setting methods of the lower spray head 30 and the upper spray head 40 make their spraying and cutting directions opposite, which is conducive to increasing the mud surface cutting area and improving the cutting efficiency. At the same time, the setting of their opposite cutting directions and the working height difference is also conducive to forming a local eddy current under the water surface to make the mud and water fully mixed and improve the suction efficiency.

[0066] Please continue to refer to Figure 1 and Figure 2 As shown, the suction head 10 has a lower high-pressure water chamber 16 at the head position (i.e., the above-mentioned front end direction), and the lower high-pressure water chamber 16 is not connected to the slurry inlet 12 of the suction head 10, that is, the slurry sucked through the slurry inlet 12 will not enter the lower high-pressure water chamber 16.

[0067] The lower high-pressure water chamber 16 is communicated with the first high-pressure pipe 17. The inlet of the lower spray head 30 is communicated with the lower high-pressure water chamber 16. The flushing pump is connected to the first high-pressure pipe 17 for supplying liquid to the lower high-pressure water chamber 16. A plurality of lower spray heads 30 are arranged at the bottom position of the slurry inlet 12. The specific number of the lower spray heads 30 can be set based on actual requirements. Therefore, the high-pressure water in the lower high-pressure water chamber 16 can act on a plurality of lower spray heads 30 and be ejected at high speed through the lower spray heads 30 to cut the underwater mud surface.

[0068] Similarly, an upper high-pressure water chamber 22 is arranged on the movable baffle 20. The inside of the movable baffle 20 is hollow to form the upper high-pressure water chamber 22. The upper high-pressure water chamber 22 is communicated with the second high-pressure pipe 18. A part of the second high-pressure pipe 18 communicated with the upper high-pressure water chamber 22 is a hose structure to adapt to the angle change of the movable baffle 20. The flushing pump is connected to the second high-pressure pipe 18 for supplying liquid to the upper high-pressure water chamber 22. A plurality of upper spray heads 40 are arranged at the inner side wall position of the movable baffle 20. Therefore, the high-pressure water in the upper high-pressure water chamber 22 can act on a plurality of upper spray heads 40 and be ejected at high speed through the upper spray heads 40 to cut the underwater mud surface.

[0069] In this embodiment, the lower spray heads 30 and the upper spray heads 40 adopt existing spray heads. For example, conical spray heads, fan-shaped spray heads, pulse spray heads, etc. can be adopted. The lower spray heads 30 and the upper spray heads 40 can be selected adaptively based on usage requirements.

[0070] Further, the data acquisition module 60 is used to acquire data groups during the operation of the sucker head device. The data groups include operation environment data, working state data of the sucker head device, and mud suction volume. The operation environment data here includes environmental water depth and environmental water flow velocity. The working state data of the sucker head device here includes suction head depth, movable baffle angle, mud pump speed, and flushing pump speed. The suction head depth refers to the depth of the entire suction head 10 underwater. The mud suction volume refers to the amount of mud sucked out per unit time.

[0071] The environmental water depth can be detected by a water depth sensor, the environmental water flow velocity can be detected by a flow velocity sensor, the suction head depth can be detected by a position sensor arranged on the suction head. When adjusting the suction head depth, it can be achieved by the hoisting method of the lifting winch. This adjustment method is an existing technology and will not be elaborated here. The movable baffle angle can be detected by an angle sensor arranged on the suction head and / or the movable baffle. The mud pump speed and the flushing pump speed can be detected by speed sensors arranged on the mud pump and the flushing pump. The mud suction volume can be detected by a mud concentration sensor and a mud flow sensor. The product of the mud concentration and the mud suction flow rate can be used to calculate the mud suction volume per unit time.

[0072] The working state data of the suction cup head device is not limited to the above data, and may also include parameters such as the pressure of the flushing pump, the flow rate of the flushing pump, the pressure of the mud pump, and the flow rate of the mud pump. The data set can be collected through sensors set up in a supporting manner, and the sensors included in the data collection module 60 can be flexibly adjusted based on the specific data types included in the data set. For example, the data collection module 60 can also detect the ambient water pressure and the suction pressure through a pressure sensor.

