CN109577404B - Propeller-driven left-right swinging cutter-suction type desilting robot with track correction function - Google Patents
Propeller-driven left-right swinging cutter-suction type desilting robot with track correction function Download PDFInfo
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- CN109577404B CN109577404B CN201811459453.5A CN201811459453A CN109577404B CN 109577404 B CN109577404 B CN 109577404B CN 201811459453 A CN201811459453 A CN 201811459453A CN 109577404 B CN109577404 B CN 109577404B
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- 239000010802 sludge Substances 0.000 abstract description 14
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- 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
- E02F3/8833—Floating installations
- E02F3/885—Floating installations self propelled, e.g. ship
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- 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
- E02F3/90—Component parts, e.g. arrangement or adaptation of pumps
- E02F3/905—Manipulating or supporting suction pipes or ladders; Mechanical supports or floaters therefor; pipe joints for suction pipes
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- 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
- E02F3/90—Component parts, e.g. arrangement or adaptation of pumps
- E02F3/907—Measuring or control devices, e.g. control units, detection means or sensors
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- 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
- E02F3/90—Component parts, e.g. arrangement or adaptation of pumps
- E02F3/92—Digging elements, e.g. suction heads
- E02F3/9212—Mechanical digging means, e.g. suction wheels, i.e. wheel with a suction inlet attached behind the wheel
- E02F3/9225—Mechanical digging means, e.g. suction wheels, i.e. wheel with a suction inlet attached behind the wheel with rotating cutting elements
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- 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
- E02F3/90—Component parts, e.g. arrangement or adaptation of pumps
- E02F3/92—Digging elements, e.g. suction heads
- E02F3/9212—Mechanical digging means, e.g. suction wheels, i.e. wheel with a suction inlet attached behind the wheel
- E02F3/9225—Mechanical digging means, e.g. suction wheels, i.e. wheel with a suction inlet attached behind the wheel with rotating cutting elements
- E02F3/9231—Suction wheels with axis of rotation parallel to longitudinal axis of the suction pipe
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- Mechanical Engineering (AREA)
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- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a screw propeller-driven left-right swinging cutter suction type dredging robot with a track correcting function, which comprises: the system comprises a platform frame, a ship body, a propeller, a left-right swinging twisting and sucking mechanism, a dredging mechanism, a pumping mechanism, a track correcting unit, a control unit and a visual unit; the ship body is used as a walking mechanism of the dredging robot and is arranged at the bottom of the platform frame; the propeller thruster provides power for the ship body to move forward under the control of the control unit; a buoyancy tank is arranged inside the ship body; the left-right swing twisting and sucking mechanism and the dredging mechanism are execution parts. The desilting robot adopts a propeller-driven submarine type advancing mode and a left-right swinging cutter-suction type desilting mode to collect and pump sludge, can adapt to different environments such as channel siltation, culvert inverted siphon siltation and the like, and realizes harmless continuous, movable and rapid desilting. The track correction unit can prevent the dredging robot, so that the dredging robot can reliably clear silt and obstacles.
Description
Technical Field
The invention relates to a robot, in particular to a dredging robot.
Background
Since the main channel of a plurality of open channels in China is put into operation, the dependence degree of users along the line is gradually deepened, the requirement on the water supply guarantee rate is high, and the desired value of the main channel water delivery of the open channels is uninterrupted water supply in the future operation. However, as with other open channels, these open channel main channels inevitably form large amounts of sludge within the water delivery channels and the drainage structures intersecting them during their operation, affecting the water supply and compromising the safety of the main channels. In order to ensure the safety of uninterrupted water supply and main canal and reduce the secondary pollution in the dredging process, it is necessary to research an underwater dredging robot
By combining the operation requirements and field conditions of the main channel of the open channel, the underwater dredging robot can adapt to different environments such as channel siltation, culvert inverted siphon siltation and the like, has the functions of sludge cleaning and the like, and realizes harmless, continuous, movable and rapid dredging.
Disclosure of Invention
In view of the above, the invention provides a propeller-driven left-right swinging cutter-suction type dredging robot with a track correction function, which can realize underwater harmless continuous movement and rapid dredging.
