Underwater construction operation device

Abstract

The utility model relates to the technical field of underwater operation equipment, in particular to an underwater construction operation device which comprises a machine frame, a working cabin, clear water replacement mechanisms and underwater operation equipment, the bottom face of the working cabin is open, at least one clear water replacement mechanism communicated with the working cabin is installed on the working cabin, and the movable underwater operation equipment is arranged in the working cabin. The working cabin is located on the inner side of the rack, a downward-pressing driving mechanism is arranged between the upper end of the working cabin and the rack, the working cabin is connected with the rack through the downward-pressing driving mechanism, the downward-pressing driving mechanism comprises downward-pressing driving cylinders, the downward-pressing driving cylinders are arranged on the two sides of the upper end of the working cabin, one end of each downward-pressing driving cylinder is hinged to the rack, and the other end of each downward-pressing driving cylinder is hinged to the working cabin. A pressing guide mechanism is arranged between the working cabin and the rack, a water purifying and flocculating device is arranged on the working cabin, and a working equipment driving and moving mechanism is arranged between the underwater working equipment and the working cabin. The working cabin disclosed by the utility model can deeply work under the seabed ground, suspended matters in the working cabin can quickly settle, and the cultural relic mining efficiency is high.

Description

Technical Field

[0001] The utility model relates to the technical field of underwater operation equipment, in particular to an underwater construction operation device. Background Art

[0002] At the present stage of underwater special operations, divers need to carry special tools for operation. Affected by factors such as underwater light and impurities, the underwater visibility is low. Therefore, the underwater operation efficiency is low, and the quality requirements for divers are very high. Only divers with qualifications and underwater work experience can carry out underwater operations after being approved by relevant departments. Moreover, underwater operations are extremely dangerous and belong to high-risk operations. A little carelessness will cause losses of life and property. For this reason, this application applied for an invention patent with the application number 2020113695733 and the name of underwater operation device on November 30, 2020. The patent includes a working cabin, a fresh water replacement mechanism and underwater operation equipment. The bottom surface of the working cabin is open. At least one fresh water replacement mechanism connected to the working cabin is installed on the working cabin. A movable underwater operation equipment is arranged in the working cabin. The fresh water replacement mechanism includes a filter screen, a motor, a water pump and a filter element. At least one filter window is arranged on the side surface of the working cabin. A filter screen is arranged on the filter window. The periphery of the filter screen is fixedly connected to the working cabin. The filter element is opposite to the filter screen. The filter element is installed at the water inlet of the water pump. The water pump is driven by the motor. The water outlet of the water pump faces the inside of the working cabin. The water pump and the motor are both fixed on the working cabin. The motor is connected to the power supply through a cable. The deficiencies of the above patent are as follows: First, the working cabin of the above patent can only float on the seabed ground and cannot enter below the seabed ground, so cultural relics deposited below the seabed ground cannot be mined. Second, the seabed water body is turbid and there are many suspended substances, the visual effect is poor, the difficulty of cultural relic extraction operation is high, and the operation efficiency is low. Summary of the Invention

[0003] The purpose of the utility model is to solve the deficiencies of the prior art and provide an underwater construction operation device with a clever structure, the working cabin can operate deep below the seabed ground, the suspended substances in the working cabin can settle quickly, and the cultural relic mining efficiency is high.

[0004] To achieve the above purpose, the technical solution adopted by the utility model is:

[0005] An underwater construction operation device includes a frame, a working cabin, a fresh water replacement mechanism and underwater operation equipment. The bottom surface of the working cabin is open. At least one fresh water replacement mechanism connected to the working cabin is installed on the working cabin. A movable underwater operation equipment is arranged in the working cabin. It is characterized in that: the working cabin is located inside the frame. A downward pressing driving mechanism is arranged between the upper end of the working cabin and the frame. The working cabin is connected to the frame through the downward pressing driving mechanism to drive the working cabin to move downward through the downward pressing driving mechanism and embed deep into the seabed sludge.

[0006] The downward pressing drive mechanism of the present utility model includes a downward pressing drive cylinder. The two sides of the upper end of the working cabin are provided with downward pressing drive cylinders. One end of the downward pressing drive cylinder is hinged to the frame, and the other end is hinged to the working cabin, so as to drive the working cabin to move downward and embed deep into the seabed sludge through the downward pressing drive cylinder.

[0007] A downward pressing guiding mechanism is provided between the working cabin and the frame of the present utility model. The downward pressing guiding mechanism includes a working cabin lifting slide rail and a working cabin lifting slideway.

[0008] The upper end of the working cabin is provided with a working cabin lifting slide rail, and the working cabin lifting slide rail is fixedly connected to the working cabin. The inner side of the frame is provided with a working cabin lifting slideway, and the working cabin lifting slideway is fixedly connected to the frame. The working cabin is slidably connected to the frame through the working cabin lifting slide rail and the working cabin lifting slideway, so as to guide the downward movement of the working cabin through the working cabin lifting slide rail and the working cabin lifting slideway.

[0009] A water purification and flocculation device is fixedly provided on the top plate of the working cabin of the present utility model, so as to put flocculant into the working cabin through the water purification and flocculation device, so that the suspended matter in the working cabin can settle quickly.

[0010] The water purification and flocculation device of the present utility model includes a flocculant storage bag, a flocculant valve, an upper connecting plate, and a lower connecting plate spring. A flocculant storage bag is provided on the working cabin. The flocculant storage bag contains flocculant. The flocculant storage bag is elastic. A flocculant outlet pipeline is provided on the flocculant storage bag. One end of the flocculant outlet pipeline is fixedly connected to the flocculant storage bag, and the other end is arranged towards the inside of the working cabin. A flocculant valve is installed on the flocculant outlet pipeline. The upper end of the flocculant storage bag is fixedly provided with an upper connecting plate, and the lower end is fixedly provided with a lower connecting plate. A spring is provided between the upper connecting plate and the lower connecting plate. One end of the spring is connected to the upper connecting plate, and the other end is connected to the lower connecting plate. The lower connecting plate is fixedly connected to the top plate of the working cabin, so that when in use, the flocculant storage bag contains flocculant, the spring is stretched, when the flocculant valve is opened, the spring retracts, the spring pulls the upper connecting plate to move downward, the flocculant storage bag is squeezed, and the flocculant is discharged from the flocculant outlet.