[0073] The database module 70 is used to store each data set collected by the data collection module 60 and generate historical data. The database module 70 can include, for example, a main random access memory (RAM), a read-only memory (ROM), a hard disk drive, and associated removable media, a compact disc (CD) drive, an optical drive, a DVD, a solid-state memory, and / or other removable media. When the data collection module 60 is performing daily operations, it can collect data at set time intervals, so multiple data sets are generated under different operating conditions, and these data sets are archived to form historical data. Therefore, the historical data contains data sets corresponding to operating conditions with different water depths, different flow rates, different angles of the movable baffle, different rotational speeds of the mud pump, or different rotational speeds of the flushing pump.

[0074] The data processing module 80 is used to receive the real-time data set collected by the data collection module 60. The real-time data set refers to the data collected when the suction cup head device is operating at present. The real-time data set collected by the data collection module 60 is also sent to the database module 70 for archiving as part of the historical data.

[0075] The data processing module 80 traverses the historical data based on the real-time operating environment data in the real-time data set, searches for a set of data sets that match the current operating environment, and searches for the data set with the best match for the dredging performance of the suction cup head device from the set of data sets, and takes this data set as the target data set. The operating environment data in the target data set is the same as the real-time operating environment data, and the mud suction volume in the target data set is the same as the target suction volume. The target suction volume can be understood as the rated operating condition of the suction cup head device. Under this condition, the suction cup head device operates in the efficient area, and the target suction volume can be determined based on factors such as the operating environment data. When the operating environment data and the real-time operating environment data are within the set error range, it is considered that the two data are the same. When the mud suction volume in the target data set and the target suction volume are within the set error range, it is considered that the two data are the same. In this embodiment, the target suction volume is used as a reference for the dredging performance of the suction cup head device. When the mud suction volume in the target data set is the same as the target suction volume, it is considered that the dredging performance of the suction cup head device is optimal.

[0076] The control module 50 is configured to receive the target data set and adjust the working state data of the sucker head device based on the target data set, so that the real-time mud suction volume approaches the target suction volume.

[0077] At this time, the control module 50 is used to adjust the working state data of the sucker head device, and the working state data of the sucker head device further includes the depth of the suction head, the angle of the movable baffle, the rotation speed of the mud pump, and the rotation speed of the flushing pump. Therefore, the control module 50 is also used to control the lifting of the suction head, the rotation of the movable baffle, the rotation speed of the mud pump, and the rotation speed of the flushing pump. The control module 50 can send corresponding control signals to the lifting drive of the suction head, the baffle drive, the mud pump motor, and the flushing pump motor to adjust the corresponding working state data of the sucker head device.

[0078] Through the cooperation of the above control module 50, data acquisition module 60, database module 70, and data processing module 80, the position, flushing angle, flushing intensity, pump suction flow rate, etc. of the sucker head device can be reasonably and effectively automatically adjusted, and the high-pressure flushing and soil-breaking ability and suction ability of the sucker head device can be automatically adjusted in real time, realizing the optimal matching of the dredging performance of the sucker head device and improving the overall dredging performance of the dredger.

[0079] Further, the data acquisition module 60 is also used to collect the real-time mud suction volume and compare it with the target suction volume after the control module 50 adjusts the working state data of the sucker head device;

[0080] If the error between the real-time mud suction volume and the target suction volume is within the error threshold range, it is determined that the sucker head device is operating under the optimal working condition. At this time, the normal working setting time is set, and the setting time can be set based on actual requirements. During this setting time, it is defaulted that the sucker head device is operating under the optimal working condition. As the working time extends, the underwater working environment changes. At this time, it is necessary to re-collect data, traverse historical data, and adjust the working state data of the sucker head device through the control module 50.