Screw drive horizontal hunting cutter-suction type desilting robot that possesses orbit correction function, its characterized in that: the method comprises the following steps: the system comprises a platform frame, a ship body, a propeller, a left-right swinging twisting and sucking mechanism, a dredging mechanism, a pumping mechanism, a track correcting unit and a control unit;
the ship body is used as a walking mechanism of the dredging robot and is arranged at the bottom of the platform frame; the propeller thruster provides power for the ship body to move forwards under the control of the control unit; a buoyancy tank is arranged inside the ship body;
the side-to-side swinging twisting and sucking mechanism is arranged at the front end of the ship body and comprises: the device comprises a rotary base, a mounting seat, a telescopic arm and a twisting and sucking head; the rotating base is arranged on the ship body and used for driving the left-right swinging twisting and absorbing mechanism to swing left and right within a set angle range; the mounting seat is fixed on the rotating base, one end of the telescopic arm is in pin joint with the mounting seat, and the other end of the telescopic arm is connected with the twisting suction head; the hank suction head includes: the device comprises a cover body, a spiral twisting suction head and a motor; the cover body is of a hollow structure with an opening at the bottom, notches are arranged on the left side and the right side of the cover body, the spiral twisting suction head is arranged in the cover body, and the spiral twisting suction head is driven by the motor to rotate around the vertical direction; the motor is fixed on the cover body;
the pumping mechanism is arranged on the ship body and connected with a silt suction pipe arranged at the top of the cover body, and the pumping mechanism is used for pumping silt sucked by the twisting suction head to the ground;
the dredging mechanism comprises a mechanical arm and a collecting basket, when the left-right swinging twisting and sucking mechanism finishes dredging, the telescopic arm and the twisting and sucking head are detached from the mounting seat, and the mechanical arm is mounted on the mounting seat; the collecting basket is arranged on the top of the platform frame; the mechanical arm finishes picking action at a set position under the control of the control unit and puts picked objects into the collecting basket; the rotary base and the mechanical arm are controlled by the control unit;
the control unit receives a control instruction of the upper computer and controls the propeller thruster, the left-right swinging cutter-suction mechanism and the dredging mechanism to work;
the trajectory correcting unit includes: four towing rods; the culvert is characterized in that longitudinal beams parallel to two side wall surfaces of the culvert are respectively arranged on the same horizontal plane on two transverse sides of the platform frame, a hinge shaft is respectively arranged at the front end and the rear end of each longitudinal beam, an angle sensor is arranged in each hinge shaft, a towing rod is arranged at each hinge shaft, one end of each towing rod is hinged to each hinge shaft, and the other end of each towing rod extends obliquely backwards and then contacts with the side wall of the culvert on the corresponding side; initially, the included angles between two tow rods positioned on the same side and the side wall of the culvert are the same set value; the angle sensor monitors the included angle between the tow rod at the position of the angle sensor and the side wall of the culvert in real time and sends the included angle to the control unit;
when the difference value of the included angles between the two tow bars positioned on the same side and the side wall of the culvert is monitored to exceed the preset difference value range in the control unit, the control unit controls the ship body to correct the advancing direction of the dredging robot until the difference value of the included angles between the two tow bars positioned on the same side and the side wall of the culvert is within the preset difference value range.
Furthermore, the device also comprises a height indicator arranged in the middle of the front end of the platform frame and an attitude sensor arranged on the platform frame;
when the dredging robot is used in a culvert of which the longitudinal section is in an inverted trapezoid shape, the attitude sensor monitors the attitude of the dredging robot in real time and sends the attitude to an upper computer, and the current position of the dredging robot in a lower slope section, a plane section or an upper slope section of a culvert outlet can be known according to the attitude data monitored by the attitude sensor; when the dredging robot is located at the plane section, the height measuring instrument measures the distance from the position of the dredging robot to the upper slope of the culvert outlet in real time and sends the distance to the upper computer, and the upper computer obtains the distance from the underwater dredging robot to the culvert inlet by combining the known total length of the culvert.
Further, still include anticollision guider, anticollision guider is including the symmetry setting is in the anticollision wheelset of platform frame left and right sides, the anticollision wheelset of every side includes the anticollision wheel that is located same vertical plane more than two, the axis of anticollision wheel is along vertical direction.
The system further comprises a visual unit, wherein the visual unit is used for acquiring an image of the environment where the dredging robot is located in real time and transmitting the image to an upper computer on the ground through a photoelectric composite cable; the visual unit includes: the system comprises a front sonar, a front lighting camera unit, a rear front lighting/camera unit and a rear lighting/camera unit; the front sonar is arranged in the middle of the front end of the platform frame, the left side and the right side of the front end of the platform frame are respectively provided with a front lighting/shooting unit with a lens facing the front, and the middle of the rear end of the platform frame is respectively provided with a rear front lighting/shooting unit with a lens facing the front and a rear lighting/shooting unit with a lens facing the rear.
