Novel underwater swinging type cutterhead bush hammer and control system thereof

Abstract

The invention discloses a novel underwater swinging type cutterhead bush hammer and a control system thereof, the novel underwater swinging type cutterhead bush hammer comprises an equipment vehicle, a rotating body, a lead angle plate, an extension plate, a cutterhead body and other components, and by integrating an intelligent operation control system, the depth and environment pressure of a water area where equipment is located can be detected in real time, and the working angle and rotating speed of the cutterhead body can be automatically adjusted. The intelligent operation control system comprises a sensor module, a control module, a wireless communication module and a display operation terminal, can process sensor data and execute real-time decisions, and is connected with a ground operation terminal or a remote control center to realize automatic or remote control of scabbling operation. The calculation method is suitable for different underwater operation environments, and effective operation of equipment and high-quality completion of chiseling operation are ensured. According to the technical scheme, automation and intelligentization of underwater chiseling operation can be achieved, the operation efficiency and safety are improved, the maintenance cost is reduced, and wide application prospects and market potential are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of scarifying machines, and particularly relates to a new type of underwater swinging cutter head scarifying machine and its control system. Background Art

[0002] With the increasing number of underwater engineering constructions, the surface treatment technology of underwater concrete structures has become particularly important. Traditional underwater scarifying operations mostly use manual or simple mechanical devices. These methods not only have low efficiency, but also have a harsh working environment, posing a threat to the safety of operators. In addition, manual scarifying operations are difficult to ensure the consistency and uniformity of scarifying quality, and it is almost impossible to carry out operations in deep water areas. Therefore, developing a new type of underwater swinging cutter head scarifying machine and its control system to improve operation efficiency, ensure operation safety, and enhance scarifying quality has become an important requirement in the field of underwater engineering. Summary of the Invention

[0003] The purpose of the present invention is to provide a new type of underwater swinging cutter head scarifying machine and its control system.

[0004] To achieve the above purpose, the present invention is implemented according to the following technical solutions:

[0005] A new type of underwater swinging cutter head scarifying machine includes: an equipment vehicle, a rotating body is rotatably connected to the bottom of the equipment vehicle, a guide angle plate is fixedly connected to the bottom of the rotating body, an extension plate is movably abutted against the bottom of the guide angle plate, a cutter head body is fixedly connected to the bottom of the extension plate, a screw groove is arranged inside the right side of the extension plate, a vertical plate is slidably connected to the right side of the guide angle plate, a screw rod is rotatably connected to the inside of the vertical plate, and the screw groove is threadedly sleeved outside the screw rod.

[0006] Preferably, a collection box is slidably connected to the inside of the equipment vehicle, a water filtering door plate is fixedly connected to the right side of the collection box, a baffle is slidably connected to the right side of the equipment vehicle, the left side of the baffle is movably abutted against the right side of the water filtering door plate, and a circular groove is arranged at the bottom of the inner wall of the collection box.

[0007] Preferably, a handle is fixedly connected to the right side of the water filtering door plate, a screw barrel is arranged inside the baffle, a lead screw is rotatably connected to the right side of the equipment vehicle, and the screw barrel is threadedly sleeved outside the lead screw.

[0008] Preferably, a conveying cylinder is fixedly connected to the inside of the equipment vehicle, an absorption plate is communicated with the bottom end of the conveying cylinder, a dust suction pump is fixedly connected to the outside of the conveying cylinder, the output end of the dust suction pump is communicated with the top of the absorption plate, and the input end of the dust suction pump is communicated with the bottom of the circular groove.

[0009] Preferably, a horizontal groove is provided inside the right side of the chamfering plate, a horizontal plate is fixedly connected to the left side of the vertical plate, the horizontal plate is slidably connected inside the horizontal groove, a disc is fixedly connected to the right end of the screw rod, and the disc is rotatably connected to the right side of the vertical plate.

[0010] Preferably, an internal groove is provided inside the equipment cart, a partition is fixedly connected inside the internal groove, a motor is fixedly connected to the bottom of the partition, and the output end of the motor is fixedly connected to the top end of the rotating body.

[0011] The beneficial effects of the present invention are as follows:

[0012] The present invention is a new type of underwater swinging cutter head roughening machine and its control system. Compared with the prior art, the present invention has the following technical effects:

[0013] Improve operation efficiency: Through the automatic control system, the automation of underwater roughening operations is realized, greatly reducing manual operations and improving operation efficiency.

