CN105464162A - Underwater dredging robot - Google Patents
Underwater dredging robot Download PDFInfo
- Publication number
- CN105464162A CN105464162A CN201510959660.7A CN201510959660A CN105464162A CN 105464162 A CN105464162 A CN 105464162A CN 201510959660 A CN201510959660 A CN 201510959660A CN 105464162 A CN105464162 A CN 105464162A
- Authority
- CN
- China
- Prior art keywords
- camera
- suction pipe
- arm
- driving wheel
- vehicle frame
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000005540 biological transmission Effects 0.000 claims description 18
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 16
- 230000008676 import Effects 0.000 claims description 3
- 239000007769 metal material Substances 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 230000009286 beneficial effect Effects 0.000 description 20
- 230000000694 effects Effects 0.000 description 10
- 238000005452 bending Methods 0.000 description 4
- 239000012895 dilution Substances 0.000 description 3
- 238000010790 dilution Methods 0.000 description 3
- 210000000245 forearm Anatomy 0.000 description 3
- 230000003116 impacting effect Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 239000010802 sludge Substances 0.000 description 3
- 208000035859 Drug effect increased Diseases 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000005086 pumping Methods 0.000 description 2
- 238000009412 basement excavation Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 239000003643 water by type Substances 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F5/00—Dredgers or soil-shifting machines for special purposes
- E02F5/28—Dredgers or soil-shifting machines for special purposes for cleaning watercourses or other ways
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
- E02F3/8858—Submerged units
- E02F3/8866—Submerged units self propelled
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Treatment Of Sludge (AREA)
Abstract
The invention discloses an underwater dredging robot which is characterized by being provided with a car frame body, driving wheels, an equipment control bin, an overwater control system, a horizontal thruster, a lifting thruster, a suction tube, a suction pump, a mechanical arm, a camera with a light source and a cradle head camera, wherein the equipment control bin is arranged at the upper end of the car frame body, and the driving wheels are respectively arranged on the two sides of the car frame body; the mechanical arm, the camera with the light source and the cradle head camera are arranged at the front end of the car frame body, the horizontal thruster is arranged at the rear end of the car frame body, and the lifting thruster is arranged at the upper end of the car frame body; the suction pump is fixedly connected with the car frame body through a connecting rope, and a driving system is mounted in the equipment control bin; the horizontal thruster and the lifting thruster are respectively connected with a driving system, and the driving system, the camera with the light source and the cradle head camera are respectively connected with the overwater control system. As the structure is adopted, the underwater dredging robot has the advantages of being novel in structure, convenient to control, strong in dredging capacity and low in manufacture cost.
Description
Technical field
The present invention relates to desilting equipment technical field, specifically a kind of underwater desilting machine people.
Background technology
At present for middle-size and small-size waters, main desilting mode is that water is wherein drained, directly in anhydrous situation, desilting work is carried out with excavator or dredger, this working method needs to make river diversion, sometimes also have to adopt the way in the interim river course of excavation to solve, engineering quantity is not only large but also loaded down with trivial details, but also desilting target can be made within longer a period of time can not to carry out work production, cause certain economic loss, so this working method production efficiency is low, labour intensity is large, method is original, and under many circumstances, because ground, riverbed is dark, the reason of landform, and large-scale engineering machinery cannot be used, carry out do mechanization operation.Also have and use suction mud equipment to carry out underwater operation, but the existing mud of suction under water equipment is generally all arranged on raft or ship and uses, need one and carry out hand control to several tractor driver, heavy manual labor and high desilting cost make these traditional desilting products can not adapt to the current market demand.
