40 results about "Hydraulic machinery" patented technology

A system and method for a hydraulic swing system of a machine to prevent drift without engaging a swing brake is described. The hydraulic swing system includes a pump powered by a motive element such as an engine and provides a swing motor for rotating the chassis of the machine relative to the undercarriage. The swing system includes a control valve on a first path between the pump and the motor and a second control valve on a second path. The swing system further includes a blocking valve to blocking hydraulic fluid flow and thereby preventing drift engaged when the system is in neutral and below a threshold rotation rate.

A non-submerged cavitation-erosion synergistic damage simulation device, system and method belong to the field of hydraulic machinery working condition simulation, including a sediment jet channel and a cleaning fluid channel in its periphery; high-speed sand-containing fluid is introduced into the sediment jet channel to form a central high-speed jet impacting the sample surface, high-speed cleaning fluid is introduced into the cleaning fluid channel to form a peripheral low-speed water curtain surrounding the central high-speed jet after being ejected from the annular steady flow pipe, and the peripheral low-speed water curtain impacts the sample surface to form a local liquid phase confining pressure zone together with the central high-speed jet. The present application not only realizes the true simulation of the actual working condition under non-submerged conditions, but also can adjust the flow and pressure of the cleaning fluid to adjust the cavitation number and cavitation collapse intensity around the high-speed sand-containing jet without changing the atmospheric environmental pressure, and quickly adjust the simulation test parameters.

The present application relates to the technical field of extrusion forming, and discloses a hydraulic mechanical extrusion forming device, which comprises an L-shaped machine base, a hydraulic cylinder arranged on the L-shaped machine base, an extrusion rod arranged at the output end of the hydraulic cylinder, an extrusion head arranged on the extrusion rod, a V-shaped plate arranged at the top of the L-shaped machine base, an extrusion block arranged on the L-shaped machine base, an extrusion die arranged on the extrusion block, and a material box arranged on the extrusion block. The hydraulic mechanical extrusion forming device is designed in linkage with the extension and retraction of the hydraulic cylinder and the rotation of the feeding roller, so that automatic feeding and extrusion forming of metal bars can be completed without stopping. When the hydraulic cylinder is retracted, the extrusion head drives the nut to slide, the feeding roller is driven to rotate by 90 degrees through the rotary rod and the one-way bearing, and the metal bars in the feeding groove are accurately dropped into the V-shaped plate. When the hydraulic cylinder is extended, the first spring drives the nut to reset, and the feeding roller remains stationary, so that misfeeding is avoided. Manual feeding and resetting are not required throughout the process.

This application provides a control method and system for a mining hydraulic robotic arm. The method includes: acquiring multimodal sensing data of the robotic arm, wherein the multimodal sensing data includes at least the robotic arm's body posture data, vibration data of the robotic arm's end effector, and external force disturbance data; determining control commands for the hydraulic power execution unit of the robotic arm based on the multimodal sensing data; and sending the control commands to the hydraulic power execution unit to control the robotic arm. Therefore, this application achieves high-precision tracking of the desired trajectory of the robotic arm, and can more actively and adaptively suppress broadband vibrations caused by inherent hydraulic characteristics and external disturbances, significantly improving the stability and accuracy of the robotic arm in precision operations.

The application discloses a hydraulic mechanical arm system for nuclear power station, which comprises a mechanical arm assembly, an openable and closable mechanical claw, a rotary motor assembly and a pump station assembly. The pump station assembly is arranged at one end of the mechanical arm assembly, and the hydraulic mechanical arm assembly is driven to perform pitching action. The mechanical claw is arranged at the other end of the mechanical arm assembly away from the pump station assembly, and is driven to open and close under the hydraulic drive of the pump station assembly. The rotary motor assembly is arranged on the pump station assembly, and is connected to and drives the mechanical arm assembly to rotate relative to the pump station assembly. The pump station assembly is connected with a vertical long-distance conveying assembly, and can move up and down along the length direction of the vertical long-distance conveying assembly. The hydraulic mechanical arm system for nuclear power station can drive the mechanical arm assembly and the mechanical claw to move up and down by moving the pump station assembly up and down along the vertical long-distance conveying assembly, and can clamp and carry workpieces. The mechanical arm assembly and the pump station assembly are integrated, the structure is compact, and the length of the hydraulic pipe arranged between the mechanical arm assembly and the pump station assembly is reduced.