[0014] Ensure operation safety: Operators do not need to directly enter the water for operations. The roughening operations can be completed through remote control, greatly reducing operation risks.

[0015] Improve roughening quality: The intelligent control system can adjust the working angle and rotation speed of the cutter head in real time according to the underwater environment to ensure the uniformity and consistency of the roughening effect.

[0016] Strong environmental adaptability: The underwater environment is monitored in real time through the sensor module, and the operation parameters are automatically adjusted to enable the equipment to adapt to different underwater environments.

[0017] Reduce maintenance costs: The intelligent monitoring system can monitor the wear of the cutter head and the temperature of the equipment in real time, timely remind for maintenance, reduce equipment failure rates, and reduce maintenance costs.

[0018] Data visualization and remote operation: Operators can monitor the operation status in real time through the remote terminal and adjust the operation parameters as needed to achieve precise control. Description of the Drawings

[0019] Figure 1 is a three-dimensional structural schematic diagram of the present invention;

[0020] Figure 2 is a sectional structural schematic diagram of the present invention;

[0021] Figure 3 is Figure 2 a partial enlarged view of part A in

[0022] Figure 4 is Figure 2 a partial enlarged view of part B in

[0023] Figure 5 is Figure 2 A partial enlarged view of part C in

[0024] In the figure: 1, equipment vehicle; 2, water filter door panel; 3, handle; 4, baffle; 5, cutter head body; 6, collection box; 7, built-in groove; 8, partition; 9, motor; 10, absorption plate; 11, conveying cylinder; 12, dust suction pump; 13, rotating body; 14, chamfering plate; 15, extension plate; 16, transverse groove; 17, screw; 18, screw groove; 19, transverse plate; 20, vertical plate; 21, disc; 22, lead screw; 23, screw barrel. Specific embodiments

[0025] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments. The schematic embodiments and descriptions of the present invention are used to explain the present invention, but not to limit the present invention.

[0026] As Figures 1-5 shown: Referring to Figures 1-5 , a new type of underwater swinging cutter head roughening machine includes: an equipment vehicle 1, a rotating body 13 is rotatably connected to the bottom of the equipment vehicle 1, a chamfering plate 14 is fixedly connected to the bottom of the rotating body 13, an extension plate 15 is movably abutted against the bottom of the chamfering plate 14, a cutter head body 5 is fixedly connected to the bottom of the extension plate 15, a screw groove 18 is arranged inside the right side of the extension plate 15, a vertical plate 20 is slidably connected to the right side of the chamfering plate 14, a screw 17 is rotatably connected to the inside of the vertical plate 20, and the screw groove 18 is threadedly sleeved outside the screw 17.

[0027] In this embodiment, a collection box 6 is slidably connected inside the equipment vehicle 1, a water filter door panel 2 is fixedly connected to the right side of the collection box 6, a baffle 4 is slidably connected to the right side of the equipment vehicle 1, the left side of the baffle 4 is movably abutted against the right side of the water filter door panel 2, and a circular groove is arranged at the bottom of the inner wall of the collection box 6, realizing the installation and disassembly functions of the collection box 6.

[0028] In this embodiment, a handle 3 is fixedly connected to the right side of the water filter door panel 2, a screw barrel 23 is arranged inside the baffle 4, a lead screw 22 is rotatably connected to the right side of the equipment vehicle 1, the screw barrel 23 is threadedly sleeved outside the lead screw 22, a built-in groove 7 is arranged inside the equipment vehicle 1, a partition 8 is fixedly connected to the inside of the built-in groove 7, a motor 9 is fixedly connected to the bottom of the partition 8, and an output end of the motor 9 is fixedly connected to the top end of the rotating body 13, realizing the power driving function of the rotating body 13.

[0029] In this embodiment, a conveying cylinder 11 is fixedly connected inside the equipment vehicle 1. The bottom end of the conveying cylinder 11 communicates with a suction plate 10. A dust suction pump 12 is fixedly connected to the outside of the conveying cylinder 11. The output end of the dust suction pump 12 communicates with the top of the suction plate 10, and the input end of the dust suction pump 12 communicates with the bottom of the circular groove, realizing the function of collecting waste materials.