Summary of the invention
The object of the invention is to solve above-mentioned the deficiencies in the prior art, a kind of novel structure is provided, control nimble, that desilting ability is strong, cost of manufacture is low underwater desilting machine people.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of underwater desilting machine people, it is characterized in that being provided with vehicle frame, driving wheel, equipment controls storehouse, control system waterborne, horizontal propeller, lifting propeller, suction pipe, sucking pump, mechanical arm, camera with light source and cradle head camera, described vehicle frame upper end is provided with equipment and controls storehouse, both sides are respectively equipped with driving wheel, front end is provided with mechanical arm, camera with light source and cradle head camera, rear end is provided with horizontal propeller, upper end is provided with lifting propeller, described sucking pump is fixedly connected with vehicle frame through connection cord, be beneficial to decompose overall weight of the present invention, described equipment controls to be provided with drive system in storehouse, described horizontal propeller is connected with drive system respectively with lifting propeller, described drive system, camera with light source and cradle head camera are connected with control system waterborne respectively, described control system waterborne is by control cabinet, Industrial Personal Computer (IPC), display screen, mouse and keyboard composition, Industrial Personal Computer (IPC) is provided with in described control cabinet, display screen, mouse and keyboard, described Industrial Personal Computer (IPC) is provided with display screen, described Industrial Personal Computer (IPC) is connected with keyboard with mouse respectively, described Industrial Personal Computer (IPC) is connected with water-proof cable, be beneficial to see sub-marine situations by display screen, by mouse and Keyboard Control Industrial Personal Computer (IPC) and the horizontal propeller that is connected with Industrial Personal Computer (IPC) through water-proof cable, lifting propeller, sucking pump, drive system, camera with light source and cradle head camera action, reach the effect automatically controlled, described driving wheel and mechanical arm are respectively through drive systems, described mechanical arm front end is connected with suction pipe positioning sleeve, described sucking pump is connected with vehicle frame through connecting rope, be beneficial to the deadweight reducing vehicle frame, improve the flexibility of vehicle frame, described sucking pump controls through control system, described suction pipe one end is fixedly connected with suction pipe positioning sleeve, the other end is fixedly connected with sucking pump import, be beneficial to by control system control-driven system waterborne and sucking pump action, and by cradle head camera and band light source camera irradiation and by image uploading under water to control system, people can clearly operation of drive system driving machine mechanical arm be rotated in any direction, and then drive the mud of suction pipe to surrounding to aspirate, reach the effect of auto-pumping underwater sludge, drive system of the present invention is drive motors.
Mechanical arm of the present invention by back arm, linking arm, front swing arm, swing up and down transmission device and the transmission device that swings forms, described back arm rear end is fixedly connected with vehicle frame, front end is through swinging up and down transmission device and linking arm is hinged, described front swing arm rear end is hinged through swing transmission device and linking arm, front end is provided with gripper jaw, is beneficial to by gripper jaw clamping suction pipe carrying out dredging operation under water.
The present invention can be provided with high pressure sump in described suction pipe side, and described high pressure sump is connected with high-pressure water through water pipe, is beneficial to carry out impacting with high pressure dilution to the very thick mud of collection silt, reaches the effect that desilting ability is strong.
The present invention can be provided with gripper in suction pipe side, and described gripper is longer than suction pipe lower end, is beneficial to be loosened silting thing by gripper, is beneficial to improve desilting ability further.
The present invention can show anti-skidding bullet block at the periphery Circle-Array of described driving wheel, with the effect making driving wheel reach rotation grip.
Anti-skidding bullet block of the present invention is wedge shape, and the anti-skidding bullet block of described driving wheel periphery reduces to the inside gradually by outside driving wheel, is beneficial to the earth-grasping force increasing driving wheel, improves the effect of rotation grip further.
Anti-skidding bullet block of the present invention can adopt non-metallic material to make, and is beneficial to reduce weight, the effect increased the service life.
The present invention, owing to adopting said structure, has novel structure, controls the advantages such as nimble, desilting ability is strong, cost of manufacture is low.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is the top view of Fig. 1.
Fig. 3 is mechanical arm bending state diagram of the present invention.
Fig. 4 is the perspective view of taking off mud device in the present invention.