[0081] If the error between the real-time mud suction volume and the target suction volume is outside the error threshold range, it is determined that the sucker head device is operating under a non-optimal condition. After the above adjustment, it is defaulted that the actual condition of the sucker head device is not much different from the optimal condition at this time. Therefore, based on the magnitudes of the real-time mud suction volume and the target suction volume, the control module 50 finely adjusts the operating state data of the sucker head device so that the real-time mud suction volume approaches the target suction volume until the error between the real-time mud suction volume and the target suction volume is within the error threshold range. During the fine adjustment process, the adjustment is randomly carried out based on experience. For example, when the real-time mud suction volume is greater than the target suction volume, the real-time mud suction volume can be reduced to approach the target suction volume by reducing the angle of the movable baffle or lowering the rotational speed of the mud pump or lowering the rotational speed of the flushing liquid pump. This fine adjustment continues until the error between the real-time mud suction volume and the target suction volume is within the error threshold range. Then, after the sucker head device operates normally for a set time, data collection is restarted and historical data is traversed, and the control module 50 adjusts the operating state data of the sucker head device. The above adjustment method can finely adjust the operating state data of the sucker head device based on empirical data, with a relatively small adjustment calculation amount, an easier implementation process, a relatively simple control method, and the control accuracy also meeting the operation requirements of dredging.

[0082] When the above sucker head device is operating, the data processing module 80 obtains the real-time data group from the data collection module 60. After calculation and processing, it issues commands to the control module 50. After the control module 50 executes the commands of the data processing module 80, the data collection module 60 real-time collects the operating state of the sucker head device so that the data processing module 80 can obtain the data group of the sucker head device in real time to determine whether to adjust parameters such as the angle and rotational speed of the movable baffle 20, so as to adaptively reach the optimal suction performance state.

[0083] In summary, the sucker head device includes: a suction head 10, a movable baffle 20, a lower spray head 30, an upper spray head 40, and a control module 50; the suction head 10 has a suction cavity, the slurry outlet 11 of the suction cavity is communicated with the inlet of the mud pump, and the movable baffle 20 is rotatably installed at the slurry inlet 12 of the suction cavity; the lower spray head 30 is arranged on the suction head 10, and the upper spray head 40 is arranged on the side of the movable baffle 20 close to the suction head 10; the inlets of the lower spray head 30 and the upper spray head 40 are communicated with the outlet of the flushing liquid pump; the spraying directions of the lower spray head 30 and the upper spray head 40 are arranged at an included angle; the control module 50 is at least used to control the movement of the movable baffle 20 to adjust the included angle of the movable baffle 20 relative to the suction head 10.

[0084] Configured in this way, the above-mentioned suction cup head device can reasonably and effectively adjust the angle of the movable baffle 20 based on the actual working conditions, and then adjust the triangular suction space between the movable baffle 20 and the suction head 10; the cooperation of the upper nozzle 40 and the lower nozzle 30 can be used to cut the underwater mud surface so that the mud and water are fully mixed to form a cement mixture, and this part of the cement mixture is confined in the triangular suction space between the movable baffle 20 and the suction head 10 to ensure that it is sucked by the suction head 10.

[0085] By adjusting the triangular suction space between the movable baffle 20 and the suction head 10, the concentration of the mud in the cement mixture can be adjusted, and then the amount of mud adsorbed per unit time by the suction cup head device can be adjusted to adapt to different working environments. In addition, the adjustment of the angle of the movable baffle 20 can also adjust the cutting angle of the upper nozzle 40 to adjust the cutting angle of the underwater mud surface, which can also adapt to different working environments. The upper nozzle 40 and the lower nozzle 30 are set at an angle, and the cooperation of the two is conducive to forming a local vortex in the triangular suction space between the movable baffle 20 and the suction head 10, so that the soil and water are fully mixed, which is conducive to improving the suction effect.

[0086] The above-mentioned suction cup head device can reasonably and effectively adjust the angle of the movable baffle 20 and the spray angle of the upper nozzle 40 based on the actual working conditions. The device can automatically adjust the high-pressure water-breaking ability and suction capacity of the suction cup head device in real time according to the dredging requirements of different digging depths and different soil types, so as to achieve the optimal matching of the dredging performance of the suction cup head device and improve the overall dredging performance of the dredger.