[0011] A storage bag extrusion guiding mechanism is provided between the upper connecting plate and the lower connecting plate of the present utility model. The storage bag extrusion guiding mechanism includes a guiding rod and a guiding sleeve.

[0012] The upper connecting plate is provided with a guiding rod, and the lower connecting plate is provided with a guiding sleeve. The upper end of the guiding rod is fixedly connected to the upper connecting plate, and the lower end is inserted into the guiding sleeve and slidably connected to the guiding sleeve. The guiding sleeve is fixedly connected to the lower connecting plate or the working cabin, so as to guide the movement of the upper connecting plate through the up and down sliding of the guiding rod in the guiding sleeve.

[0013] The flocculant storage capsule of the utility model is provided with a flocculant filling port, so that flocculant can be conveniently added to the flocculant storage capsule through the flocculant filling port, and the flocculant can be used multiple times.

[0014] A flocculation water pump and a filter are arranged on one side of the flocculant storage bag of the utility model. The flocculation water pump and the filter are fixedly connected to the working cabin respectively. The water inlet of the flocculation water pump is connected to the seawater via a pipeline, the water outlet of the flocculation water pump is connected to the filter inlet via a pipeline, and the filter outlet is connected to the flocculant outlet pipeline via a pipeline, so that the flocculation water pump can inject muddy water with impurities and mud in the seawater environment into the filter, and the filter can filter out part of the silt and impurities. When the flocculant valve is opened, the flocculant enters the flocculant outlet pipeline from the flocculant storage bag under the action of the spring tension, and the flocculant is mixed with the clean water filtered by the filter and then injected into the working cabin, so that the flocculation effect is remarkable.

[0015] In the utility model, an operation equipment driving and moving mechanism is arranged between the underwater operation equipment and the working cabin, the operation equipment driving and moving mechanism is fixed in the working cabin, and the underwater operation equipment is driven and moved by the operation equipment driving and moving mechanism.

[0016] The driving and moving mechanism of the operating equipment of the utility model comprises a crossbeam support, a cross slide, a cross rack, a longitudinal guide rail, a cross gear, a cross roller, a cross motor, a longitudinal rack, a longitudinal mounting seat, a longitudinal motor, a longitudinal gear, and a longitudinal roller.

[0017] A crossbeam bracket is provided on both sides of the working cabin, and two ends of the crossbeam bracket are fixedly connected to the inner wall of the working cabin respectively. A transverse slideway and a transverse rack are fixedly provided on the crossbeam bracket, and at least one longitudinal guide rail is provided between the two crossbeam brackets. A transverse gear and a transverse roller are provided at both ends of the longitudinal guide rail, and the transverse gear and the transverse roller are fixedly connected to the longitudinal guide rail via a shaft and a bearing respectively. The transverse gear on one side of the longitudinal guide rail is driven by a transverse motor, and the two ends of the longitudinal guide rail are transmission-connected to the crossbeam bracket via a transverse gear and a transverse rack. The two ends of the longitudinal guide rail are transversely slidably connected to the crossbeam bracket via a transverse roller and a transverse slideway. The transverse motor is connected to the longitudinal guide rail The lower end of the longitudinal guide rail is connected, at least one underwater working equipment is provided, the lower end surface of the longitudinal guide rail is fixedly provided with a longitudinal rack, the upper end of the underwater working equipment is fixedly provided with a longitudinal mounting seat, the lower end of the longitudinal mounting seat is fixedly connected to the underwater working equipment, a longitudinal motor, a longitudinal gear and a longitudinal roller are provided on the longitudinal mounting seat, the longitudinal gear is rotatably connected to the longitudinal mounting seat, the longitudinal gear is driven by the longitudinal motor, the longitudinal mounting seat is transmission-connected to the longitudinal guide rail via the longitudinal gear and the longitudinal rack, the longitudinal mounting seat is slidingly connected to the longitudinal guide rail via the longitudinal roller, so as to realize the lateral and longitudinal movement of the underwater working equipment by driving the moving mechanism through the working equipment.

[0018] A support and guiding mechanism is provided in the transverse slideway of the utility model. The support and guiding mechanism includes a transverse mounting base and a support wheel.

[0019] Transverse mounting bases are respectively provided at both ends of the longitudinal guide rail. The transverse mounting base is fixedly connected to the longitudinal guide rail. The transverse roller is rotatably connected to the transverse mounting base. A support wheel is provided on one side of the transverse roller. The support wheel is vertically arranged and is embedded in the transverse slideway and abuts against the inner wall of the transverse slideway. The support wheel is fixedly connected to the transverse mounting base through a shaft and a bearing to support the transverse slideway through the support wheel, and further support the cross beam bracket, avoiding deformation of the transverse bracket and enabling the smooth lateral movement of the transverse roller.

[0020] Suction holes are provided at intervals at the lower end of the manipulator of the underwater operation equipment of the utility model. A suction pipeline is installed on the manipulator. A pipeline perforation is provided on the working cabin. The suction pipeline passes through the working cabin and is connected to the mud inlet end of the slurry pump. The mud discharge end of the slurry pump is connected to the mud discharge pipeline. The mud discharge pipeline extends out of the frame and is placed outside the frame to suck the silt around the cultural relic through the suction holes driven by the slurry pump.

[0021] Flushing water holes are provided at intervals at the lower end of the manipulator of the underwater operation equipment of the utility model. A flushing pipeline is installed on the manipulator. A pipeline perforation is provided on the working cabin. The flushing pipeline passes through the working cabin and is connected to the water outlet hole of the water pump. The water inlet hole of the water pump is connected to seawater through a water pipe to suck seawater through the flushing pipeline and the flushing water holes by the water pump to flush the silt around the cultural relic.

[0022] Mechanically grippable jaws that open and close relative to each other are installed at the lower end of the manipulator of the underwater operation equipment of the utility model. The mechanically grippable jaws are driven by a grasping drive cylinder to grasp the cultural relic through the manipulator.

[0023] A storage box is fixedly provided on the inner wall of the working cabin of the utility model to facilitate the manipulator for flexible grasping operation to gently grasp the cultural relic and place it in the storage basket.

[0024] A lighting lamp and a camera are fixedly provided on the manipulator of the underwater operation equipment of the utility model to facilitate lighting and observation during downward excavation and ensure the timely discovery of cultural relics.

[0025] A working cabin drag chain is provided on the working cabin of the utility model. One end of the working cabin drag chain is fixedly connected to the frame, and the other end is fixedly connected to the frame to facilitate the placement of the cables and pipelines entering the working cabin through the working cabin drag chain.

