Channel slope algae removal equipment and algae removal method thereof

Abstract

The invention relates to channel slope algae removal equipment and an algae removal method thereof. The channel slope algae removal equipment comprises an algae removal secondary vehicle, a suction primary vehicle and a suction hose, one end of the suction hose is connected with the algae removal secondary vehicle, and the other end is connected with the suction primary vehicle; the algae removal sub-vehicle comprises a crawler frame with power and an algae removal box body mounted on the crawler frame; the center of the top of the algae removal box body is communicated with the suction hose; a water pump is arranged at the front water inlet end of the crawler frame; the output end of the water pump is connected with jet water pipes; the spraying water pipe is arranged towards the water leaving end of the front side of the crawler frame; water level sensors are arranged at the head and tail ends of the side surface of the water inlet end of the crawler frame. The walking route of the crawler frame is automatically corrected through the two water level sensors; the water pump can wash the crawler frame at the water leaving end, damage to a transmission structure caused by algae can be avoided, and the lubricating effect is achieved. According to the algae removal method, the algae removal trolley can be guided to run along the waterline, and the algae removal effect is stable.

Description

Technical Field

[0001] This invention relates to the technical field of slope algae removal, and in particular to an algae removal device and method for channel slopes. Background Technology

[0002] Algae easily proliferates at the junction of canal slopes and water. The rampant growth of algae can affect the water quality within the canal. Existing technologies have proposed specific solutions for algae removal, such as the invention patent "Deep Cleaning Construction Method for Canal Slopes" with authorization announcement number CN114293606B. This patent discloses a cleaning trolley and a heavy-duty truck; the cleaning trolley uses clean water to flush away the algae and sludge on the canal slope; the heavy-duty truck pulls the cleaning trolley forward while simultaneously sucking the flushed algae and sludge into its own collection tank. However, the patent has the following drawbacks in actual application: 1) The walking route of the cleaning cart depends entirely on the guidance of the truck, and does not follow the waterline; the main breeding area of ​​algae is located above and below the waterline of the slope; on the slope cleaned by the cleaning cart, some places are fully cleaned of algae mud, while others are not cleaned thoroughly; 2) The cleaning cart relies on wheels to walk on the slope; the wheels above the waterline are easily stuck by algae mud during the process of walking, causing the cleaning cart to lose its ability to walk and thus failing to guarantee the algae removal effect. Summary of the Invention

[0003] The purpose of this invention is to solve the above-mentioned problems and provide a channel slope algae removal equipment and method.

[0004] The technical solution of this invention is: a channel slope algae removal equipment, comprising an algae removal sub-cart, a suction main car, and a suction hose; one end of the suction hose is connected to the algae removal sub-cart, and the other end is connected to the suction main car; the algae removal sub-cart removes algae sludge from the slope; the suction main car uses the suction hose to pump algae sludge debris onto the suction main car; the algae removal sub-cart includes a driven tracked frame and an algae removal box mounted on the tracked frame; the tracked frame reduces the interference of algae sludge on the movement of the algae removal sub-cart; the algae removal box has an opening at the bottom and its top center is connected to the suction hose; the algae removal box removes algae sludge; the suction hose is responsible for suction; a water pump is provided at the water inlet end of the front side of the tracked frame; the output end of the water pump is connected to a spray water pipe; the spray water pipe is positioned towards the water-removing end of the front side of the tracked frame; the spray range of the spray water pipe covers... The tracked vehicle's axle ends are equipped with a water pump that draws water from the channel to flush the front of the tracked vehicle, achieving water lubrication and preventing oil contamination of the bearings. Water lubrication is sufficient for low-speed track operation. Simultaneously, the sprayed water wets the dried algae on the slope surface above the waterline, making the cleaning process more thorough. Water level sensors are installed at both ends of the tracked vehicle's water inlet side. These sensors measure the water depth at their respective locations and can be compared. If the two measurements are equal, it indicates that the two water inlet sides are at the same height, and the tracked vehicle is traveling along the waterline. If the measurements are inconsistent, the direction of travel needs to be adjusted to align the two measurements. An attitude sensor is located at the center of the front beam of the tracked vehicle. The attitude sensor and water level sensor work together to ensure that the centerline of the tracked vehicle is approximately aligned with the waterline on the slope. Approximately half of the tracked vehicle is submerged and half is above water, with the vehicle riding on the waterline. The algae removal vehicle covers the area above and below the waterline to achieve the best algae removal effect.