[0087] This embodiment also provides a method for adjusting a suction cup head device, the method being used to adjust the suction cup head device described above, comprising the following steps:

[0088] S1: Collecting data groups when the suction cup head device is working to form historical data, which can be stored in the database module 70 mentioned above, and the data groups include operating environment data, working status data of the suction cup head device and mud suction volume; the operating environment data here include environmental water depth and environmental water flow rate. The working status data of the suction cup head device here include suction head depth, movable baffle angle, mud pump speed and flushing pump speed, wherein the suction head depth refers to the depth of the entire suction head 10 under water. The mud suction volume refers to the amount of mud sucked out per unit time.

[0089] Specifically, the above data group collection process can be implemented by the data collection module 60 described above. During daily operations, the data collection module 60 can repeat data collection at set time intervals and generate multiple data groups under different operating conditions to generate historical data. Therefore, the historical data contains data groups corresponding to operating conditions with different water depths, different flow rates, different movable baffle angles, different mud pump speeds, or different flushing pump speeds.

[0090] S2: Collect the real-time data group when the suction cup head device is working. Based on the real-time operating environment data in the real-time data group, traverse the historical data and use a data group in the historical data as the target data group. The operating environment data in the target data group is the same as the real-time operating environment data, and the mud suction volume in the target data group is the same as the target suction volume. When the operating environment data and the real-time operating environment data are within the set error range, it is considered that the two data are the same. When the mud suction volume in the target data group and the target suction volume are within the set error range, it is considered that the two data are the same.

[0091] Step S2 can be implemented by the data processing module 80 described above, which will not be elaborated here.

[0092] S3: Adjust the working state data of the suction cup head device based on the target data group to make the real-time mud suction volume approach the target suction volume. That is, when data such as the suction head depth, movable baffle angle, mud pump speed, and flushing pump speed of the suction cup head device are adjusted based on the target data group, the real-time mud suction volume approaches the target suction volume. If the difference between the real-time mud suction volume and the target suction volume is within the error threshold range, it is considered that the suction cup head device reaches the optimal working state.

[0093] S4: Collect the real-time mud suction volume after the suction cup head device is adjusted and compare it with the target suction volume;

[0094] If the error between the real-time mud suction volume and the target suction volume is within the error threshold range, it is considered that the real-time mud suction volume meets the expectation; then the suction cup head device executes step S2 after working for the set time; the set time can be set based on actual needs. During this set time, it is default that the suction cup head device works in the optimal working condition. As the working time extends, the underwater operating environment changes. At this time, it is necessary to re-collect data, traverse the historical data, and adjust the working state data of the suction cup head device through the control module 50.

[0095] If the error between the real-time mud suction volume and the target suction volume is outside the error threshold range, the operating state data of the sucker head device is finely adjusted based on the magnitudes of the real-time mud suction volume and the target suction volume, so that the real-time mud suction volume approaches the target suction volume. This fine adjustment continues until the error between the real-time mud suction volume and the target suction volume is within the error threshold range, and then after the sucker head device operates normally for a set time, step S2 is executed.

[0096] The above adjustment method can finely adjust the operating state data of the sucker head device according to empirical data. Its adjustment calculation amount is small, the implementation process is relatively easy, the control method is relatively simple, and the control accuracy meets the operation requirements of dredging.

[0097] In this specification, the various embodiments are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same and similar parts among the various embodiments, reference can be made to each other.

[0098] The above description is only a description of the preferred embodiments of the present invention, and does not limit the scope of the present invention in any way. Any changes and modifications made by those of ordinary skill in the art of the present invention based on the above disclosure are within the scope of protection of the claims.

Claims

1. A suction cup head device, characterized in that: include: A suction head, a movable baffle hinged to the suction head and forming a suction space therewith, a lower nozzle arranged on one side surface of the suction head, an upper nozzle arranged on one side surface of the movable baffle close to the lower nozzle, and a control module for controlling the opening and closing range of the movable baffle relative to the suction head; The suction head has a suction cavity inside, and the suction cavity has a slurry outlet and a slurry inlet arranged opposite to each other; the slurry outlet is connected to an external power source, and the slurry inlet is rotatably connected to a movable baffle; The inlets of the lower nozzle and the upper nozzle are connected to a flushing liquid power source; the spraying direction of the lower nozzle is set at an angle to the spraying direction of the upper nozzle; The control module is at least used to control the movement of the movable baffle to adjust the angle between the movable baffle and the suction head.