[0026] On one side of the transverse motor of the present utility model, there is a transverse cable carrier. One end of the transverse cable carrier is fixedly connected to the inner wall of the working cabin, and the other end is fixedly connected to the transverse motor or the longitudinal guide rail, so as to protect the connection cable between the control system and the transverse motor through the transverse cable carrier.

[0027] On the underwater operation device of the present utility model, there is an operation cable carrier. One end of the operation cable carrier is fixedly connected to the longitudinal guide rail, and the other end is fixedly connected to the underwater operation device, so as to protect the cables and pipelines of the underwater operation device through the transverse cable carrier.

[0028] On both sides of the lower end of the frame of the present utility model, there are crawler travel mechanisms. The crawler of the crawler travel mechanism is made of rubber, so as to reduce the impact on the ground when the device travels through the rubber material and protect the underground cultural relics.

[0029] On the frame of the present utility model, there is a travel lifting adjustment mechanism. The travel lifting adjustment mechanism includes a first connecting rod, a second connecting rod, and a travel lifting hydraulic cylinder.

[0030] On one side of the crawler wheel frame of the crawler travel mechanism, there are a first connecting rod and a second connecting rod. One end of the first connecting rod is hinged to the crawler wheel frame of the crawler travel mechanism, and the other end is hinged to the frame. The second connecting rod is located above the first connecting rod. One end of the second connecting rod is hinged to the crawler wheel frame of the crawler travel mechanism, and the other end is hinged to the frame. A travel lifting hydraulic cylinder is provided on the second connecting rod. One end of the travel lifting hydraulic cylinder is hinged to the frame, and the other end is hinged to the second connecting rod, so as to drive the crawler wheel frame of the crawler travel mechanism to lift through the travel lifting hydraulic cylinder. When the travel lifting hydraulic cylinder drives the crawler travel mechanism to descend relative to the frame, the frame rises relatively, improving the passing ability of the frame. When the travel lifting hydraulic cylinder drives the crawler travel mechanism to rise relative to the frame, the frame descends relatively, and the working cabin can further descend, increasing the depth of the working cabin into the seabed sludge.

[0031] On the crawler of the crawler travel mechanism of the present utility model, there is an anti - derailment chain sleeved. The anti - derailment chain is fixedly connected to the crawler wheel frame of the crawler travel mechanism, so as to prevent the crawler from derailing through the anti - derailment chain.

[0032] On the frame of the present utility model, there are a control system and a hydraulic system. The hydraulic system is connected to the control system. The slurry pump, water pump, downward pressure driving cylinder, and travel lifting hydraulic cylinder are connected to the hydraulic system. The transverse motor and longitudinal motor are connected to the control system, so as to control the underwater excavation operation through the control system.

[0033] On the frame of the present utility model, an inertial navigation system is fixedly provided. The inertial navigation system is connected to the control system, so as to feedback the device attitude through the inertial navigation system and independently adjust the four crawlers according to the feedback data, enabling the overall stable attitude of the device.

[0034] The frame of the utility model is fixedly provided with floating materials to increase the buoyancy of the robot underwater through the floating materials and reduce the pressure of the crawler on the ground.

[0035] The frame of the utility model is provided with a hoisting load-bearing seat. The hoisting load-bearing seat is fixedly connected to the frame. A hoisting cable is provided on the hoisting load-bearing seat. The hoisting cable is fixedly connected to the hoisting load-bearing seat. One end of the hoisting cable is connected to the control system, and the other end is connected to the ground control platform to hoist the entire frame together with the hoisting cable and the hoisting load-bearing seat, and at the same time transmit signals through the cable.

[0036] A cable protector is sleeved on the hoisting cable of the utility model. The cable protector is fixedly connected to the hoisting cable to protect the hoisting cable through the cable protector and prevent the hoisting cable from being bent excessively.

[0037] Due to the adoption of the above structure, the utility model has the advantages of ingenious structure, the working cabin can operate below the seabed ground, the suspended matter in the working cabin can settle quickly, and the efficiency of cultural relics mining is high. Description of the Drawings

[0038] Figure 1 is a schematic structural diagram of one angle of the utility model.

[0039] Figure 2 is a schematic structural diagram of another angle of the utility model.

[0040] Figure 3 is a schematic diagram of hiding the working cabin when the utility model is in use.

[0041] Figure 4 is a schematic diagram of the working cabin being pressed into the seabed when the utility model is in use.

[0042] Figure 5 is an enlarged schematic diagram of the working cabin in the utility model.

[0043] Figure 6 is a perspective view of the working cabin in the utility model.

[0044] Figure 7 is an enlarged schematic diagram of the driving mobile mechanism of the operation equipment in the utility model.

[0045] Figure 8 is the utility model Figure 7 partial enlarged view.

[0046] Figure 9 is an enlarged schematic diagram of the connection between the underwater operation equipment and the longitudinal guide rail in the utility model.

[0047] Figure 10 is an enlarged schematic diagram of the longitudinal guide rail in the utility model.

[0048] Figure 11 It is an enlarged schematic view of the crawler traveling mechanism and the traveling lifting and adjusting mechanism in the present utility model.

[0049] Figure 12 It is an enlarged internal schematic view of the water purification and flocculation device in the present utility model.

[0050] Figure 13 is the present utility model Figure 12 bottom view.

[0051] Reference numerals: frame 1, working cabin 2, clean water replacement mechanism 3, underwater operation equipment 4, downward pressing drive mechanism 5, downward pressing drive cylinder 6, downward pressing guiding mechanism 7, working cabin lifting slide rail 8, working cabin lifting slideway, water purification and flocculation device 10, operation equipment driving and moving mechanism 11, cross beam support 12, cross slideway 13, cross rack 14, longitudinal guide rail 15, cross gear 16, cross roller 17, cross motor 18, longitudinal rack 19, longitudinal mounting seat 20, longitudinal motor 21, longitudinal gear 22, longitudinal roller 23, support guiding mechanism 24, cross mounting seat 25, support wheel 26, suction hole 27, slurry pump 28, flushing water hole 29, water pump 30, mechanical claw 31, storage frame 32, working cabin drag chain 33, cross drag chain 34, operation drag chain 35, crawler traveling mechanism 36, traveling lifting and adjusting mechanism 37, first connecting rod 38, second connecting rod 39, traveling lifting hydraulic cylinder 40, anti-derailing chain 41, control system 42, hydraulic system 43, inertial navigation system 44, floating body material 45, hoisting load-bearing seat 46, hoisting cable 47, cable protector 48, flocculant storage bladder 49, flocculant valve 50, upper connecting plate 51, lower connecting plate 52, spring 53, flocculant outlet pipeline 54, storage bladder extrusion guiding mechanism 55, guiding rod 56, guiding sleeve 57, flocculant filling port 58, flocculant water pump 59, filter 60. Specific embodiments

[0052] The following further describes in detail the specific embodiments of the present utility model with reference to the accompanying drawings.