This invention discloses a hydraulically driven 6-axis automatic charging robot, belonging to the field of robotic arm technology. This invention solves the problems of positioning jitter, high noise, low force control accuracy, and poor integration in existing hydraulic robotic arms. The robot includes a robotic arm body, a hydraulic power unit, a control system, and an end effector. The robotic arm body adopts a 6-axis serial structure, with absolute encoders at the ends of each joint axis and pressure sensors at each hydraulic cylinder. The control system employs position-pressure dual closed-loop control, superimposed with hysteresis compensation, friction compensation, and S-shaped trajectory planning algorithms. The hydraulic power unit includes a servo pump control system, an airbag accumulator, and rubber vibration damping pads. The end effector is equipped with a force sensor and a flexible floating mechanism. This invention achieves a repeatability of ±0.15mm, a force control accuracy of ≤±5N, and operating noise of ≤60dB(A), making it suitable for automatic charging scenarios requiring precise and smooth plugging and unplugging of charging guns, such as garages and charging stations. It also features high integration and convenient maintenance.

This invention discloses an online identification method for stall vortices in hydraulic machinery based on nonlinear dynamic characteristics, relating to the field of hydraulic machinery operation monitoring and fault diagnosis. By introducing an empirical formula for the guide vane change rate, the model can distinguish between the "loading" and "unloading" processes, accurately identify the vortex band state on the hysteresis loop, and reduce the dynamic error by more than 80%. Secondly, the empirical formula gives the input of the neural network a clear hydraulic meaning (such as the velocity triangle relationship), avoiding the unreliability of pure black box models. The complex fluid physics laws have been condensed into the empirical formula, and the neural network only needs to process the residual mapping, resulting in extremely fast computation speed, which can be deployed in the local control unit.

The present application relates to a hydraulic machinery measuring device, a hydraulic machinery measuring system, and a hydraulic machinery measuring method, which can measure surface strain or stress generated by a runner in real time. In order to achieve the above object, the hydraulic machinery measuring device of the present embodiment is provided in a hydraulic machinery having a rotating body inside, and includes: a measuring unit provided at least one on the surface of the rotating body, which can output measuring data of the rotating body; a calculation unit, which can output calculated measuring data obtained by performing calculation on the measuring data; a determination unit, which can output determination data obtained by determining the state of the rotating body based on the calculated measuring data; and a first communication unit, which can communicate with a second communication unit provided outside the hydraulic machinery, and can send at least one of the measuring data, the calculated measuring data, and the determination data to the second communication unit.

A hydraulic / mechanical braking system for a vehicle comprises a cam (128) keyed onto a transmission shaft or a trailing wheel and at least two hydraulic cylinder assemblies (126,129) including a cam follower (127). A hydraulic circuit (C) connects the hydraulic cylinder assemblies together. A master brake valve (113) controls the flow of fluid in the circuit. Actuation of the master brake valve (113) obstructs the flow of fluid and hence the reciprocation of the hydraulic cylinder assemblies, forcing the cam following against the cam to resist rotation.

The utility model discloses a kind of clamping devices of hydraulic machinery, it is related to hydraulic machinery technical field, the bidirectional clamping mechanism includes four support columns and fixed seat fixedly connected on the top of base, two between the support column of front and two between the support column of rear are fixedly connected with fixed strip, the top of two fixed strips is fixedly connected with two limit strips, the top between two fixed strips is fixedly connected with fixed plate, the surface between four limit strips is slidably connected with sliding seat, the top between adjacent two sliding seats is fixedly connected with connecting plate, the present application is by being set bidirectional clamping mechanism, only one driving part is used to realize two sides synchronous to workpiece by transmission component and clamping, reduce the use cost, while two lifting adjusting components can adjust the height of two upper clamping strips, so that the device can adapt to workpiece of different sizes, better clamping is carried out to it.

The application discloses a mobile seat-ground holding rod device based on a walking type operation platform, which comprises a walking type walking chassis, a rotary platform, a tower assembling device, a hydraulic mechanical arm, a power and hydraulic drive system, wherein the walking type walking chassis is provided with the rotary platform, the tower assembling device is installed on the side of the rotary platform, the hydraulic mechanical arm is fixed on the front end of the rotary platform, and the power and hydraulic drive system is fixed on the rotary platform and is connected with the walking type walking chassis, the tower assembling device and the hydraulic mechanical arm in control connection. The integrated transfer, positioning and operation of the holding rod equipment are realized, the manual high-strength transfer is replaced, and the safety hidden danger of the mountain transfer is eliminated.