[0005] Preferably, the algae removal box is equipped with two transverse algae removal rollers; the two algae removal rollers are symmetrically arranged; brush clusters are arranged on the sides of the algae removal rollers; the brush clusters are arranged as spiral lines A and B extending from a point on the side of the midpoint of the algae removal roller to both sides; spiral lines A and B are arranged around the algae removal rollers and have equal pitch; the spiral directions of spiral lines A and B are opposite; both algae removal rollers rotate inward and upward; the brush clusters remove algae sludge and concentrate algae sludge debris towards the center of the algae removal box; the algae sludge debris concentrated in the center of the algae removal box is thrown towards the top center of the algae removal box under the action of the two algae removal rollers, which is conducive to the suction of the suction hose.

[0006] Furthermore, the algae removal box is equipped with algae removal motor A and algae removal motor B; algae removal motor A and algae removal motor B are respectively connected to two algae removal rollers; in this way, the two algae removal rollers can output the corresponding torque according to the algae density in the area, which can ensure that the algae are removed cleanly and avoid damage to the slope.

[0007] Preferably, drive motors are symmetrically mounted on the rear side of the tracked vehicle frame to facilitate steering of the tracked vehicle frame.

[0008] Furthermore, the algae removal box is also equipped with a vertical scraper; the scraper is positioned directly above the algae removal roller to remove the algae mud adhering to the brush clusters and confine the removed algae mud to the center of the top of the algae removal box.

[0009] Furthermore, the scraper has teeth at its lower end that correspond to the brush clusters, improving the cleaning effect on the brush clusters.

[0010] Furthermore, the top of the scraper connects to the top of the algae removal box, and the sides connect to the side walls of the algae removal box, so that the center of the algae removal box is in a relatively sealed environment, which is conducive to the suction hose to suck up algae debris.

[0011] Preferably, one end of the algae removal box is hinged to the tracked vehicle frame, and the other end is pinned to the tracked vehicle frame; during maintenance, the pin can be pulled out and the algae removal box can be lifted up, without having to flip the entire algae removal trolley over or crawl under the vehicle, simplifying the maintenance process and improving maintenance efficiency.

[0012] An algae removal method for the aforementioned channel slope algae removal equipment includes the following steps: ①Preparation before the assignment Bring the algae removal vehicle and the suction vehicle to the work area; connect the algae removal vehicle and the suction vehicle using suction hoses; place the algae removal vehicle on the slope and drive it to the waterline; bring one side of the algae removal vehicle underwater; the two water level sensors detect their respective depths; adjust the orientation of the algae removal vehicle according to the depths detected by the water level sensors until the depths detected by the two water level sensors are equal, and calculate the depth of the tracked vehicle frame underwater based on the depths detected by the water level sensors and the tilt angle of the algae removal vehicle detected by the attitude sensor; adjust the orientation of the tracked vehicle frame so that the centerline of the tracked vehicle frame is basically aligned with the waterline on the slope. ②Algae removal vehicle operation 2.1 Start the water pump; the water pump draws water from the channel to flush the side away from the water. 2.2 Start the algae removal tank and the suction mother car to allow the algae removal tank to remove algae from the area; the suction mother car sucks up algae debris along the suction hose. 2.3 Start the tracked vehicle frame and make it travel in a straight line; 2.4 Two water level sensors monitor the water depth at their location in real time. If the detected value deviates, the orientation is adjusted during the journey to meet the requirements of step ①. Steps 2.2-2.3-2.4 above shall be performed simultaneously.

[0013] Preferably, the algae removal method of the channel slope algae removal equipment further includes the following steps: ③ Follow A distance measuring device is installed between the algae removal vehicle and the suction vehicle to measure the distance between them. The suction vehicle follows the algae removal vehicle based on the fluctuations in distance.