[0030] In this embodiment, a horizontal groove 16 is provided inside the right side of the guide angle plate 14. A horizontal plate 19 is fixedly connected to the left side of the vertical plate 20. The horizontal plate 19 is slidably connected inside the horizontal groove 16. The right end of the screw rod 17 is fixedly connected to a disc 21. The disc 21 is rotatably connected to the right side of the vertical plate 20, realizing the power driving function of the screw rod 17.

[0031] In this embodiment, during use, by starting the motor 9 to drive the rotating body 13 to rotate, further causing the guide angle plate 14 and the extension plate 15 to rotate, further driving the cutter head body 5 to start rotating to roughen the bottom ground of the water. Further start the dust suction pump 12. Through the output end and the input end of the dust suction pump 12, the waste materials behind the cutter head body 5 are collected into the inside of the conveying cylinder 11 and finally conveyed into the inside of the collection box 6. Further, by rotating the lead screw 22 to drive the screw cylinder 23 to start moving downward, further causing the baffle 4 to release the abutting relationship with the right side of the water filter door plate 2. Further, the collection box 6 can be moved to the right to be taken out. Finally, the waste materials are poured out through the circular groove. Further, rotate the disc 21 to drive the screw rod 17 to rotate, further causing the screw rod 17 to start moving to the right and contacting the thread relationship with the thread groove 18. Further, move the cutter head body 5 downward to release the abutting relationship between the extension plate 15 and the bottom of the guide angle plate 14. Further, the cutter head body 5 can be replaced. Through the cooperation of the screw rod 17, the extension plate 15, the thread groove 18, the vertical plate 20 and the disc 21, the function of installing and replacing the cutter head body 5 is realized, expanding the applicable range of the device. Through the cooperation of the dust suction pump 12, the conveying cylinder 11, the suction plate 10, the lead screw 22, the screw cylinder 23 and the collection box 6, the function of collecting and transferring the waste materials is realized, protecting the environment.

[0032] The equipment vehicle (1) is integrated with an intelligent operation control system. The intelligent operation control system real-time detects the depth and environmental pressure of the water area where the equipment is located, adjusts the working angle and rotation speed of the cutter head body (5), and at the same time receives the instructions of the operator and feedbacks the operation status information to realize automatic or remote control of the roughening operation.

[0033] The intelligent operation control system includes a sensor module, a control module, a wireless communication module, and a display operation terminal. The sensor module includes depth, pressure, acceleration, cutter head wear, and temperature sensors. The control module processes sensor data, makes real-time decisions, and automatically adjusts the rotation speed, angle, and operation mode of the cutter head according to the sensor data. The wireless communication module is used to connect to the ground operation terminal or the remote control center and transmit the equipment status (such as cutter head rotation speed, equipment depth, and operation progress) to the user in real time. The display operation terminal provides local control, displays the equipment status information, and allows the user to remotely modify the operation parameters.

[0034] Depth sensor: Detects the depth of the water area where the equipment is located.

[0035] Pressure sensor: Monitors the ambient pressure to evaluate the water depth and water flow changes.

[0036] Acceleration sensor: Monitors the movement state of the equipment to prevent tipping or abnormal movement.

[0037] Cutter head wear sensor: Detects the wear degree of the cutter head in real time through an optical or contact sensor.

[0038] Temperature sensor: Monitors the working temperature of the cutter head and the motor to prevent overheating.

[0039] Dynamic adjustment during operation:

[0040] Real-time monitoring: The depth sensor and the pressure sensor work together to monitor the water depth changes. The cutter head wear sensor detects the usage of the cutter head and provides real-time feedback on whether the cutter head needs to be replaced.

[0041] Intelligent adjustment: When the water pressure is detected to increase (deep water operation), the system automatically increases the rotation speed of the cutter head and increases the operation pressure. In areas with strong water flow, the acceleration sensor adjusts the posture of the equipment vehicle to keep the equipment stable.

[0042] Abnormal handling: If the cutter head is detected to be overheated or the motor is overloaded, the system automatically reduces the working intensity or pauses the operation and sends an alarm message to the terminal.

[0043] Remote operation and information feedback: During the operation process, the ground terminal displays the real-time monitoring data, including the operation depth, equipment angle, cutter head status, etc. The user can send adjustment instructions through the remote terminal, such as changing the operation area, adjusting the rotation speed, or switching the mode.

[0044] End of operation: After the system completes the preset tasks, it automatically records the operation data and uploads it to the control center through the wireless module. Provides a report on the cutter head wear degree and equipment status and recommends a maintenance plan.