This invention discloses a split-type lithium battery-driven hydraulic hose crimping machine, belonging to the field of hydraulic machinery technology. It includes a main module of the hose crimping machine, a handheld hydraulic power module, and a high-pressure quick-connect hose. The main module comprises a frame, a hose crimping head, a mold, and a crimping cylinder. The handheld hydraulic power module includes a housing, a removable lithium battery, a DC motor, a hydraulic pump, an oil tank, and a start switch. The high-pressure quick-connect hose is connected at both ends to the hydraulic pump outlet and the crimping cylinder inlet, respectively. This invention separates the main module and the handheld hydraulic power module, achieving rapid connection using a high-pressure quick-connect hose. Simultaneously, it uses a lithium battery as the sole power source to drive the hydraulic system, thus achieving a lightweight and modular design. It can operate outdoors, at heights, or other power-free environments without relying on mains power, significantly reducing operational labor intensity and facilitating handling, storage, and maintenance.

The application discloses a synchronous hydraulic system and a control method thereof. The system comprises four oil cylinders, a control module, a pressure acquisition module, a servo pump group and an oil tank. The four oil cylinders are a pair of long oil cylinders and a pair of short oil cylinders. The input end of the servo pump group is connected with the oil tank, and the output end is connected with the oil cylinders. The pressure acquisition module is adapted to acquire the output pressure of the servo pump group and the load pressure of the oil cylinders. The control module is in communication connection with the pressure acquisition module and the servo pump group. The control module is adapted to perform PID closed-loop control on the servo pump group according to the acquisition data of the pressure acquisition module. The application has the beneficial effects that the pressure closed-loop control is realized through the combination of the pressure acquisition module and the servo pump group, so that a closed-loop electronic load-sensitive control mode is provided for a large-amplitude A-shaped frame. The problems of hydraulic-mechanical feedback lag due to long pipelines and the problems of pressure open-loop nonlinear control of remote proportional relief valves are solved.

The application discloses a kind of automatic pressurizing device for pump low-speed stage water-lubricated bearing in the field of hydraulic machinery, water-lubricated bearing is equipped on pump, and automatic pressurizing device injects water with set pressure to water-lubricated bearing, and automatic pressurizing device includes water inlet pipe, water tank and water outlet pipe connected in sequence;The water inlet pipe is connected to the outlet section of pump;Valve for controlling on-off is equipped on the water inlet pipe;The water outlet pipe is connected to water-lubricated bearing;Spring top cover and spring for blocking water inlet pipe are equipped in the water tank;The spring extrudes spring top cover, and spring top cover is on the outlet of water inlet pipe;The application adds water to pump water-lubricated bearing, which can effectively alleviate the vibration and noise caused by shaft eccentric rotation to water-lubricated bearing friction, and due to the lubrication and cooling effect of water, friction damage will also be weakened to a certain extent, the application has simple structure, small size, low cost, easy implementation, improves the working life of shaft and water-lubricated bearing.

The utility model relates to mechanical processing equipment technical field discloses a kind of pushing device for hydraulic machinery parts processing, including support platform, the three sides of adjacent on the support platform are provided with baffle, and the baffle on the opposite of opening is provided with hydraulic cylinder, and the telescopic end of the hydraulic cylinder is connected with push plate through the baffle, the side plate is vertically provided in the both sides of the push plate, the opposite side of two side plates is provided with guide vane from end to the push plate, two guide vanes are symmetrically arranged, and two guide vanes form the flow guide channel with aperture from big to small in the space enclosed by the baffle and the side plate;The utility model, both sides of push plate center can be prevented from moving to deviate, and material can be prevented from being taken back with the reset of push plate;Simple structure, convenient to use, strong practicality.