[0053] An underwater construction operation device includes a frame 1, a working cabin 2, a clean water replacement mechanism 3 and an underwater operation equipment 4. The bottom surface of the working cabin 2 is open. At least one clean water replacement mechanism 3 connected to the working cabin 2 is installed on the working cabin 2. A movable underwater operation equipment 4 is provided in the working cabin 2. It is characterized in that: the working cabin 2 is located inside the frame 1, and a downward pressing drive mechanism 5 is provided between the upper end of the working cabin 2 and the frame 1. The working cabin 2 is connected to the frame 1 through the downward pressing drive mechanism 5 to drive the working cabin to move downward through the downward pressing drive mechanism and embed deep into the seabed silt.

[0054] The downward pressing drive mechanism 5 of the present utility model includes a downward pressing drive cylinder 6. The two sides of the upper end of the working cabin 2 are provided with downward pressing drive cylinders 6. One end of the downward pressing drive cylinder 6 is hinged to the frame 1, and the other end is hinged to the working cabin 2, so as to drive the working cabin to move downward and embed deep into the seabed sludge through the downward pressing drive cylinder.

[0055] A downward pressing guiding mechanism 7 is provided between the working cabin 2 and the frame 1 of the present utility model. The downward pressing guiding mechanism 7 includes a working cabin lifting slide rail 8 and a working cabin lifting slideway. The upper end of the working cabin 2 is provided with a working cabin lifting slide rail 8, and the working cabin lifting slide rail 8 is fixedly connected to the working cabin 2. The inner side of the frame 1 is provided with a working cabin lifting slideway, and the working cabin lifting slideway is fixedly connected to the frame 1. The working cabin 2 is slidably connected to the frame 1 through the working cabin lifting slide rail 8 and the working cabin lifting slideway, so as to guide the downward movement of the working cabin through the working cabin lifting slide rail and the working cabin lifting slideway.

[0056] A water purification flocculation device 10 is fixedly provided on the top plate of the working cabin 2 of the present utility model, so as to put flocculant into the working cabin through the water purification flocculation device, so that the suspended matter in the working cabin can settle quickly.

[0057] The water purification flocculation device 10 of the present utility model includes a flocculant storage bag 49, a flocculant valve 50, an upper connecting plate 51, a lower connecting plate 52 and a spring 53. The working cabin 2 is provided with a flocculant storage bag 49, and the flocculant storage bag 49 is filled with flocculant. The flocculant storage bag 49 has elasticity. A flocculant outlet pipeline 54 is provided on the flocculant storage bag 49. One end of the flocculant outlet pipeline 54 is fixedly connected to the flocculant storage bag 49, and the other end is arranged towards the inside of the working cabin 2. A flocculant valve 50 is installed on the flocculant outlet pipeline 54. The upper end of the flocculant storage bag 49 is fixedly provided with an upper connecting plate 51, and the lower end is fixedly provided with a lower connecting plate 52. A spring 53 is provided between the upper connecting plate 51 and the lower connecting plate 52. One end of the spring 53 is connected to the upper connecting plate 51, and the other end is connected to the lower connecting plate 52. The lower connecting plate 52 is fixedly connected to the top plate of the working cabin 2, so that when in use, the flocculant storage bag 49 is filled with flocculant, the spring 53 is stretched. When the flocculant valve 50 is opened, the spring 53 retracts, the spring 53 pulls the upper connecting plate 51 to move downward, the flocculant storage bag 49 is squeezed, and the flocculant is discharged from the flocculant outlet.

[0058] A storage bag extrusion guiding mechanism 55 is provided between the upper connecting plate 51 and the lower connecting plate 52 of the present utility model. The storage bag extrusion guiding mechanism 55 includes a guiding rod 56 and a guiding sleeve 57.

[0059] A guide rod 56 is provided on the upper connecting plate 51, and a guide sleeve 57 is provided on the lower connecting plate 52. The upper end of the guide rod 56 is fixedly connected to the upper connecting plate 51, and the lower end is inserted into the guide sleeve 57 and slidably connected to the guide sleeve 57. The guide sleeve 57 is fixedly connected to the lower connecting plate 52 or the working cabin 2 to guide the movement of the upper connecting plate 51 by sliding the guide rod 56 up and down in the guide sleeve 57.

[0060] A flocculant filling port 58 is installed on the flocculant storage bag 49 of the present utility model to facilitate adding flocculant to the flocculant storage bag 49 through the flocculant filling port 58 for convenient reuse.

[0061] A flocculant water pump 59 and a filter 60 are provided on one side of the flocculant storage bag 49 of the present utility model. The flocculant water pump 59 and the filter 60 are respectively fixedly connected to the working cabin 2. The water inlet of the flocculant water pump 59 is connected to seawater through a pipeline, the water outlet of the flocculant water pump 59 is connected to the inlet of the filter 60 through a pipeline, and the outlet of the filter 60 is connected to the flocculant outlet pipeline 54 through a pipeline. This is to facilitate the flocculant water pump 59 injecting the muddy water with impurities and mud in the seawater environment into the filter 60. The filter 60 filters out some sediment and impurities. When the flocculant valve 50 is opened, under the action of the tension of the spring 53, the flocculant enters the flocculant outlet pipeline 54 from the flocculant storage bag 49. After the flocculant is mixed with the clear water filtered by the filter 60, the flocculant is dispersed and injected into the working cabin 2, and the flocculation effect is remarkable.

[0062] An operating equipment driving and moving mechanism 11 is provided between the underwater operating equipment 4 and the working cabin 2 of the present utility model. The operating equipment driving and moving mechanism 11 is fixed in the working cabin 2, and the underwater operating equipment 4 is driven to move by the operating equipment driving and moving mechanism 11.