Has the advantages that:
(1) the dredging robot collects and pumps sludge in a mode of driving a ship body to advance by a propeller and swinging, twisting and sucking left and right, and can realize underwater harmless continuous movement and rapid dredging; owing to possess the orbit and correct the unit, can prevent the desilting robot, make the desilting robot can be reliable carry out the clearance of silt and the clearance of obstacle.
(2) Set up desilting mechanism, can realize picking up of great debris such as stone under water and branch before inhaling the silt for it is higher to inhale silt efficiency.
(3) The anti-collision guide device is arranged, so that the whole dredging robot can be prevented from colliding with a wall in a culvert, and the fixed-track sludge can be cleared and the obstacles can be cleared.
(4) The mechanical arm in the dredging mechanism can be matched with tools such as a high-pressure water gun or a shovel scraper blade, and attached organisms such as shells and the like appearing around the inner wall of the culvert are removed.
Drawings
FIG. 1 is a schematic diagram of the dredging robot;
FIG. 2 is a schematic view of the whole structure of the dredging robot;
FIG. 3 is a schematic structural diagram of the hull of the dredging robot;
FIG. 4 is a schematic structural view of the dredging robot left-right swinging twisting-sucking mechanism;
FIG. 5 is a schematic view of the construction of a twist-suction head with a motor;
FIG. 6 is a schematic structural diagram of a dredging mechanism;
FIG. 7 is a schematic view of the crash guide;
FIG. 8 is a schematic view of a configuration of a vision unit;
fig. 9 is a schematic structural diagram of the trajectory correcting unit.
Wherein: 1-hull, 2-propeller, 3-pumping mechanism, 4-left-right swinging twisting and sucking mechanism, 5-collision-proof guiding device, 6-collecting frame, 7-desilting mechanism, 8-visual unit, 9-platform frame, 13-hull plate, 14-buoyancy tank, 15-walking wheel, 16-supporting mechanism, 17-rotating base, 18-mounting seat, 19-supporting oil cylinder, 20-telescopic arm, 21-twisting suction head, 22-cover body, 23-spiral twisting suction head, 24-silt suction pipe, 25-motor, 26-roller, 27-collecting basket, 39-prepositive sonar, 40-prepositive lighting and shooting unit, 41-postpositive prepositive lighting and shooting unit, 42-postpositive lighting and shooting unit, 46-support frame, 47-anti-collision wheel, 48-rotating shaft, 57-towing rod and 58-angle sensor.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Example 1:
the utility model provides a screw drive submarine formula horizontal hunting cutter-suction type desilting robot in this embodiment can realize the quick desilting of harmless continuous movement under water.
As shown in fig. 1 and 2, the dredging robot comprises a platform frame 9, a ship body 1, a propeller 2, a left-right swinging cutter-suction mechanism 4, a dredging mechanism 7, an anti-collision guide device 5, a pumping mechanism 3, a control unit and a visual unit. The ship body 1, the propeller and the anti-collision guide device form a walking platform system, and the left-right swinging twisting and sucking mechanism 4 and the dredging mechanism 7 are execution parts.