The utility model discloses sand pile ship pipe pile extension device, include: ship deck surface, one side fixed welding of ship deck surface support frame, the side fixed mounting of ship deck surface away from support frame has winch, pulley, pulley fixed mounting is at the top of support frame, and the lifting steel wire rope of winch passes pulley, vibration hammer, vibration hammer top and the one end fixed connection of lifting steel wire rope of winch after passing pulley, pile pipe, and the bottom fixed connection of pile pipe top through flange and connecting bolt and vibration hammer, widen platform, widen platform fixed welding in the one side of ship deck surface close to support frame, and the fixed welding of widen platform has fixed frame, hydraulic machinery holds tightly arm, and the top and bottom of fixed frame outside surface all are provided with hydraulic machinery holds tightly arm. Sand pile ship pipe pile extension device provided by the utility model installs the whole structure on the ship deck surface, realizes the stable lifting of pile pipe, vibrates and sinks and reliable connection with lengthening pipe, and high -efficiently completes pipe pile extension operation, and promotes construction efficiency.

This application relates to the field of hydraulic machinery technology, providing a method and apparatus for full life-cycle health assessment of a main pump based on dynamic-static coupling. The method includes: collecting multi-source heterogeneous data; the multi-source heterogeneous data includes a dynamic operation dataset during the operation of the main pump equipment and a static mechanical resistance dataset under shutdown and decoupling conditions; performing dimensionless processing on the multi-source heterogeneous data and introducing a trend penalty factor to correct rapid deterioration indicators, obtaining dynamic evaluation values; calculating the dynamic weights of each indicator using a state-dependent variable weight model, and determining a comprehensive health index based on the dynamic weights and dynamic evaluation values. This application introduces a static mechanical resistance dataset under shutdown and decoupling conditions of the main pump and integrates it with the dynamic operation dataset during operation. This dynamic-static coupling mechanism effectively avoids excessive maintenance and indiscriminate dismantling, achieving improved operation and maintenance efficiency and significant cost optimization.

The present application relates to the technical field of fluid machinery computational fluid dynamics, in particular to a cavitation turbulent large eddy simulation method of nonlinear phase change viscosity correction, in the method, based on the local gas content, the effective dynamic viscosity of the fluid is updated by using a nonlinear hybrid dynamic viscosity empirical formula, the nonlinear hybrid dynamic viscosity empirical formula is used for characterizing additional dissipation generated in the gas-liquid mixing area due to interphase interaction; based on the updated flow field, the sub-grid stress is calculated, and a dynamic coefficient damping formula based on cavitation intensity is introduced to correct the core coefficient of the sub-grid model, and the corrected sub-grid turbulent viscosity is obtained. Through the construction of multiphase flow control equation, dynamic sub-grid modeling, nonlinear property updating and flux reconstruction technology, the simulation accuracy and numerical stability of complex cavitation flow are significantly improved, and a high-precision numerical simulation tool is provided for the design optimization and cavitation suppression of hydraulic machinery such as water turbines, water pumps and propellers.

The present application relates to a kind of hydraulic efficiency calculation method of water turbine, belong to the technical field of hydraulic machinery and its system.This application includes the following steps:A, determine the three-dimensional flow field region including water turbine, i.e.control body;B, perform fluid dynamics calculation, obtain the three-dimensional steady flow field distribution of each region;C, calculate the viscous dissipation power of fluid in control body;D, calculate the kinetic energy change rate of control body;E, calculate the power done by external surface force to control body;F, calculate the power done by fluid body force of control body;G, calculate the hydraulic efficiency of water turbine.The present application proposes a new kind of quantitative calculation method of hydraulic efficiency of water turbine, with universality.

This invention discloses a safe motion control method for a hydraulic manipulator based on an extended state observer, belonging to the field of hydraulic manipulator servo control technology. This method combines an extended state observer and a high-order control barrier function to construct a safe control framework, achieving safe motion control of the hydraulic manipulator. First, a complete dynamic model of the hydraulic manipulator is established, covering the dynamics of both the mechanical and hydraulic systems. Then, an extended state observer is designed to accurately estimate mismatch disturbances, their derivatives, and matching disturbances within the system. Finally, based on the disturbance estimates and the upper bound of the disturbance estimation error, a high-order control barrier function (ESO-HoCBF) based on the extended state observer is constructed, and the control input is solved using quadratic programming. This invention does not rely on an accurate dynamic model, simultaneously ensuring the safety constraints and trajectory tracking performance of the hydraulic manipulator, effectively suppressing the influence of various disturbances, reducing control conservatism, and has broad application prospects in fields such as forestry and emergency rescue.