[0063] The operating equipment driving and moving mechanism 11 of the present utility model includes a cross beam support 12, a transverse slideway 13, a transverse rack 14, a longitudinal guide rail 15, a transverse gear 16, a transverse roller 17, a transverse motor 18, a longitudinal rack 19, a longitudinal mounting seat 20, a longitudinal motor 21, a longitudinal gear 22, and a longitudinal roller 23.

[0064] On both sides inside the working cabin 2, crossbeam supports 12 are respectively provided. Both ends of the crossbeam supports 12 are fixedly connected to the inner wall of the working cabin 2. A transverse slideway 13 and a transverse rack 14 are fixedly provided on the crossbeam supports 12. At least one longitudinal guide rail 15 is provided between the two crossbeam supports 12. Transverse gears 16 and transverse rollers 17 are provided at both ends of the longitudinal guide rail 15. The transverse gears 16 and transverse rollers 17 are respectively fixedly connected to the longitudinal guide rail 15 through shafts and bearings. The transverse gear 16 on one side of the longitudinal guide rail 15 is driven by a transverse motor 18. Both ends of the longitudinal guide rail 15 are drivingly connected to the crossbeam supports 12 through the transverse gears 16 and the transverse racks 14. Both ends of the longitudinal guide rail 15 are horizontally slidably connected to the crossbeam supports 12 through the transverse rollers 17 and the transverse slideways 13. The transverse motor 18 is connected to the longitudinal guide rail 15. At least one underwater operation device 4 is provided at the lower end of the longitudinal guide rail 15. A longitudinal rack 19 is fixedly provided on the lower end face of the longitudinal guide rail 15. A longitudinal mounting seat 20 is fixedly provided at the upper end of the underwater operation device 4. The lower end of the longitudinal mounting seat 20 is fixedly connected to the underwater operation device 4. A longitudinal motor 21, a longitudinal gear 22 and longitudinal rollers 23 are provided on the longitudinal mounting seat 20. The longitudinal gear 22 is rotatably connected to the longitudinal mounting seat 20. The longitudinal gear 22 is driven by the longitudinal motor 21. The longitudinal mounting seat 20 is drivingly connected to the longitudinal guide rail 15 through the longitudinal gear 22 and the longitudinal rack 19. The longitudinal mounting seat 20 is slidably connected to the longitudinal guide rail 15 through the longitudinal rollers 23, so as to realize the horizontal and longitudinal movement of the underwater operation device through the operation device driving the moving mechanism.

[0065] A support and guiding mechanism 24 is provided in the transverse slideway 13 of the present utility model. The support and guiding mechanism 24 includes a transverse mounting seat 25 and a support wheel 26.

[0066] Transverse mounting seats 25 are respectively provided at both ends of the longitudinal guide rail 15. The transverse mounting seats 25 are fixedly connected to the longitudinal guide rail 15. The transverse rollers 17 are rotatably connected to the transverse mounting seats 25. A support wheel 26 is provided on one side of the transverse roller 17. The support wheel 26 is vertically arranged. The support wheel 26 is embedded in the transverse slideway 13 and abuts against the inner wall of the transverse slideway 13. The support wheel 26 is fixedly connected to the transverse mounting seat 25 through a shaft and a bearing, so as to support the transverse slideway through the support wheel, and further support the crossbeam support, avoid the deformation of the transverse support, and make the horizontal movement of the transverse roller smooth.

[0067] Suction holes 27 are provided at intervals at the lower end of the robotic arm of the underwater operation device 4 of the present utility model. A suction pipeline is installed on the robotic arm. A pipeline through hole is provided on the working cabin 2. The suction pipeline passes through the working cabin 2 and is connected to the mud inlet end of a slurry pump 28. The mud discharge end of the slurry pump 28 is connected to a mud discharge pipeline. The mud discharge pipeline extends out of the frame 1 and is located outside the frame 1, so as to suck the silt around the cultural relic through the suction holes driven by the slurry pump.

[0068] At the lower end of the robotic arm of the underwater operation device 4 of the present utility model, flushing water holes 29 are provided at intervals. A flushing pipeline is installed on the robotic arm. A pipeline perforation is provided on the working cabin 2. The flushing pipeline passes through the working cabin 2 and is connected to the water outlet hole of a water pump 30. The water inlet hole of the water pump 30 is connected to seawater through a water pipe, so as to suck seawater through the water pump and flush it out through the flushing pipeline and the flushing water holes to flush the silt around the cultural relics.

[0069] At the lower end of the robotic arm of the underwater operation device 4 of the present utility model, relatively openable and closable mechanical claws 31 are installed. The mechanical claws 31 are driven by a grasping driving cylinder to grasp the cultural relics through the mechanical hand.

[0070] A storage frame 32 is fixedly provided on the inner wall of the working cabin 2 of the present utility model, so as to facilitate the flexible grasping operation mechanical hand to gently grasp the cultural relics and place them in the storage basket.

[0071] A lighting lamp and a camera are fixedly provided on the robotic arm of the underwater operation device 4 of the present utility model to facilitate lighting and observation during downward excavation and ensure the timely discovery of cultural relics.

[0072] A working cabin drag chain 33 is provided on the working cabin 2 of the present utility model. One end of the working cabin drag chain 33 is fixedly connected to the frame 1, and the other end is fixedly connected to the frame 1, so as to facilitate the placement of the cables and pipelines entering the working cabin through the working cabin drag chain.

[0073] A transverse drag chain 34 is provided on one side of the transverse motor 18 of the present utility model. One end of the transverse drag chain 34 is fixedly connected to the inner wall of the working cabin 2, and the other end is fixedly connected to the transverse motor 18 or the longitudinal guide rail 15, so as to protect the connection cable between the control system and the transverse motor through the transverse drag chain.

[0074] An operation drag chain 35 is provided on the underwater operation device 4 of the present utility model. One end of the operation drag chain 35 is fixedly connected to the longitudinal guide rail 15, and the other end is fixedly connected to the underwater operation device 4, so as to protect the cables and pipelines of the underwater operation device through the transverse drag chain.

[0075] Track walking mechanisms 36 are provided on both sides at the lower end of the frame 1 of the present utility model. The tracks of the track walking mechanisms 36 are made of rubber, so as to reduce the impact of the equipment walking on the ground through the rubber material and protect the underground cultural relics.