As shown in figure 3, the dredging robot adopts a ship body 1 as a walking mechanism, a propeller thruster 2 is arranged at the tail part of the ship body 1, and the propeller thruster 2 provides power for the ship body 1 to move forwards, namely, the ship body 1 moves forwards along a culvert under the action of the propeller thruster 2. The propeller propellers 2 can be arranged at the tail part and the head part of the ship body 1 at the same time, so that the dredging robot can move in two directions. The hull 1 includes: boat deck 13, buoyancy tanks 14, road wheels 15 and support mechanisms 16. The left side and the right side of the inside of the hull 1 are respectively provided with a buoyancy tank 14, so that the hull can float upwards and submerge like a submarine; and one buoyancy tank on each side is divided into a front sub buoyancy tank and a rear sub buoyancy tank which are independent, the left front sub buoyancy tank and the right front sub buoyancy tank are communicated, the two rear sub buoyancy tanks are communicated, the two front sub buoyancy tanks share one water supply and drainage mechanism, and the two rear sub buoyancy tanks share one water supply and drainage mechanism. The function of the lifting device is to ensure the forward tilting and the horizontal lifting of the ship body 1, so that the dredging robot can simulate a car to walk on a descending channel and an ascending channel, and can also run on a horizontal channel. The function is realized by a water supply and drainage mechanism arranged in the buoyancy tanks, namely when the ship body 1 goes downhill, the left and right sub buoyancy tanks positioned in front are filled with more water by the water supply and drainage mechanism, the left and right buoyancy tanks behind the ship body 1 are ensured to be filled with less water properly, the inclination angle of the ship body 1 can be adjusted to be consistent with the gradient of the downhill by displaying the inclination angle of an attitude sensor (the attitude sensor monitors the attitude of the ship body in real time and uploads the monitored attitude data to an upper computer on the shore) arranged on the ship body 1 and combining the difference of the weight of water injected into the front and rear boxes by the water supply and drainage mechanism, namely, the included angle between the gradient of the ship body and the downhill is the same as that between the gradient of the horizontal plane, namely, the gradient of the ship body 1 and the downhill is parallel. The ship body can also be adjusted to be horizontal or raised.
Two walking wheels 15 are respectively arranged on the left side and the right side of the lower portion of the ship body 1, the two walking wheels 15 on each side are arranged front and back, pressure sensors are arranged below each walking wheel 15, when the buoyancy tank 14 is filled with water, the pressure sensors are monitored in real time, when the pressure of each pressure sensor is zero, the ship body 1 is shown to be not in contact with the ground at the moment and is in a floating state, the ship body is driven to move forwards at the moment, and friction between the ship body and the ground can be effectively reduced.
Two supporting mechanisms 16 are respectively arranged at the left side and the right side of a ship body 1, the supporting mechanisms 16 are telescopic oil cylinders, the cylinder body ends of the supporting mechanisms are connected with the ship body, when the ship body 1 is in a running state, the supporting mechanisms 16 are contracted, when the ship body 1 stops to carry out desilting operation, because the buoyancy tank of the ship body 1 is filled with water, and the weight of the ship body and mechanical parts on the ship body is larger in total water, the ship body 1 is easy to swing left and right, at the moment, the supporting mechanisms 16 are extended out to be directly supported on the culvert wall surface at the corresponding side, so that the ship body 1 is ensured not to swing left and right, and the desil.
This desilting robot adopts the horizontal hunting hank to inhale the mechanism and inhales silt, as shown in fig. 4, the horizontal hunting hank is inhaled the mechanism and is set up at 1 front end central point of hull and put, includes: a rotating base 17, a mounting seat 18, a supporting oil cylinder 19, a telescopic arm 20 and a twisting head 21 with a motor. The rotary base 17 is arranged on the ship body 1 and used for driving the left-right swinging twisting and absorbing mechanism to rotate within a set angle range so as to realize left-right swinging; one end of the mounting seat 18 is fixed on the rotating base 17, the other end of the mounting seat is connected with one end of the telescopic arm 20 through a pin shaft, and the telescopic arm 20 can rotate around the pin shaft to swing up and down. The other end of the telescopic arm 20 is hinged with a twisting suction head 21. The cylinder body end of the supporting oil cylinder 19 is fixed on the mounting seat 18, the piston rod end is connected with the telescopic arm 20 after inclining downwards and upwards, when the left-right swinging winch and suction mechanism works normally, the supporting oil cylinder 19 is in a free telescopic state, free floating is realized through the supporting oil cylinder 19, and the effect of vibration reduction can be achieved; when in maintenance, the twisting suction head 21 is supported by the supporting oil cylinder 19, so that the twisting suction head 21 is convenient to maintain and replace.
The motorized wringing tip 21 is constructed as shown in FIG. 5, and includes: a cover body 22, a spiral twisting suction head 23, a silt suction pipe 24, a motor 25 and a roller 26. The cover body 22 is a hollow cylindrical structure with an opening at the bottom and notches at the left side and the right side, a spiral twisting suction head 23 is arranged in the cover body 22, and the spiral twisting suction head 23 is driven by a motor 25 fixed at the top of the cover body 22 to rotate around the vertical direction. Four rollers 26 are arranged at the bottom of the cover body 22 along the circumferential direction, so that the twisting suction head 21 can roll on the ground when swinging left and right to twist and suck silt, and the friction resistance is reduced.