[0014] The beneficial effects of this invention are as follows: The channel slope algae removal equipment of this invention has the following advantages: (1) The present invention automatically corrects the walking path of the tracked vehicle frame through two water level sensors; the water pump can wash the tracked vehicle frame at the water-off end to achieve water lubrication effect, avoid oil pollution of bearings and other components, and the track can run at low speed with water lubrication to meet the usage requirements; at the same time, the sprayed water can wet the algae on the slope surface above the waterline, and the cleaning effect of the brush will be more thorough. (2) The brush cluster of the present invention removes algae mud and concentrates the algae mud debris towards the center of the algae removal box; the algae mud debris concentrated in the center of the algae removal box is thrown towards the top center of the algae removal box under the action of the two algae removal rollers, which is conducive to the suction of the suction hose. This algae removal method guides the algae removal vehicle along the waterline, ensuring stable algae removal. The combined use of water level and attitude sensors guarantees that the vehicle stays above the waterline, with approximately half of the tracked frame submerged and half above water. The vehicle's cleaning coverage area extends above and below the waterline, achieving optimal algae removal results. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the operation of the channel slope algae removal equipment of the present invention; Figure 2 This is a partial cross-sectional view of the algae removal vehicle taken from below; Figure 3 yes Figure 2 A magnified view of the I-shaped image; Figure 4 yes Figure 2 II magnified view; Figure 5 yes Figure 2 AA section view; Figure 6 yes Figure 5 BB section view; Figure 7 yes Figure 6 CC section view; Figure 8 It is a three-dimensional algae removal vehicle Figure 1 ; Figure 9 It is a three-dimensional algae removal vehicle Figure 2 ; In the diagram: 00. Slope, 01. Waterline, 1. Algae removal trolley, 11. Tracked frame, 111. Water pump, 112. Water jet pipe, 1121. Spray head, 113. Water level sensor, 114. Drive motor, 115. Attitude sensor, 116. Pin-connected plate B, 117. Hinge plate, 12. Algae removal box, 121. Algae removal roller, 1211. Brush cluster, 1212. Spiral A, 1213. Spiral B, 122. Algae removal motor A, 123. Algae removal motor B, 124. Scraper, 1241. Tooth, 125. Pin-connected plate A, 2. Suction mother trolley, 21. Water pump, 3. Suction hose, 4. Pin, 5. Cotter pin, 6. Hinge screw. Detailed Implementation

[0016] Example 1: See Figure 1-9 An algae removal device for channel slopes includes an algae removal sub-cart 1, a suction main car 2, and a suction hose 3. One end of the suction hose 3 is connected to the algae removal sub-cart 1, and the other end is connected to the suction main car 2. The algae removal sub-cart 1 removes algae sludge from the slope. The suction main car 2 uses the suction hose 3 to pump algae sludge debris onto itself. The algae removal sub-cart 1 includes a tracked frame 11 with a drive mechanism and an algae removal box 12 mounted on the tracked frame 11. The tracked frame 11 reduces the interference of algae sludge on the movement of the algae removal sub-cart 1. The algae removal box 12 has an opening at the bottom and its top center is connected to the suction hose 3. The algae removal box 12 removes algae sludge. The suction hose 3 is responsible for suction. A water pump 111 is provided at the water inlet end of the front side of the tracked frame 11. The output end of the water pump 111 is connected to a spray water pipe 112. The spray water pipe 112 is positioned towards the water-free end of the front side of the tracked frame 11. The spray range of pump 2 covers the end of the walking wheel axle of the track frame 11; the water pump 111 draws water from the channel to flush the front of the track vehicle away from the water, achieving a water lubrication effect and preventing oil stains from the bearings from polluting the water. The track runs at low speed, and water lubrication is sufficient to meet the usage requirements. At the same time, the sprayed water wets the algae on the surface of the slope 00 above the waterline 01, making the cleaning effect of the brush more thorough. Water level sensors 113 are installed at both ends of the side of the water inlet of the track frame 11. The two water level sensors 113 measure the water depth at their respective locations. The two measurements can be compared. If the two measurements are equal, it means that the two sides of the water inlet are at the same height, and the track frame 11 travels along the waterline 01. If the two measurements are not equal, the travel direction needs to be adjusted to make the two measurements consistent. An attitude sensor 115 is installed at the center of the front beam of the tracked vehicle frame 11. The attitude sensor 115 and the water level sensor 113 work together to ensure that the centerline of the tracked vehicle frame 11 is roughly aligned with the waterline 01 on the slope 00. Approximately half of the tracked vehicle frame 11 is underwater and half is above water, with the frame riding on the waterline 01. The algae removal vehicle 1 covers the area above and below the waterline 01, achieving the best algae removal effect.