Reference numeral: vehicle frame 1, driving wheel 2, equipment control storehouse 3, control system waterborne, horizontal propeller 4, mechanical arm 8, band light source camera 9, cradle head camera 10, back arm 11, linking arm 12, front swing arm 13, swing up and down transmission device 14, the transmission device 15 that swings, gripper jaw 16, power rack 17, take off mud pawl 18, take off mud pawl hinged seat 19, crankshaft base 20, bent axle 21, crankshaft motor 22, transmission device 23, tie-beam 24, postbrachium 25, forearm 26, horizontally hinged axle 27, vertical jointed shaft 28, anti-skidding bullet block 29.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is further described:
As shown in drawings, a kind of underwater desilting machine people, it is characterized in that being provided with vehicle frame 1, driving wheel 2, equipment controls storehouse 3, control system waterborne, horizontal propeller 4, lifting propeller, suction pipe, sucking pump, mechanical arm 8, camera 9 with light source and cradle head camera 10, described vehicle frame 1 upper end is provided with equipment and controls storehouse 3, both sides are respectively equipped with driving wheel 2, front end is provided with mechanical arm 8, camera 9 with light source and cradle head camera 10, rear end is provided with horizontal propeller 4, upper end is provided with lifting propeller, described sucking pump is fixedly connected with vehicle frame 1 through connection cord, be beneficial to decompose overall weight of the present invention, described equipment controls to be provided with drive system in storehouse 3, described horizontal propeller 4 is connected with drive system respectively with lifting propeller, described drive system, camera 9 with light source is connected with control system waterborne respectively with cradle head camera 10, described control system waterborne is by control cabinet, Industrial Personal Computer (IPC), display screen, mouse and keyboard composition, Industrial Personal Computer (IPC) is provided with in described control cabinet, display screen, mouse and keyboard, described Industrial Personal Computer (IPC) is provided with display screen, described Industrial Personal Computer (IPC) is connected with keyboard with mouse respectively, described Industrial Personal Computer (IPC) is connected with water-proof cable, be beneficial to see sub-marine situations by display screen, by mouse and Keyboard Control Industrial Personal Computer (IPC) and the horizontal propeller 4 that is connected with Industrial Personal Computer (IPC) through water-proof cable, lifting propeller, sucking pump 7, drive system, camera 9 with light source and cradle head camera 10 action, reach the effect automatically controlled, described driving wheel 2 and mechanical arm 8 are respectively through drive systems, described mechanical arm 8 front end is connected with suction pipe positioning sleeve, described sucking pump is connected with vehicle frame through connecting rope, be beneficial to the deadweight reducing vehicle frame, improve the flexibility of vehicle frame, described sucking pump controls through control system, described suction pipe 6 one end is fixedly connected with suction pipe positioning sleeve, the other end is fixedly connected with sucking pump import, be beneficial to by control system control-driven system waterborne and sucking pump action, and by cradle head camera and band light source camera irradiation and by image uploading under water to control system, people can clearly operation of drive system driving machine mechanical arm be rotated in any direction, and then drive the mud of suction pipe to surrounding to aspirate, reach the effect of auto-pumping underwater sludge, drive system of the present invention is drive motors, lifting propeller of the present invention and horizontal propeller are prior art, this does not repeat.
Mechanical arm 8 of the present invention by back arm 11, linking arm 12, front swing arm 13, gripper jaw 16, swing up and down transmission device 14 and the transmission device 15 that swings forms, described back arm 11 rear end is fixedly connected with vehicle frame 1, front end is hinged with linking arm 12 through swinging up and down transmission device 14, described front swing arm 13 rear end is hinged with linking arm 12 through the transmission device 15 that swings, front end is provided with gripper jaw 16, is beneficial to clamp suction pipe 6 to carrying out dredging operation under water by gripper jaw 16.
The present invention can be provided with high pressure sump in described suction pipe 6 side, and described high pressure sump is connected with high-pressure water through water pipe, is beneficial to carry out impacting with high pressure dilution to the very thick mud of collection silt, reaches the effect that desilting ability is strong.
The present invention can be provided with in the vehicle frame front end of suction pipe 6 side and take off mud device, described mud device of taking off is by bending arm frame, power rack 17, take off mud pawl 18, take off mud pawl hinged seat 19, crankshaft base 20, bent axle 21, crankshaft motor 22, transmission device 23 forms, described bending arm back end of frame is fixedly connected with vehicle frame 1, front end is fixedly connected with power rack 17, described power rack 17 is provided with crankshaft motor 22, crankshaft base 20 and take off mud pawl hinged seat 19, described bent axle 21 two ends are connected through crankshaft base 20 respectively, described crankshaft motor 22 is connected with in the middle part of 23 bent axles 21 through transmission device, the drive system that described crankshaft motor 22 and described equipment control in storehouse is connected, described take off mud pawl 18 through cambered axle with take off mud pawl hinged seat 19 and be hinged, describedly take off mud pawl 18 rear end and bent axle 21 is hinged, front end is provided with takes off mud tooth 24, be beneficial to be rotated by crankshaft motor 22 driving crank 21, drive is taken off mud pawl 18 pairs of mud and is loosened, again by suction pipe below by loosen after mud absorb, the mode that described transmission device can adopt driving wheel to be connected with driving-belt, also the mode that chain is connected with gear can be adopted.