[0045] Highly intelligent: Dynamically adjust the operating parameters of the cutter head to improve the chiseling efficiency and reduce energy consumption.

[0046] Environmental adaptability: The sensor module and the control module work together to adapt to the changes in the underwater environment in real time.

[0047] Safety and reliability: Overheat protection and abnormal alarm functions to avoid interruption of operations due to equipment failures.

[0048] Remote control and data visualization: The operator can achieve precise control through a remote terminal without being present at the operation site.

[0049] The control module processes sensor data as follows:

[0050] Relationship between water depth and water pressure: Calculate the theoretical water pressure P based on the water depth D calc :

[0051] P calc = ρ·g·D

[0052] where ρ: water density (1025 kg / m for seawater 3 ); g: acceleration due to gravity (9.8 m / s 2 );

[0053] The equipment detects the water pressure PPP and compares it with the theoretical water pressure P calc to calculate the water flow disturbance coefficient C flow :

[0054]

[0055] where C flow > 1 indicates the presence of strong water flow;

[0056] Inclination correction calculation: Calculate the stability coefficient S of the equipment based on the inclination A of the acceleration sensor stab :

[0057]

[0058] where: A max : The maximum allowable inclination of the equipment;

[0059] Wear degree assessment: Calculate the cutter head efficiency coefficient C based on the wear degree W of the cutter head eff :

[0060]

[0061] where W = 0 indicates no wear of the cutter head, and W = 100 indicates complete wear of the cutter head.

[0062] The control module makes real-time decisions including:

[0063] Cutting Disc Rotation Speed Adjustment: Calculate the target rotation speed N based on the water flow disturbance coefficient C flow , the cutting disc efficiency coefficient C eff and the stability coefficient S stab : target :

[0064] N target = N0·(k1·C flow + k2·C eff + k3·S stab )

[0065] where, N0: standard rotation speed (design value, such as 1000 RPM); k1 + k2 + k3 = 1, and the weights are set according to actual requirements;

[0066] Cutting Disc Angle Adjustment: Calculate the target cutting disc angle θ according to the inclination angle A and the operation requirements target :

[0067]

[0068] where: θ0: default operation angle (such as 90°);

[0069] Operation Mode Selection: Select the mode M based on the environmental parameters target :

[0070]

[0071] where: T max : the maximum allowable temperature of the cutting disc; W threshold : the wear threshold at which the cutting disc needs to be replaced.

[0072] Assumption: The current water depth D = 20m, water pressure P = 220,000 Pa, inclination angle A = 5°. The cutting disc temperature T = 70°C, and the cutting disc wear W = 30%. Parameters N0 = 1000 RPM, θ0 = 90°, Amax = 15°. Weights k1 = 0.4, k2 = 0.4, k3 = 0.2.

[0073] Calculation Results:

[0074]

[0075] N target = 1000·(0.4·1.1 + 0.4·0.7 + 0.2·0.67) ≈ 880 RPM.

[0076]

[0077] M target = 3 (no overheating, medium wear, select the default operation mode).

[0078] The technical solution of the present invention is not limited to the limitations of the above specific embodiments. Any technical deformation made according to the technical solution of the present invention falls within the protection scope of the present invention.

Claims

1. A new type of underwater swinging cutter head roughening machine, characterized in that, Including: A device vehicle (1), a rotating body (13) is rotatably connected to the bottom of the device vehicle (1), a chamfering plate (14) is fixedly connected to the bottom of the rotating body (13), an extension plate (15) is movably abutted against the bottom of the chamfering plate (14), a cutter head body (5) is fixedly connected to the bottom of the extension plate (15), a screw groove (18) is arranged inside the right side of the extension plate (15), a vertical plate (20) is slidably connected to the right side of the chamfering plate (14), a screw rod (17) is rotatably connected to the inside of the vertical plate (20), and the screw groove (18) is threadedly sleeved outside the screw rod (17).

2. The novel underwater swinging cutter head scarifier according to claim 1, wherein, A collection box (6) is slidably connected to the inside of the device vehicle (1), a water filtering door plate (2) is fixedly connected to the right side of the collection box (6), a baffle (4) is slidably connected to the right side of the device vehicle (1), the left side of the baffle (4) is movably abutted against the right side of the water filtering door plate (2), and a circular groove is arranged at the bottom of the inner wall of the collection box (6).