The utility model provides a kind of for electric ship's battery replacement car, it is related to electric ship battery replacement car technical field, comprising: car body, battery pedestal is provided on car body, hydraulic mechanical arm, fuel engine, generator, hydraulic pump and air compressor, the end of hydraulic mechanical arm is connected with electric hoist, electric hoist is matched with battery on battery pedestal, fuel engine is connected with generator and hydraulic pump, and it is used to drive generator and hydraulic pump operation, generator is connected with electric hoist and air compressor, and it is used to power supply for electric hoist and air compressor, hydraulic pump is connected with hydraulic mechanical arm, and it is used to drive hydraulic mechanical arm, air compressor is connected with the locking cylinder of battery pedestal, and it is used to drive locking cylinder;The problem that the existing technology in battery replacement car operation needs to power supply for its operation, there is power supply burden and limits its environmental adaptability.

This invention relates to the fields of hydraulic machinery and mechanical cleaning, specifically to an automatic device for scrubbing the surface of a rubber dam using water energy. The device includes a support unit, a drive unit, a transmission unit, and a scrubbing unit. The support unit is placed on top of the rubber dam, the transmission unit is mounted on the support unit, and the drive unit and the scrubbing unit are mounted on the transmission unit. This invention utilizes the kinetic and potential energy of the water overflowing from the surface of the rubber dam to drive an impeller to rotate. The impeller transmits power to a sprocket, which drives a chain to achieve transmission. A scrubbing brush is mounted on the chain, contacting the surface of the rubber dam to achieve scrubbing. The entire scrubbing process utilizes only the kinetic and potential energy of the river water, without using any other energy sources, incurring no energy costs, and achieving a green, environmentally friendly, and pollution-free process.

The application provides a water turbine cavitation erosion repair method and related device, and belongs to the technical field of hydraulic machinery maintenance. When the evaluation result meets the requirements, the cavitation erosion part of the water turbine flow part is subjected to targeted replacement groove processing, and a targeted replacement groove is obtained. Based on the size of the cavitation erosion area of the water turbine flow part, a targeted replacement base plate is designed, and the surface of the targeted replacement base plate is subjected to laser cladding to obtain a laser cladding initial processing plate. According to the size of the targeted replacement groove, the laser cladding initial processing plate is processed to obtain a laser cladding targeted replacement plate. The laser cladding targeted replacement plate is welded with the replacement groove, and after the welding is completed, the part polished higher according to the water turbine streamline is polished, and the surface of the laser cladding targeted replacement plate is subjected to nondestructive testing at a set time. After the nondestructive testing is qualified, the repair of the cavitation erosion part of the water turbine flow part is completed. The application solves the problems of great implementation difficulty and low repair quality of the water turbine cavitation erosion repair.

The application discloses a multi-joint heavy hydraulic mechanical arm positioning error compensation method and system, and the method comprises the following steps: constructing a physical characteristic vector reflecting configuration, coupling and load; establishing an end X, Y and Z direction positioning error prediction model based on Gaussian process regression; predicting the current error by using the model, and compensating the target pose to generate an instruction pose to drive the mechanical arm to move. In the preferred embodiment, the error is decomposed into an explicit physical model prediction value and a GPR residual prediction value. The application combines physical priori and data driving, realizes high-precision error compensation under a small sample, significantly improves the positioning precision and generalization ability, and reduces the calibration cost.

The application provides a design method for a streamlined space guide vane of a multistage centrifugal pump, and belongs to the technical field of hydraulic machinery. The design method for the streamlined space guide vane of the multistage centrifugal pump directly controls the guide vane profile according to a curve equation, can adapt to various change conditions, significantly improves the guide vane design efficiency under the condition of controlling the direction of the inlet and outlet flow passages, and has extremely important role and value for improving the hydraulic performance of the space guide vane. The positive and negative guide vanes of the design method for the streamlined space guide vane of the multistage centrifugal pump are an integral streamline, have obvious optimization effect, are simple in design calculation, and are high in adaptability.