[0076] On the frame 1 of the present utility model, a walking and lifting adjustment mechanism 37 is provided. The walking and lifting adjustment mechanism 37 includes a first connecting rod 38, a second connecting rod 39, and a walking and lifting hydraulic cylinder 40. On one side of the track wheel frame of the crawler walking mechanism 36, the first connecting rod 38 and the second connecting rod 39 are provided. One end of the first connecting rod 38 is hinged to the track wheel frame of the crawler walking mechanism 36, and the other end is hinged to the frame 1. The second connecting rod 39 is located above the first connecting rod 38. One end of the second connecting rod 39 is hinged to the track wheel frame of the crawler walking mechanism 36, and the other end is hinged to the frame 1. A walking and lifting hydraulic cylinder 40 is provided on the second connecting rod 39. One end of the walking and lifting hydraulic cylinder 40 is hinged to the frame 1, and the other end is hinged to the second connecting rod 39, so as to drive the track wheel frame of the crawler walking mechanism to lift through the walking and lifting hydraulic cylinder. When the walking and lifting hydraulic cylinder drives the crawler walking mechanism to descend relative to the frame, the frame rises relatively, improving the passing ability of the machine. When the walking and lifting hydraulic cylinder drives the crawler walking mechanism to rise relative to the frame, the frame descends relatively, and the working cabin can further descend, increasing the depth of the working cabin into the seabed silt.

[0077] On the track of the crawler walking mechanism 36 of the present utility model, an anti-derailment chain 41 is sleeved, and the anti-derailment chain 41 is fixedly connected to the track wheel frame of the crawler walking mechanism 36, so as to prevent the track from falling off through the anti-derailment chain.

[0078] On the frame 1 of the present utility model, a control system 42 and a hydraulic system 43 are provided. The hydraulic system 43 is connected to the control system 42. The slurry pump 28, the water pump 30, the downward pressure driving cylinder 6, and the walking and lifting hydraulic cylinder 40 are connected to the hydraulic system 43. The transverse motor 18 and the longitudinal motor 21 are connected to the control system 42, so as to control the underwater excavation operation through the control system.

[0079] On the frame 1 of the present utility model, an inertial navigation system 44 is fixedly provided. The inertial navigation system 44 is connected to the control system 42, so as to feedback the equipment attitude through the inertial navigation system and independently adjust the four tracks according to the feedback data, and the overall stable attitude of the equipment can be realized.

[0080] On the frame 1 of the present utility model, floating body materials 45 are fixedly provided, so as to increase the buoyancy of the robot underwater through the floating body materials and reduce the pressure of the tracks on the ground.

[0081] On the frame 1 of the present utility model, a hoisting load-bearing seat 46 is provided. The hoisting load-bearing seat 46 is fixedly connected to the frame 1. A hoisting cable 47 is provided on the hoisting load-bearing seat 46. The hoisting cable 47 is fixedly connected to the hoisting load-bearing seat 46. One end of the hoisting cable 47 is connected to the control system 42, and the other end is connected to the ground control platform, so as to hoist the entire frame together with the hoisting cable and the hoisting load-bearing seat, and transmit signals through the cable at the same time.

[0082] A cable protector 48 is sleeved on the hoisting cable 47 of the utility model. The cable protector 48 is fixedly connected to the hoisting cable 47 to protect the hoisting cable through the cable protector and prevent the hoisting cable from being bent excessively.

[0083] As shown in the appendix Figures 1-13 This is an underwater construction operation device of the utility model. Existing components such as thrusters, sonars, cameras, lighting lamps, altimeters, depth gauges, flow meters, and pressure compensators can be arranged on the frame 1. These components are installed on the frame 1 and controlled by the control system 42. The utility model moves freely underwater through the thrusters. A control system 42 is arranged on the frame 1. The control system 42 is, for example, a PLC control system. The control system 42 is installed in the electrical control cabin, and the electrical control cabin is fixed on the frame 1. The downward pressure driving cylinder 6, the water purification and flocculation device 10, the transverse motor 18, the longitudinal motor 21, the slurry pump 28, the water pump 30, the crawler traveling mechanism 36, the traveling lifting hydraulic cylinder 40, the hydraulic system 43, the inertial navigation system 44, the flocculation water pump 59, the flocculant valve 50, etc. are all connected to the control system 42. The control system 42 is connected to the ground control platform through the hoisting cable 47, facilitating the operator to understand the seabed conditions in real time on the ground.

[0084] During use, the utility model is lifted and placed into the sea. The utility model moves in the sea through the thrusters. In the initial state, the working cabin 2 is placed inside the frame 1 and does not expose the lower end face of the frame 1. After the utility model reaches the seabed, the crawler traveling mechanism 36 is started to drive the frame 1 to move. The attitude of the utility model underwater is understood in real time through the inertial navigation system 44. A total of four crawler traveling mechanisms 36 are arranged on both sides of the lower end of the frame 1 of the utility model. Each crawler traveling mechanism 36 is driven by its own independent traveling driving cylinder, and this traveling driving cylinder is connected to the control system 42 and is controlled separately through the control system 42 to better adjust the attitude of the utility model underwater. When the utility model reaches the designated position, the downward pressure driving mechanism 5 is started to release the working cabin 2 downward. At the same time, the control system 42 starts the slurry pump 28 to perform slurry pumping operation through the suction hole 27. When the slurry is pumped out to a certain thickness, the working cabin 2 is continuously released downward, and so on until the working cabin 2 reaches the designated depth. During the suction process of the slurry pump 28, the control system 42 starts the clean water replacement mechanism 3. The clean water replacement mechanism 3 adopts the existing technology. The water outside the working cabin enters the working cabin after being filtered by the clean water replacement mechanism, and the unclear water and some water debris in the working cabin are discharged from the bottom surface of the working cabin to the outside of the working cabin.

[0085] During the suction process of the slurry pump 28, the control system 42 starts the water purification and flocculation device 10. As shown in the appendix Figures 12-13, the flocculant is pre-filled in the flocculant storage bag 49, causing the spring 53 to be in a stretched state. During use, the control system 42 controls the flocculant valve 50 to open it. The spring 53 retracts, pulling the upper connecting plate 51 downward. The flocculant storage bag 49 is squeezed, and the flocculant is discharged from the flocculant outlet. At the same time, the control system 42 starts the flocculation water pump 59. The inlet of the flocculation water pump 59 is connected to seawater through a pipeline. The flocculation water pump 59 injects the muddy water with impurities and mud in the seawater environment into the filter 60. The filter 60 filters out some sediment and impurities. The filtered clear water is mixed with the flocculant and injected into the working cabin 2 to quickly settle the suspended matter in the cabin. The filter 60 uses an existing filter. Lighting lamps and cameras can be set in the working cabin. Cameras and lighting lamps can be fixedly set on the robotic arm of the underwater operation device 4. When excavating downward, all the above-mentioned lighting lamps and cameras can be turned on to ensure the timely discovery of cultural relics.