3. A novel underwater swinging cutter head roughening machine according to claim 2, characterized in that, A handle (3) is fixedly connected to the right side of the water filtering door plate (2), a screw cylinder (23) is arranged inside the baffle (4), a lead screw (22) is rotatably connected to the right side of the device vehicle (1), and the screw cylinder (23) is threadedly sleeved outside the lead screw (22).

4. A novel underwater swinging cutter head scarifier according to claim 1, characterized in that, A conveying cylinder (11) is fixedly connected to the inside of the device vehicle (1), an absorption plate (10) is communicated with the bottom end of the conveying cylinder (11), a dust suction pump (12) is fixedly connected to the outside of the conveying cylinder (11), the output end of the dust suction pump (12) is communicated with the top of the absorption plate (10), and the input end of the dust suction pump (12) is communicated with the bottom of the circular groove.

5. A novel underwater swinging cutter head scarifier according to claim 1, characterized in that, A horizontal groove (16) is arranged inside the right side of the chamfering plate (14), a horizontal plate (19) is fixedly connected to the left side of the vertical plate (20), the horizontal plate (19) is slidably connected to the inside of the horizontal groove (16), a disc (21) is fixedly connected to the right end of the screw rod (17), and the disc (21) is rotatably connected to the right side of the vertical plate (20).

6. A novel underwater swinging cutter head scarifier according to claim 1, characterized in that, An internal groove (7) is arranged inside the device vehicle (1), a partition plate (8) is fixedly connected to the inside of the internal groove (7), a motor (9) is fixedly connected to the bottom of the partition plate (8), and the output end of the motor (9) is fixedly connected to the top end of the rotating body (13).

7. A novel underwater swinging cutter head scarifier according to claim 1, characterized in that, The device vehicle (1) is integrated with an intelligent operation control system, which can detect the depth and environmental pressure of the water area where the device is located in real time, adjust the working angle and rotation speed of the cutter head body (5), and at the same time receive the instructions of the operator and feedback the operation status information to realize automatic or remote control of the chiseling operation.

8. A novel underwater swinging cutter head scarifier according to claim 7, characterized in that, The intelligent operation control system includes a sensor module, a control module, a wireless communication module, and a display operation terminal. The sensor module includes depth, pressure, acceleration, cutter head wear, and temperature sensors. The control module processes sensor data, makes real-time decisions, and automatically adjusts the rotation speed, angle, and operation mode of the cutter head according to the sensor data. The wireless communication module is used to connect to the ground operation terminal or the remote control center to transmit the device status to the user in real time. The display operation terminal provides local control, displays the device status information, and allows the user to remotely modify the operation parameters.

9. A novel underwater swinging cutter head roughening machine according to claim 8, characterized in that: The control module processes the sensor data as follows: Relationship between water depth and water pressure: Calculating the theoretical water pressure P based on the water depth D calc : P calc = ρ·g·D where ρ is the water density and g is the acceleration due to gravity. The device detects the water pressure PPP and compares it with the theoretical water pressure P calc to calculate the water flow disturbance coefficient C flow : Among them, C flow > 1 indicates the existence of a strong water flow; Inclination correction calculation: Calculate the stability coefficient S of the device based on the inclination angle A of the acceleration sensor stab : Where: A max : the maximum inclination angle allowed by the device; Wear degree assessment: Calculate the cutter head efficiency coefficient C according to the wear degree W of the cutter head eff : where W = 0 indicates no wear of the cutter head and W = 100 indicates complete wear of the cutter head.

10. A novel underwater swinging cutter head roughening machine according to claim 9, characterized in that: The real-time decisions made by the control module include: Cutter head speed adjustment: Based on the water flow disturbance coefficient C flow , cutter head efficiency coefficient C eff and stability coefficient S stab calculate the target speed N target : N target = N0·(k1·C flow + k2·C eff + k3·S stab ) where N0 is the standard rotation speed and k1 + k2 + k3 = 1, and the weights are set according to actual requirements. Cutter head angle adjustment: Calculate the target cutter head angle θ according to the dip angle A and the operation requirements target : where θ0 is the default operation angle. Operation mode selection: Select mode M based on environmental parameters target : Where: T max : the maximum allowable temperature of the cutter head; W threshold : the wear threshold at which the cutter head needs to be replaced.

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