[0017] Compared with the prior art, the present invention automatically corrects the travel path of the tracked vehicle frame 11 through two water level sensors 113; the water pump 111 can wash the tracked vehicle frame 11 at the water-off end to achieve water lubrication effect, avoid oil pollution of bearings and other components, and water lubrication can meet the usage requirements when the track is running at low speed; at the same time, the sprayed water wets the algae on the surface of the slope 00 above the waterline 01, and the cleaning effect of the brush bristles will be more thorough.

[0018] The spray hose extends along the front beam of the track frame 11 toward the water-free end of the track frame 11, and attaches to the side of the track frame 11 and extends toward the axles of the track frame 11 at both ends; the end of the spray hose is equipped with a water nozzle 1121 facing the axle of ...

[0019] The algae removal box 12 is equipped with two transverse algae removal rollers 121; the two algae removal rollers 121 are symmetrically arranged; brush clusters 1211 are arranged on the sides of the algae removal rollers 121; the arrangement lines of the brush clusters 1211 are spiral lines A 1212 and B 1213 extending from a point on the side of the midpoint of the algae removal rollers 121 to both sides; spiral lines A 1212 and B 1213 are arranged around the algae removal rollers 121 and have equal pitch; the spiral directions of spiral lines A 1212 and B 1213 are opposite; both algae removal rollers 121 rotate inward and upward; the brush clusters 1211 remove algae mud and concentrate algae mud debris towards the center of the algae removal box 12; the algae mud debris concentrated in the center of the algae removal box 12 is thrown towards the top center of the algae removal box 12 under the action of the two algae removal rollers 121, which is conducive to the suction of the suction hose 3.

[0020] Both spiral lines A 1212 and spiral lines B 1213 are arranged in parallel, which can improve the algae removal effect of the algae removal roller 121.

[0021] The algae removal box 12 is equipped with an algae removal motor A 122 and an algae removal motor B 123. The algae removal motor A 122 and the algae removal motor B 123 are respectively connected to two algae removal rollers 121 for driving. In this way, the two algae removal rollers 121 can output the corresponding torque according to the algae density of the area, which can ensure that the algae are removed cleanly and avoid damage to the slope 00.

[0022] A drive motor 114 is symmetrically mounted on the rear side of the tracked vehicle frame 11 to facilitate the steering of the tracked vehicle frame 11.

[0023] The algae removal box 12 is also equipped with a vertical scraper 124; the scraper 124 is located directly above the algae removal roller 121 to remove the algae mud adhering to the brush cluster 1211 and confine the removed algae mud to the center of the top of the algae removal box 12.

[0024] The scraper 124 has teeth 1241 at its lower end that correspond to the brush cluster 1211, which improves the cleaning effect on the brush cluster 1211.

[0025] The top of the scraper 124 is connected to the top of the algae removal box 12, and the two sides are connected to the side walls of the algae removal box 12, so that the center of the algae removal box 12 is in a relatively closed environment, which is conducive to the suction hose 3 to suck up algae debris.

[0026] One end of the algae removal box 12 is hinged to the track frame 11, and the other end is pinned to the track frame 11. During maintenance, the pin can be pulled out and the algae removal box 12 can be lifted up without having to flip the entire algae removal trolley over, which simplifies the maintenance process and improves maintenance efficiency.

[0027] The algae removal box 12 is equipped with a pin plate A 125 on its side; the track frame 11 is provided with a pin plate B 116 corresponding to the pin plate A 125 on its side; the pin 4 passes through the pin plate A 125 and the pin plate B 116 and is locked with a cotter pin 5; the track frame 11 is also provided with a hinge plate 117 on its side; the hinge screw 6 passes through the hinge plate 117 and is threaded to the side of the algae removal box 12.