[0086] The underwater operation device 4 can adopt a manipulator in the prior art, such as a two-axis manipulator, a three-axis manipulator, a four-axis manipulator, a six-axis manipulator, etc. The robotic arm of the manipulator can rotate and extend. A suction hole 27 can be provided at the lower end of the robotic arm and connected to a slurry pump 28 through a pipeline to form a suction operation manipulator. Or a flushing water hole 29 can be provided at the lower end of the robotic arm and connected to a water pump 30 through a pipeline to form a flushing operation manipulator. Or a mechanical claw 31 can be provided at the lower end of the robotic arm to form a grasping operation manipulator.

[0087] As shown in the appendix Figure 3 、appendix Figure 6 、appendix Figure 7 、appendix Figure 9 , in this embodiment, two grasping operation manipulators, one flushing operation manipulator, and one suction operation manipulator are provided in the working cabin 2. The suction operation manipulator sucks the silt around the cultural relic, and the flushing operation manipulator flushes the silt around the cultural relic. Then, with the cooperation of the two grasping operation manipulators, the cultural relic is separated from the deposited silt. After the grasping operation manipulator grabs the cultural relic, it places the cultural relic in the storage frame 32, and then continues to excavate other cultural relics in this area. After the excavation is completed, the present invention is lifted out of the seabed through the lifting load-bearing seat 46 and the lifting cable 47.

[0088] Compared with the prior art, first, in the present utility model, the working cabin 2 is arranged inside the frame 1, and then the working cabin 2 is pressed down by the downward pressing drive mechanism 5, so that the working cabin 2 can be pressed deep into the seabed silt, thus facilitating the excavation of cultural relics deposited in the silt; second, a water purification and flocculation device 10 is arranged on the upper end face of the inner wall of the working cabin 2 of the present utility model. By continuously putting flocculant into the working cabin, the flocculant falls downward, and the suspended substances in the cabin can be quickly settled, greatly saving the time cost compared with natural settlement. At the same time, the visual effect in the working cabin is improved, ensuring the timely discovery of cultural relics and improving work efficiency; third, a total of four crawler traveling mechanisms 36 are arranged on both sides of the lower end of the frame 1 of the present utility model. Each crawler traveling mechanism 36 is driven by its own independent traveling drive cylinder and can be controlled independently. Moreover, a traveling lifting and adjusting mechanism 37 is also arranged on each crawler traveling mechanism 36 of the present utility model. When the underwater terrain is complex and uneven, the inertial navigation system 44 carried by the frame 1 feeds back the attitude of the frame 1 to the control system, and the four crawler traveling mechanisms 36 are independently adjusted according to the feedback data, so that the overall stable attitude of the frame 1 can be realized. Compared with the attitude adjustment by the thruster, the crawler adjusts the attitude more quickly and stably, the influence of the environmental water flow velocity on the robot is smaller, and it can more truly feedback the underwater terrain and landform, which is more conducive to underwater ground operation. In addition, the crawler of the crawler traveling mechanism 36 is made of rubber, which greatly reduces the impact of the equipment walking on the ground and protects the underground cultural relics.

[0089] Due to the adoption of the above structure, the present utility model has the advantages of ingenious structure, the working cabin can operate deep below the seabed ground, the suspended substances in the working cabin can be quickly settled, and the cultural relics mining efficiency is high.

Claims

1. An underwater construction operation device, comprising a frame (1), a working cabin (2) and underwater operation equipment (4), the bottom surface of the working cabin (2) is open, and the underwater operation equipment (4) that can move is arranged in the working cabin (2), and is characterized in that: The working cabin (2) is located inside the frame (1). A downward pressing drive mechanism (5) is provided between the upper end of the working cabin (2) and the frame (1). The working cabin (2) is connected to the frame (1) through the downward pressing drive mechanism (5).

2. The underwater construction operation device according to claim 1, characterized in that: The downward pressing drive mechanism (5) includes a downward pressing drive cylinder (6). The downward pressing drive cylinders (6) are provided on both sides of the upper end of the working cabin (2). One end of the downward pressing drive cylinder (6) is hinged to the frame (1), and the other end is hinged to the working cabin (2).

3. An underwater construction operation device according to claim 1 or 2, characterized in that: A downward pressing guiding mechanism (7) is provided between the working cabin (2) and the frame (1). The downward pressing guiding mechanism (7) includes a working cabin lifting slide rail (8) and a working cabin lifting slideway. The working cabin lifting slide rail (8) is provided at the upper end of the working cabin (2). The working cabin lifting slide rail (8) is fixedly connected to the working cabin (2). The working cabin lifting slideway is provided inside the frame (1). The working cabin lifting slideway is fixedly connected to the frame (1). The working cabin (2) is slidably connected to the frame (1) through the working cabin lifting slide rail (8) and the working cabin lifting slideway.

4. An underwater construction operation device according to claim 1 or 2, characterized in that: A water purification flocculation device (10) is provided on the working cabin (2). The water purification flocculation device (10) includes a flocculant storage bag (49), a flocculant valve (50), an upper connecting plate (51), a lower connecting plate (52) and a spring (53). The flocculant storage bag (49) is provided on the working cabin (2). The flocculant storage bag (49) contains flocculant. The flocculant storage bag (49) is elastic. A flocculant outlet pipeline (54) is provided on the flocculant storage bag (49). One end of the flocculant outlet pipeline (54) is fixedly connected to the flocculant storage bag (49), and the other end is arranged towards the inside of the working cabin (2). A flocculant valve (50) is installed on the flocculant outlet pipeline (54). The upper end of the flocculant storage bag (49) is fixedly provided with an upper connecting plate (51), and the lower end is fixedly provided with a lower connecting plate (52). A spring (53) is provided between the upper connecting plate (51) and the lower connecting plate (52). One end of the spring (53) is connected to the upper connecting plate (51), and the other end is connected to the lower connecting plate (52). The lower connecting plate (52) is fixedly connected to the top plate of the working cabin (2). A flocculation water pump (59) and a filter (60) are provided on one side of the flocculant storage bag (49). The flocculation water pump (59) and the filter (60) are respectively fixedly connected to the working cabin (2). The water inlet of the flocculation water pump (59) is connected to seawater through a pipeline. The water outlet of the flocculation water pump (59) is connected to the inlet of the filter (60) through a pipeline. The outlet of the filter (60) is connected to the flocculant outlet pipeline (54) through a pipeline.