The working principle of the left-right swinging twisting and sucking mechanism is as follows: the twisting suction head 21 provided with the cover body 22 is responsible for stirring and collecting sludge, a pipeline (namely a silt suction pipe 24) for sucking the sludge is arranged at the top of the cover body 22, the silt suction pipe 24 is connected with the pumping mechanism 3, and the sludge stirred by the twisting suction head 21 enters the pumping mechanism arranged on the ship body 1 through the silt suction pipe 24. The pumping mechanism 3 mainly comprises a submersible motor and a sand pump, and the sludge is pumped to the ground through the sand pump.
As the culvert can contain stones and branches besides silt, the left side and the right side of the ship body 1 are also provided with the collection baskets 27, the front ends of the collection baskets 27 are opened, and the collection baskets 27 collect the stones and the branches like a dustpan in the advancing process of the ship body; after silt collection and the pump sending of culvert end, collect basket 27 front end opening and raise upward, avoid stone and branch roll-off basket, directly bring back ground with stone and branch through collecting basket 27.
After the dredging system of the channel finishes dredging, the dredging system can be dismantled, the dredging mechanism 7 is arranged on the rotating base 17, and then the channel is picked up by large stones. As shown in fig. 6, the dredging mechanism 7 is a five-axis mechanical arm, one end of the five-axis mechanical arm is connected with the mounting seat 18, and the mechanical arm is driven to rotate around the vertical direction by the rotating base 17, so that the mechanical arm can be operated at different positions in the circumferential direction. The arm realizes picking up of stone and branch under water under control unit's control, and rotating base 17 is responsible for the rotation of whole arm to pick up behind stone and the branch in the place ahead, the backward rotation is to setting up the collection basket 6 the inside on platform frame 9 (platform frame 9 sets up on hull 1), is brought back to ground by the desilting robot at last.
As shown in fig. 7, for preventing the whole vehicle of the underwater dredging robot from crashing the wall in the culvert, an anti-collision guiding device is arranged on the platform frame 9, and comprises: the symmetry sets up the rubber tyer group in the platform frame 9 left and right sides, and the rubber tyer group of every side includes four anticollision wheels 47 that are the rectangular distribution in vertical plane, and vertical direction is followed to the axis of anticollision wheel 47, and concrete mounting means is: one end of the supporting frame 46 is connected with the platform frame 9, the other end is connected with the rotating shaft 48 through a bearing, and the anti-collision wheel 47 is sleeved outside the rotating shaft 48 through a bearing. The anti-collision guide device has the main function of preventing the whole underwater dredging robot from colliding with the wall in the culvert when the ship body deviates; meanwhile, when the dredging robot advances, one side or two sides of the dredging robot can be tightly attached to the wall surface of the culvert and can run along the wall, so that the fixed-track sludge is cleared and the obstacles are cleared. If to the culvert of 3 meters, supposing to design the automobile body 1.5 meters wide, can directly respectively design the anticollision guider both sides for 0.7 meters wide, from this, underwater desilting robot can directly rely on each four rubber tyers on both sides to move ahead along the culvert, realizes the clearance of fixed track silt and the clearance of obstacle. For the culvert which is more than 3 meters and less than or equal to 6 meters, the four rubber wheels on one side can be attached to the wall and run along the wall, after the desilting of a certain distance is finished, the four rubber wheels on the other side are also attached to the wall and run along the wall, and the desilting of the other half of the certain distance is finished. Therefore, the fixed-distance dredging work of the culvert can be finished through twice passing in and out of the culvert.
As shown in fig. 8, the visual unit includes: a front sonar 39, a front illumination/imaging unit 40, a rear front illumination/imaging unit 41, and a rear illumination/imaging unit 42 mounted on the platform frame 9. The front sonar 39 is arranged in the middle of the front end of the platform frame 9, the left and right sides of the front end of the collecting basket 6 on the platform frame 9 are respectively provided with a front lighting/shooting unit 40 with a lens facing forward, the middle position of the rear end of the collecting basket 6 on the platform frame 9 is respectively provided with a rear front lighting/shooting unit 41 and a rear lighting/shooting unit 42, wherein the lens of the rear front lighting/shooting unit 41 faces forward, and the lens of the rear lighting/shooting unit 42 faces rearward. The visual unit is used for transmitting underwater images collected by the lighting/camera unit and image outlines obtained by sonar detection to an upper computer on the ground through a photoelectric composite cable at the tail end of the underwater dredging robot, and the images are displayed on a screen through a multi-screen display of the upper computer, so that ground personnel can conveniently control a control lever of the upper computer and a data processing system to jointly send an instruction to the lower computer (namely a control unit of the dredging robot) according to the images to guide an underwater execution mechanism (a sludge suction mechanism and a dredging mechanism) of the dredging robot to work.