[0028] The working principle of this embodiment is as follows: The tracked vehicle frame 11 reduces the interference of algae sludge on the movement of the algae removal vehicle 1; the algae removal box 12 removes the algae sludge; the suction hose 3 is responsible for suction; the water pump 111 draws water from the channel to flush the front of the tracked vehicle off the water, achieving a water lubrication effect and preventing oil pollution from bearings and other components from contaminating the water quality. The track operates at low speed, and water lubrication is sufficient for use. At the same time, the sprayed water wets the algae dried on the surface of the slope 00 above the waterline 01, making the cleaning effect of the brush more thorough; the attitude sensor 115 and the water level sensor 113 work together to ensure that the centerline of the tracked vehicle frame 11 is basically equal to the waterline 01 on the slope 00; approximately half of the tracked vehicle frame 11 is underwater and half is above the water, with the frame riding on the waterline 01. The cleaning coverage area of ​​the algae removal vehicle 1 covers the area above and below the waterline 01, achieving the best algae removal effect. Two water level sensors 113 measure the water depth at their respective locations. The two measurements can be compared; if they are equal, it indicates that the two inlet sides are at the same height, and the tracked vehicle 11 travels along the waterline 01. If the measurements are incorrect, the direction of travel needs to be adjusted to ensure consistency. The two water level sensors 113 ensure that the tracked vehicle 11 travels along the waterline 01. The brush cluster 1211 removes algae and concentrates algae debris towards the center of the algae removal tank 12. The algae debris concentrated in the center of the algae removal tank 12 is then lifted towards the top center of the tank by the two algae removal rollers 121, facilitating suction by the suction hose 3. The two algae removal rollers 121 automatically output appropriate torque based on the algae density of the area, ensuring thorough algae removal while avoiding damage to the slope 00. The scraper 124 removes algae residue adhering to the brush clusters 1211 and confines the removed algae residue to the center of the top of the algae removal box 12. The scraper 124 also creates a relatively sealed environment in the center of the algae removal box 12, facilitating the suction hose 3 to remove algae residue debris. During maintenance, the pin can be pulled out, and the algae removal box 12 can be lifted up without having to overturn the entire algae removal cart, simplifying the maintenance process and improving efficiency.

[0029] Example 2: Example 2 is basically the same as Example 1, and the similarities will not be repeated. The difference is that: an attitude sensor 115 is provided at the center of the front beam of the tracked vehicle frame 11 to detect the center position of the tracked vehicle, and an auxiliary water level sensor 113 controls the movement of the tracked vehicle frame 11; the water depth at which the attitude sensor 115 and the water level sensor 113 should be located when the algae removal effect is optimal is first set; the algae removal trolley is first controlled to move so that the attitude sensor 115 reaches the required water depth, and then the steering is adjusted so that the water level sensor 113 reaches the required water depth.

[0030] The suction mother car 2 is equipped with a water pump 21; the input end of the water pump 21 is connected to the end of the suction hose 3; the water pump 21 provides negative pressure suction to the suction hose 3 to extract algae debris from the algae removal sub-cart 1.

[0031] Example 3: An algae removal method for the channel slope algae removal equipment described in Example 1 includes the following steps: ①Preparation before the assignment Bring the algae removal vehicle 1 and the suction vehicle 2 to the work area; connect the algae removal vehicle 1 and the suction vehicle 2 using the suction hose 3; place the algae removal vehicle 1 on the slope 00 and drive it to the waterline 01; bring one side of the algae removal vehicle 1 underwater; the two water level sensors 113 detect their respective depths; adjust the orientation of the algae removal vehicle 1 according to the depths detected by the water level sensors 113 until the depths detected by the two water level sensors 113 are equal, and calculate the depth of the tracked frame 11 underwater based on the depths detected by the water level sensors 113 and the tilt angle of the algae removal vehicle 1 detected by the attitude sensor 115; adjust the orientation of the tracked frame 11 so that the centerline of the tracked frame 11 is basically equal to the waterline 01 on the slope 00. ②Algae removal vehicle 1 in operation 2.1 Start water pump 111; water pump 111 draws water from the channel to flush the side away from the water. 2.2 Start the algae removal box 12 and the suction mother car 2, so that the algae removal box 12 removes algae from the area; the suction mother car 2 sucks up algae debris along the suction hose 3. 2.3 Start the tracked vehicle frame 11 to make it move in a straight line; 2.4 Two water level sensors 113 monitor the water depth at their location in real time. If the detected value deviates, the orientation is adjusted during the journey to meet the requirements of step ①. Steps 2.2-2.3-2.4 above shall be performed simultaneously.