5. An underwater construction operation device according to claim 1 or 2, characterized in that: An operating equipment driving and moving mechanism (11) is provided between the underwater operating equipment (4) and the working cabin (2). The operating equipment driving and moving mechanism (11) is fixed inside the working cabin (2). The underwater operating equipment (4) is driven to move through the operating equipment driving and moving mechanism (11).

6. An underwater construction operation device according to claim 5, characterized in that: The working equipment driving mobile mechanism (11) includes a crossbeam support (12), a transverse slideway (13), a transverse rack (14), a longitudinal guide rail (15), a transverse gear (16), a transverse roller (17), a transverse motor (18), a longitudinal rack (19), a longitudinal mounting seat (20), a longitudinal motor (21), a longitudinal gear (22), and a longitudinal roller (23). Crossbeam supports (12) are respectively arranged on both sides inside the working cabin (2). Both ends of the crossbeam support (12) are fixedly connected to the inner wall of the working cabin (2). A transverse slideway (13) and a transverse rack (14) are fixedly arranged on the crossbeam support (12). At least one longitudinal guide rail (15) is arranged between the two crossbeam supports (12). Transverse gears (16) and transverse rollers (17) are arranged at both ends of the longitudinal guide rail (15). The transverse gears (16) and the transverse rollers (17) are respectively fixedly connected to the longitudinal guide rail (15) through shafts and bearings. The transverse gear (16) on one side of the longitudinal guide rail (15) is driven by a transverse motor (18). Both ends of the longitudinal guide rail (15) are in transmission connection with the crossbeam support (12) through the transverse gears (16) and the transverse racks (14). Both ends of the longitudinal guide rail (15) are in transverse sliding connection with the crossbeam support (12) through the transverse rollers (17) and the transverse slideways (13). The transverse motor (18) is connected to the longitudinal guide rail (15). At least one underwater working equipment (4) is arranged at the lower end of the longitudinal guide rail (15). A longitudinal rack (19) is fixedly arranged on the longitudinal guide rail (15). A longitudinal mounting seat (20) is fixedly arranged at the upper end of the underwater working equipment (4). The lower end of the longitudinal mounting seat (20) is fixedly connected to the underwater working equipment (4). A longitudinal motor (21), a longitudinal gear (22), and a longitudinal roller (23) are arranged on the longitudinal mounting seat (20). The longitudinal gear (22) is rotatably connected to the longitudinal mounting seat (20). The longitudinal gear (22) is driven by a longitudinal motor (21). The longitudinal mounting seat (20) is in transmission connection with the longitudinal guide rail (15) through the longitudinal gear (22) and the longitudinal rack (19). The longitudinal mounting seat (20) is in sliding connection with the longitudinal guide rail (15) through the longitudinal roller (23).

7. An underwater construction operation device according to claim 6, characterized in that: A support and guiding mechanism (24) is arranged in the transverse slideway (13). The support and guiding mechanism (24) includes a transverse mounting seat (25) and a support wheel (26). Transverse mounting seats (25) are respectively arranged at both ends of the longitudinal guide rail (15). The transverse mounting seat (25) is fixedly connected to the longitudinal guide rail (15). The transverse roller (17) is rotatably connected to the transverse mounting seat (25). A support wheel (26) is arranged on one side of the transverse roller (17). The support wheel (26) is vertically arranged. The support wheel (26) is embedded in the transverse slideway (13) and abuts against the inner wall of the transverse slideway (13). The support wheel (26) is fixedly connected to the transverse mounting seat (25) through a shaft and a bearing.

8. An underwater construction operation device according to claim 1 or 2 or 6 or 7, characterized in that: The lower end of the robotic arm of the underwater operation device (4) is provided with suction holes (27) at intervals. A suction pipeline is installed on the robotic arm. The working cabin (2) is provided with a pipeline perforation. The suction pipeline passes through the working cabin (2) and is connected to the mud inlet end of the slurry pump (28). The mud discharge end of the slurry pump (28) is connected to a mud discharge pipeline, and the mud discharge pipeline extends out of the frame (1) and is placed outside the frame (1).

9. An underwater construction operation device according to claim 1 or 2 or 6 or 7, characterized in that: The lower end of the robotic arm of the underwater operation device (4) is provided with flushing water holes (29) at intervals. A flushing pipeline is installed on the robotic arm. The working cabin (2) is provided with a pipeline perforation. The flushing pipeline passes through the working cabin (2) and is connected to the water outlet hole of the water pump (30). The water inlet hole of the water pump (30) is connected to seawater through a water pipe.

10. An underwater construction operation device according to claim 1 or 2 or 6 or 7, characterized in that: The lower end of the robotic arm of the underwater operation device (4) is installed with relatively opening and closing mechanical claws (31), and the mechanical claws (31) are driven by a grasping drive cylinder.

11. An underwater construction operation device according to claim 1 or 2 or 6 or 7, characterized in that: Both sides of the lower end of the frame (1) are provided with crawler traveling mechanisms (36), and the crawler of the crawler traveling mechanism (36) is made of rubber.

12. An underwater construction operation device according to claim 11, characterized in that: A traveling lifting adjustment mechanism (37) is provided on the frame (1). The traveling lifting adjustment mechanism (37) includes a first connecting rod (38), a second connecting rod (39), and a traveling lifting hydraulic cylinder (40). One side of the crawler wheel frame of the crawler traveling mechanism (36) is provided with the first connecting rod (38) and the second connecting rod (39). One end of the first connecting rod (38) is hinged to the crawler wheel frame of the crawler traveling mechanism (36), and the other end is hinged to the frame (1). The second connecting rod (39) is located above the first connecting rod (38). One end of the second connecting rod (39) is hinged to the crawler wheel frame of the crawler traveling mechanism (36), and the other end is hinged to the frame (1). The second connecting rod (39) is provided with the traveling lifting hydraulic cylinder (40). One end of the traveling lifting hydraulic cylinder (40) is hinged to the frame (1), and the other end is hinged to the second connecting rod (39).

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