The control unit is a lower computer arranged on the platform frame, the lower computer is matched with an upper computer on the ground to realize control over the dredging robot, the control unit comprises a hydraulic control unit and an electric control unit, the hydraulic control unit is used for controlling a hydraulic part on the dredging robot, such as a motor 25 in a twisting suction head 21, the five-axis mechanical arm also adopts a hydraulic power source, and electronic components on the dredging robot are controlled by the electric control unit. The tail end of the underwater sludge cleaning robot is connected with a photoelectric composite cable for providing optical fibers and power cables for a lower computer (namely an electronic cabin on the ship body 1), and a pipeline (connected with a pumping mechanism) for ensuring underwater muddy water conveying.
The dredging robot has two application environments as follows:
the first method comprises the following steps: the artificial river channel is an open channel and is straight, water flows downwards in a downstream mode, and the cross section of the water flow is inverted trapezoidal blue. Sometimes, the river channel bridge or the dark hole is crossed. The underwater equipment is required not to damage the bank or bridge piers at two sides of the river. The four walls of the culvert cannot be damaged, the underwater equipment cannot be manually drained to rescue the underwater equipment, and the underwater equipment returns to the ground automatically. Underwater equipment is required to realize the cleaning of river silt and the removal of obstacles (stones or branches, braided fabrics).
And the second method comprises the following steps: the artificial river channel is an inverted trapezoidal culvert which penetrates through the lower part of the open channel and is arranged below the open channel, and the water flow section is square under the full water state, and the total length of the inverted trapezoidal culvert is about hundreds of meters. Commonly referred to as a through-canal culvert. The river water is turbid. All dimensions (e.g., tunnel length, inverted trapezoidal slope, length of slope from top, profile and all relevant dimensions) within the through-canal culvert itself are clearly known. The underwater equipment is required to return to the ground by itself, but the four walls of the inverted trapezoidal culvert cannot be damaged, and the underwater equipment cannot be manually launched to rescue the underwater equipment. Underwater equipment is required to realize the clearing of culvert silt and the clearing of obstacles (stones or branches, braided fabrics).
For guaranteeing that the desilting robot can be reliable carry out the clearance of silt and the cleaing away of obstacle, prevent its off tracking, set up the orbit on this desilting robot and correct the unit, as shown in figure 9, the orbit is corrected the unit and is included: four tow bars 57. The culvert is characterized in that longitudinal beams parallel to two side faces of the culvert are respectively arranged on the same horizontal plane of two transverse sides of the platform frame 9, a hinge shaft is respectively arranged at the front end and the rear end of each longitudinal beam, four hinge shafts are counted, an angle sensor 58 is arranged in each hinge shaft, a towing rod 57 is arranged at each hinge shaft, one end of each towing rod 57 is hinged to each hinge shaft, and the other end of each towing rod 57 is in contact with the side wall of the culvert on the corresponding side after extending towards the oblique rear direction. In order to ensure that the side wall of the culvert is not damaged, a roller is arranged at the contact end of the towing rod 57 and the side wall of the culvert, and the towing rod 57 is in contact with the side wall of the culvert through the roller. The included angles between the two tow rods 57 on the same side and the side wall of the culvert are the same set value. The angle sensor 58 monitors the included angle between the tow rod 57 and the side wall of the culvert at the position of the angle sensor in real time and sends the included angle to the shore host computer.
In order to ensure that the end part of the towing rod 57 is always tightly attached to the side wall of the culvert when the dredging robot moves forwards, a large-torque torsion spring needs to be arranged at the joint of the towing rod 57 and the hinge shaft, or a telescopic oil cylinder is arranged between the longitudinal beam and the towing rod 57, so that one end of the towing rod 57 is always tightly attached to the side surface of the culvert.