2. The suction cup head device according to claim 1, characterized in that: The suction cup head device also includes a data acquisition module, a database module and a data processing module; The data acquisition module is used to collect a data set when the suction cup head device is working, and the data set includes working environment data, suction cup head device working status data and mud suction volume; The database module is used to store the data groups collected by the data collection module and generate historical data; The data processing module is used to receive the real-time data group collected by the data collection module, traverse the historical data based on the real-time operating environment data in the real-time data group, and use a group of data groups in the historical data as a target data group, the operating environment data in the target data group is the same as the real-time operating environment data, and the mud suction volume in the target data group is the same as the target suction volume; The control module is used to receive the target data group and adjust the working state data of the suction cup head device based on the target data group so that the real-time mud suction amount approaches the target suction amount.

3. The suction cup head device according to claim 2, characterized in that: The data acquisition module is also used to collect real-time mud suction volume and compare it with the target suction volume after the control module adjusts the working status data of the suction head device. If the error between the real-time mud suction volume and the target suction volume is within an error threshold range, the suction head device will work normally for a set time, and then the historical data will be re-traversed and the working status data of the suction head device will be adjusted through the control module; if the error between the real-time mud suction volume and the target suction volume is outside the error threshold range, the working status data of the suction head device will be fine-tuned through the control module based on the size of the real-time mud suction volume and the target suction volume, so that the real-time mud suction volume approaches the target suction volume.

4. The suction cup head device according to claim 2 or 3, characterized in that: The working status data of the suction cup head device includes suction head depth, movable baffle angle, mud pump speed and flushing pump speed.

5. The suction cup head device according to claim 1, characterized in that: The lower nozzle is arranged at the bottom of the slurry outlet, and the movable baffle is rotatably connected to the top of the slurry outlet.

6. The suction cup head device according to claim 1 or 5, characterized in that: The spraying direction of the lower nozzle is toward one side of the movable baffle and extends obliquely downward, and the spraying direction of the upper nozzle is toward the slurry inlet and extends obliquely downward.

7. The suction cup head device according to claim 1, characterized in that: A filtering grid is arranged at the opening of the slurry inlet.

8. The suction cup head device according to claim 1, characterized in that: The suction head is provided with a lower high-pressure water chamber, the inlet of the lower nozzle is connected to the lower high-pressure water chamber, and the flushing power source is used to supply liquid to the lower high-pressure water chamber; And / or, the movable baffle is provided with an upper high-pressure water chamber, the inlet of the upper nozzle is connected to the upper high-pressure water chamber, and the flushing liquid power source is used to supply liquid to the upper high-pressure water chamber.

9. A method for adjusting a suction cup head device, characterized in that: The steps include: S1: Collecting a data set when the suction cup head device is working to form historical data, the data set includes working environment data, suction cup head device working status data and mud suction volume; S2: collecting a real-time data group when the suction cup head device is working, traversing the historical data based on the real-time operating environment data in the real-time data group, and taking a group of data groups in the historical data as a target data group, the operating environment data in the target data group is the same as the real-time operating environment data, and the mud suction volume in the target data group is the same as the target suction volume; S3: adjusting the working state data of the suction cup head device based on the target data group so that the real-time mud suction amount approaches the target suction amount.

10. The method for adjusting the suction cup head device according to claim 9, characterized in that: The following steps are also included: S4: collecting the real-time mud suction volume adjusted by the suction cup head device and comparing it with the target suction volume; If the error between the real-time mud suction amount and the target suction amount is within the error threshold range, the suction cup head device normally works for a set time and then executes step S2; If the error between the real-time mud suction amount and the target suction amount is outside the error threshold range, the suction head device working status data is fine-tuned based on the real-time mud suction amount and the target suction amount so that the real-time mud suction amount approaches the target suction amount.

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