[0032] Example 4: Example 4 is basically the same as Example 3, and the similarities will not be repeated. The difference is that the algae removal method of the channel slope algae removal equipment also includes the following steps: ③ Follow A distance measuring device is installed between the algae removal vehicle 1 and the suction vehicle 2 to measure the distance between them. The suction vehicle 2 follows the algae removal vehicle 1 based on the fluctuation of the distance.

Claims

1. A channel slope algae removal equipment, comprising an algae removal subcar, a suction mother car, and a suction hose; one end of the suction hose is connected with the algae removal subcar, and the other end is connected with the suction mother car; characterized in that, The algae-removing vehicle comprises a powered crawler frame and an algae-removing box mounted on the crawler frame; the algae-removing box is open at the bottom and connected to a suction hose at the center of the top; a water pump is arranged at the water inlet end of the front side of the crawler frame; a jet water pipe is connected to the output end of the water pump; the jet water pipe is arranged towards the water outlet end of the front side of the crawler frame; the jet range of the jet water pipe covers the end of the walking wheel shaft of the crawler frame; water level sensors are arranged at the first and last ends of the side of the water inlet end of the crawler frame.

2. The raceway slope algae removal apparatus of claim 1, wherein: The algae-removing box is provided with two transverse algae-removing rollers; the two algae-removing rollers are symmetrically arranged; brush clusters are arranged on the side surfaces of the algae-removing rollers; the brush clusters are arranged in spiral lines A and B extending from one point on the side surface of the middle point of the algae-removing roller to both sides; the spiral lines A and B are arranged around the algae-removing roller, and the pitches are equal; the spiral directions of the spiral lines A and B are opposite; the two algae-removing rollers rotate towards the inside and upwards; a posture sensor is arranged at the center of the front beam of the crawler frame.

3. The raceway slope algae removal apparatus of claim 2, wherein: The algae-removing box is provided with algae-removing motors A and B; the algae-removing motors A and B are respectively drivingly connected to the two algae-removing rollers.

4. The raceway slope algae removal apparatus of claim 1, wherein: Driving motors are symmetrically mounted on the rear side of the crawler frame.

5. The raceway slope algae removal apparatus of claim 2, wherein: A vertical scraper is further arranged in the algae-removing box; the scraper is arranged directly above the algae-removing roller.

6. The raceway slope algae removal apparatus of claim 5, wherein: The top end of the scraper is connected to the top of the algae-removing box, and the two side ends are connected to the side walls of the algae-removing box.

7. The raceway slope algae removal apparatus of claim 1, wherein: One end of the algae-removing box is hingedly connected to the crawler frame, and the other end is pinned to the crawler frame.

8. The method of removing algae from a channel slope algae-removal equipment according to claim 1, characterized in that: The method comprises the following steps: ① Preparation before operation The algae-removing vehicle and the suction mother vehicle are brought to the operation area; the suction hose is used to connect the algae-removing vehicle and the suction mother vehicle; the algae-removing vehicle is placed on the slope and driven to reach the waterline; one side of the algae-removing vehicle is made to enter the water; the two water level sensors detect the respective depths, and the posture sensor detects the inclination angle of the algae-removing vehicle; the position of the algae-removing vehicle is adjusted according to the detected depths of the water level sensors until the detected depths of the two water level sensors are substantially equal; the depth of the crawler frame submerged in the water is calculated according to the detected depths of the water level sensors and the detected inclination angle of the algae-removing vehicle; the position of the crawler frame is adjusted so that the center line of the crawler frame is substantially equal to the waterline on the slope; ② Operation of the algae-removing vehicle 2.1 Start the water pump; the water pump draws water in the channel to flush the water outlet side; 2.2 Start the algae-removing box and the suction mother vehicle to remove algae in the area where the algae-removing box is located; the suction mother vehicle sucks the algae mud and debris along the suction hose; 2.3 Start the crawler frame to make the crawler frame walk along a straight line; 2.4 The two water level sensors monitor the water depth at the positions in real time; once the detected values deviate, the position is adjusted during walking to meet the requirements of step ①; The steps 2.2-2.3-2.4 are performed synchronously.

9. The method of claim 8, wherein the method further comprises: The method further comprises the following step: ③ Following A distance measuring device is arranged between the algae-removing vehicle and the suction mother vehicle to measure the distance between them; the suction mother vehicle follows the algae-removing vehicle according to the fluctuation of the distance.

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