The working principle of the track correction unit is as follows: when the underwater dredging robot normally moves forward, the four towing rods 57 connected with the hinge shafts on the two beams on the same horizontal plane of the platform frame are tightly attached to the two side walls of the culvert, and the included angles of the two towing rods 57 on the same side and the side arms of the culvert are equal under the condition that the underwater robot is not off tracking. The angle sensor monitors the included angle of each tow bar and the side wall of the culvert in real time and sends the included angle to the upper computer, when the deviation of the underwater robot is judged through the monitored included angle, the deviation rectification of the dredging robot is realized through controlling the ship body (namely, a motor of the ship body), the data difference of the included angle of the two tow bars on the same side is ensured to be continuously reduced until the included angle is equal, the deviation rectification is realized, and the side wall of the culvert, which is hit by the dredging robot, can be effectively avoided.
The trajectory correcting unit is particularly suitable for being used under the condition that the cross section of the culvert is small.
On the basis of realizing the track correction function, an attitude sensor and a height indicator can be arranged on the platform frame 9 to realize the positioning of the underwater dredging robot in the culvert. The method specifically comprises the following steps: the altimeter is installed at 9 front end intermediate positions of platform frame, and the altimeter is long range altimeter, and self-align process is: the attitude sensor monitors the inclination angles of the dredging robot in the X axis, the Y axis and the Z axis (the Z axis is consistent with the vertical direction) in real time and feeds the inclination angles back to the upper computer on the ground, and the height measuring instrument feeds the measurement data back to the upper computer on the ground in real time; according to the attitude data monitored by the attitude sensor, the fact that the dredging robot is currently located at a lower slope section, a plane section or an upper slope section of the culvert inlet can be known, and if the underwater dredging robot walks downwards from the culvert inlet to the slope, the attitude sensor provides data of downward inclination of a machine body to an upper computer, which indicates that the dredging robot is located at the lower slope of the culvert inlet; when the downward slope is finished, the downward inclination data of the attitude sensor is probably close to zero, which is equivalent to the situation that the downward inclination bottom edge of the trapezoid begins to be stepped, because the overlooking distance of the inlet slope is short and is known in advance, the only distance which cannot be confirmed is the distance between the underwater dredging robot and the inlet of the culvert, at the moment, the distance from the underwater dredging robot to the outlet slope of the culvert can be measured by the long-range altimeter at the front end of the platform frame and is sent to the upper computer, and the upper computer can reversely calculate the distance between the underwater dredging robot and the inlet of the culvert according to the known total length of the culvert, so that the self positioning of the underwater dredging robot can be realized, and the sludge and obstacle clearing work of the culvert can be carried out.
Example 2:
on the basis of the embodiment 1, a cleaning system is added, and the cleaning system comprises a mechanical arm, a high-pressure water gun bound on the mechanical arm and a high-pressure cleaning pump arranged on the ground and connected with the high-pressure water gun through a water pipe.
The function of the washing system is as follows:
(1) because current culvert all has the inner chamfering, the desilting robot hardly constructs with desilting with its clean up completely, when accomplishing the main desilting work back of culvert, ties up the high-pressure squirt on five arms, realizes washing the clearance to the silt of the inner chamfering department in the both sides about the culvert, washes its central authorities to the culvert, then the rethread desilting robot's horizontal hunting cutter suction mechanism 4 collects and the pump sending, with remaining silt pump in the culvert in the mud-water separation equipment on ground.
(2) When the inner wall of the culvert is adhered with the shellfish, the attachment of the shellfish can be directly washed and cleaned by the two side surfaces and the top of the culvert in a high-pressure water gun washing mode due to poor adhesive force, and then the silt and the shell are collected and pumped by the left-right swinging twisting and sucking mechanism 4 of the dredging robot, so that the dredging work in the culvert is completed.
(3) The dredging robot has two purposes, namely being used in a channel and a culvert, so that after the dredging robot is used in the culvert, the dredging robot is flushed by a high-pressure water gun and then is conveyed to an open channel for sludge collection and pumping.