Bending arm frame of the present invention is by tie-beam 30, postbrachium 25, forearm 26, folding arm drive unit forms, folding arm drive unit is provided with in described postbrachium 25, described tie-beam 24 two ends are connected with postbrachium 25 through vertical jointed shaft 28 respectively, described forearm 26 front end is connected with power rack 17, the horizontally hinged axle 27 of rear end in folding arm drive unit is hinged with postbrachium 25, described vertical jointed shaft 28 and horizontally hinged axle 27 drive through folding arm drive unit respectively, be beneficial to be driven by support arm drive unit take off the front of mud pawl to vehicle frame, the mud on left side and right side loosens.
The present invention can show anti-skidding bullet block 29 at the periphery Circle-Array of described driving wheel 2, with the effect making driving wheel reach rotation grip.
Anti-skidding bullet block 29 of the present invention is in wedge shape, and described anti-skidding bullet block 29 reduces to the inside gradually by outside driving wheel 2, is beneficial to the earth-grasping force increasing driving wheel 2, improves the effect of rotation grip further.
Anti-skidding bullet block 29 of the present invention can adopt non-metallic material to make, and is beneficial to reduce weight, the effect increased the service life.
The present invention in use, the present invention carries strong suction suction pipe 6 by the gripper of mechanical arm 8 front end, arrive after specifying desilting place, operating personnel operate dredging robot by the mouse in operation control system and keyboard and freely walk under water, operating personnel on ground by the camera situation about will come in image uploading under water to control system under observation water of cradle head camera and band light source, after arrival has the position of mud, control system order-driven system acting, drive system controller mechanical arm rotates and suction pipe mouth is aimed at the position having mud, start sucking pump, mud to be sucked by suction pipe by mud and the discharge line passing through pump is discharged, the mud touched above when gripper is hard, then start high-pressure water, by high pressure sump, impacting with high pressure is carried out to hard mud, after mud dilution is loosened, by suction pipe intake duct being discharged in the device for treating sludge on ground again.
The present invention, owing to adopting said structure, has novel structure, controls the advantages such as nimble, desilting ability is strong, cost of manufacture is low.
Claims (7)
1. a underwater desilting machine people, it is characterized in that being provided with vehicle frame, driving wheel, equipment controls storehouse, control system waterborne, horizontal propeller, lifting propeller, suction pipe, sucking pump, mechanical arm, camera with light source and cradle head camera, described vehicle frame upper end is provided with equipment and controls storehouse, both sides are respectively equipped with driving wheel, front end is provided with mechanical arm, camera with light source and cradle head camera, rear end is provided with horizontal propeller, upper end is provided with lifting propeller, described sucking pump is fixedly connected with vehicle frame through connection cord, described equipment controls to be provided with drive system in storehouse, described horizontal propeller is connected with drive system respectively with lifting propeller, described drive system, camera with light source and cradle head camera are connected with control system waterborne respectively, described driving wheel and mechanical arm are respectively through drive systems, described mechanical arm front end is connected with suction pipe positioning sleeve, described sucking pump is connected with vehicle frame through connecting rope, described sucking pump controls through control system, described suction pipe one end is fixedly connected with suction pipe positioning sleeve, the other end is fixedly connected with sucking pump import.
2. a kind of underwater desilting machine people according to claim 1, it is characterized in that described mechanical arm by back arm, linking arm, front swing arm, swing up and down transmission device and the transmission device that swings forms, described back arm rear end is fixedly connected with vehicle frame, front end is through swinging up and down transmission device and linking arm is hinged, described front swing arm rear end is hinged through swing transmission device and linking arm, and front end is provided with gripper jaw.
3. a kind of underwater desilting machine people according to claim 1, it is characterized in that described suction pipe side is provided with high pressure sump, described high pressure sump is connected with high-pressure water through water pipe.