An electric and hydraulic machine includes a housing defining a motor chamber and a pump chamber, a motor comprising a rotor and a stator positioned within the motor chamber, and a pump comprising a pumping element positioned within the pump chamber, the pumping element movable by the motor to displace fluid in the pump chamber. The pump chamber includes a low-pressure chamber and a high-pressure chamber, a unit inlet defined by the housing and in communication with the low-pressure chamber, and a unit outlet defined by the housing and in communication with the high-pressure chamber. The pump chamber is positioned radially inward of the motor chamber such that the pump is nested within the motor. A radial cooling channel extends in a radial direction from the low-pressure chamber to the motor chamber such that fluid in the pump chamber communicates with the rotor and the stator to cool the motor.

This invention discloses a self-driven adaptive vibration reduction device for use in adjacent operational tunnels, belonging to the field of tunnel blasting vibration control technology. The device includes a self-driven railcar chassis, liftable support legs, a deployable arched support frame connected by a hydraulic robotic arm, a composite flexible pad layer mounted on the arched support frame, an airbag assembly fixed to the outside of the composite flexible pad layer, and an inflation / deflation system. During operation, the device self-drives to the target section, the support legs rise to derail the railcar wheels, the frame unfolds, and the airbags inflate and adaptively press against the inner wall of the tunnel lining, forming a movable vibration-damping lining. This invention integrates self-driven movement, remote control, active airbag contact, and composite energy dissipation, achieving rapid, safe deployment and efficient vibration reduction in operational tunnels. It solves the problems of complex construction, poor adaptability, and difficulty in rapid response of traditional measures, and is particularly suitable for dynamic protection against adjacent blasting vibrations in narrow tunnel environments.

This invention discloses a master-slave control method for a hydraulic robotic arm handle based on jerk-constrained trajectory planning. The method includes: when the slave-end hydraulic robotic arm is operated via the master-end handle, acquiring and preprocessing the input commands from the master-end handle to construct the desired trajectory model of the end effector; establishing the Jacobian matrix of the slave-end hydraulic robotic arm and using Newton's iteration method to iteratively solve for the desired joint angles in the joint space; then performing jerk-constrained trajectory replanning to generate continuous desired joint trajectory commands, and performing closed-loop regulation control of the hydraulic servo valves of each joint hydraulic cylinder to achieve precise master-slave tracking control. This method effectively overcomes the physical impact on the hydraulic system caused by sudden changes and jitter in handle input during human-machine interaction, and while ensuring high real-time mapping from the workspace to the joint space, it reduces the end-effector trajectory tracking error of the robotic arm, significantly enhancing the stability and accuracy of master-slave control.

The present application relates to the field of numerical calculation of water-sand two-phase flow, and provides a method for constructing a drag force model between sparse water and sand phases, comprising: under the condition of sparse water and sand phases, obtaining particle drag force coefficients corresponding to different vorticities under the condition of cyclone to obtain cyclone experimental data; obtaining a first expression of an inertial factor, and obtaining a second expression of a cyclone factor through regression analysis according to the cyclone experimental data; determining a preliminary expression of a cyclone correction function based on the inertial factor, the cyclone factor and the first expression and the second expression thereof; correcting the preliminary expression to obtain a final expression of the cyclone correction function; and obtaining a new drag force model (SCD model) considering the cyclone characteristics based on the final expression of the cyclone correction function and the Wen-Yu model. By introducing the cyclone factor, the drag force model has the response ability to the cyclone characteristics of the flow field, and on the premise of not sacrificing the accuracy of the conventional working condition, the prediction accuracy and engineering applicability in the typical cyclone area of hydraulic machinery are significantly improved.

The utility model discloses a tracked amphibious dredging ship relates to riverway dredging technical field, including ship body, one side of ship body is provided with hydraulic mechanical arm, and the one end away from ship body of hydraulic mechanical arm is fixedly provided with mounting bracket, and the bottom of mounting bracket is provided with reamer dredging equipment, and reamer dredging equipment includes reamer body and pump machine, and reamer body is fixedly set up at the bottom of mounting bracket, and pump machine is fixedly set up at the side end of reamer body, and both sides of ship body are provided with tracked main body for moving on land, and the side away from hydraulic mechanical arm of ship body is provided with propeller for moving on water surface, and propeller is provided as double -paddle structure, and both sides of ship body are provided with the float, and two floats are symmetrically set up at both sides of ship body. When the dredging ship is on the ground such as river levee, it moves and turns by tracked main body, and when it is in water, two floats make the dredging ship float in the river, and it moves by propeller, so that the dredging ship is adapted to amphibious use, and the practical effect of the dredging ship is improved.