4. a kind of underwater desilting machine people according to claim 1 or 3, it is characterized in that described suction pipe side is provided with gripper, described gripper is longer than suction pipe lower end.
5. a kind of underwater desilting machine people according to claim 1, is characterized in that the periphery Circle-Array of described driving wheel shows anti-skidding bullet block.
6. a kind of underwater desilting machine people according to claim 5, it is characterized in that described anti-skidding bullet block is wedge shape, the anti-skidding bullet block of described driving wheel periphery reduces to the inside gradually by outside driving wheel.
7. a kind of underwater desilting machine people according to claim 5 or 6, is characterized in that described anti-skidding bullet block adopts non-metallic material to make.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510959660.7A CN105464162A (en) | 2015-12-17 | 2015-12-21 | Underwater dredging robot |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2015109485290 | 2015-12-17 | ||
| CN201510948529 | 2015-12-17 | ||
| CN201510959660.7A CN105464162A (en) | 2015-12-17 | 2015-12-21 | Underwater dredging robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105464162A true CN105464162A (en) | 2016-04-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510959660.7A Pending CN105464162A (en) | 2015-12-17 | 2015-12-21 | Underwater dredging robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN105464162A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107344355A (en) * | 2017-08-03 | 2017-11-14 | 深圳市施罗德工业测控设备有限公司 | A kind of water and soil sampling robot |
| CN108442443A (en) * | 2018-02-05 | 2018-08-24 | 浙江大学 | A kind of underwater hole dredging method and system based on underwater robot |
| CN109235526A (en) * | 2018-11-14 | 2019-01-18 | 亢生军 | Reservoir bottom desilting cleaning plant |
| CN109629625A (en) * | 2018-12-14 | 2019-04-16 | 上海海事大学 | A kind of fixed point depth dredging robot car body |
| CN110512683A (en) * | 2019-09-16 | 2019-11-29 | 山东未来机器人有限公司 | Underwater grasping bucket type grid auger dredging robot |
| CN114960923A (en) * | 2022-06-25 | 2022-08-30 | 广东冠铭建设工程有限公司 | Long-distance segmented dredging construction method for large-diameter sewage pipe network |
| PL446017A1 (en) * | 2023-09-04 | 2024-04-22 | Instytut Technologiczno-Przyrodniczy W Falentach Państwowy Instytut Badawczy | Vision system for the sand washer for water reservoirs |
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| CN205205905U (en) * | 2015-12-17 | 2016-05-04 | 于锡汉 | Underwater silt remover ware people |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107344355A (en) * | 2017-08-03 | 2017-11-14 | 深圳市施罗德工业测控设备有限公司 | A kind of water and soil sampling robot |
| CN108442443A (en) * | 2018-02-05 | 2018-08-24 | 浙江大学 | A kind of underwater hole dredging method and system based on underwater robot |
| CN108442443B (en) * | 2018-02-05 | 2019-11-19 | 浙江大学 | A kind of underwater hole dredging method and system based on underwater robot |
| CN109235526A (en) * | 2018-11-14 | 2019-01-18 | 亢生军 | Reservoir bottom desilting cleaning plant |
| CN109629625A (en) * | 2018-12-14 | 2019-04-16 | 上海海事大学 | A kind of fixed point depth dredging robot car body |
| CN110512683A (en) * | 2019-09-16 | 2019-11-29 | 山东未来机器人有限公司 | Underwater grasping bucket type grid auger dredging robot |
| CN110512683B (en) * | 2019-09-16 | 2024-02-06 | 山东未来机器人有限公司 | Underwater grab type grid auger dredging robot |
| CN114960923A (en) * | 2022-06-25 | 2022-08-30 | 广东冠铭建设工程有限公司 | Long-distance segmented dredging construction method for large-diameter sewage pipe network |
| CN114960923B (en) * | 2022-06-25 | 2023-09-12 | 广东冠铭建设工程有限公司 | Long-distance sectional dredging construction method for large-caliber sewage pipe network |
| PL446017A1 (en) * | 2023-09-04 | 2024-04-22 | Instytut Technologiczno-Przyrodniczy W Falentach Państwowy Instytut Badawczy | Vision system for the sand washer for water reservoirs |
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Application publication date: 20160406 |