Example 3:
on the basis of the embodiment 1, the adhering force is not strong and the diameter is between 10 and 60 millimeters because the attached shell organisms appear around the inner wall of the culvert in partial areas at present. Aiming at the special sediment, a scraping system is derived from the underwater dredging robot, specifically, a scraping plate is installed at the tail end of a five-axis mechanical arm of the dredging robot, a rotating platform under the five-axis mechanical arm rotates, so that the five-axis mechanical arm is perpendicular to the side wall of the culvert, through the scraping plate installed at the front end of the five-axis mechanical arm, the scraping of attachments such as shells and the like on the inner walls of two sides of the culvert is realized through the forward extension of the five-axis mechanical arm, and finally, the silt and the shells are collected and pumped through a left-right swinging hinging and suction mechanism 4 of the dredging robot, so that the dredging work in the culvert is completed. The shell creatures on the top end of the culvert still need to be washed by the high-pressure water gun in the embodiment 3, the shell attached creatures are washed down, and then the cleaning is carried out by the dredging robot.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (10)
1. Screw drive horizontal hunting cutter-suction type desilting robot that possesses track and correct function, its characterized in that: the method comprises the following steps: the device comprises a platform frame (9), a ship body (1), a propeller (2), a left-right swinging cutter-suction mechanism (4), a dredging mechanism (7), a pumping mechanism (3), a track correcting unit and a control unit;
the ship body (1) is used as a walking mechanism of the dredging robot and is arranged at the bottom of the platform frame (9); the propeller thruster (2) provides power for the ship body (1) to move forwards under the control of the control unit; a buoyancy tank (14) is arranged in the hull (1);
the left-right swing cutter-suction mechanism (4) is arranged at the front end of the ship body (1) and comprises: a rotary base (17), a mounting seat (18), a telescopic arm (20) and a twisting suction head (21); the rotating base (17) is arranged on the ship body (1) and is used for driving the left-right swinging twisting and absorbing mechanism to swing left and right within a set angle range; the mounting seat (18) is fixed on the rotating base (17), one end of the telescopic arm (20) is in pin joint with the mounting seat (18), and the other end of the telescopic arm is connected with the twisting suction head (21); the twisting head (21) comprises: a cover body (22), a spiral twisting suction head (23) and a motor (25); the cover body (22) is of a hollow structure with an opening at the bottom and notches at the left side and the right side, the spiral twisting suction head (23) is arranged inside the cover body (22), and the spiral twisting suction head (23) is driven by the motor (25) to rotate around the vertical direction; the motor (25) is fixed on the cover body (22);
the pumping mechanism (3) is arranged on the ship body (1) and is connected with a silt suction pipe (24) arranged at the top of the cover body (22), and the pumping mechanism (3) is used for pumping silt sucked by the twisting suction head (21) to the ground;
the dredging mechanism (7) comprises a mechanical arm (45) and a collecting basket (6), when the left-right swinging twisting and sucking mechanism (4) finishes dredging, the telescopic arm (20) and the twisting and sucking head (21) are detached from the mounting seat (18), and the mechanical arm (45) is mounted on the mounting seat (18); the collecting basket (6) is arranged on the top of the platform frame (9); the mechanical arm (45) completes the picking action at a set position under the control of the control unit and puts the picked objects into the collecting basket (6); the rotating base (17) and the mechanical arm are controlled by the control unit;
the control unit receives a control instruction of the upper computer and controls the propeller thruster, the left-right swinging cutter-suction mechanism (4) and the dredging mechanism (7) to work;
the trajectory correcting unit includes: four tow bars (57); the culvert is characterized in that longitudinal beams parallel to two side wall surfaces of a culvert are respectively arranged on the same horizontal plane on two transverse sides of the platform frame (9), a hinge shaft is respectively arranged at the front end and the rear end of each longitudinal beam, an angle sensor (58) is arranged in each hinge shaft, a towing rod (57) is arranged at each hinge shaft, one end of each towing rod (57) is hinged to each hinge shaft, and the other end of each towing rod is contacted with the corresponding side wall of the culvert after extending towards the oblique rear direction; initially, the included angles between the two towing rods (57) positioned on the same side and the side wall of the culvert are the same set value; the angle sensor (58) monitors the included angle between the towing rod (57) and the side wall of the culvert at the position of the angle sensor in real time and sends the included angle to the control unit;
when the difference value of the included angles between the two tow rods (57) positioned on the same side and the side wall of the culvert exceeds the preset difference value range in the control unit, the control unit controls the ship body (1) to correct the advancing direction of the dredging robot until the difference value of the included angles between the two tow rods (57) positioned on the same side and the side wall of the culvert is within the preset difference value range.
2. The screw propeller-driven right-left swinging cutter-suction type desilting robot with the track correcting function as claimed in claim 1, characterized in that: the device also comprises a height indicator arranged in the middle of the front end of the platform frame (9) and an attitude sensor arranged on the platform frame (9);
when the dredging robot is used in a culvert of which the longitudinal section is in an inverted trapezoid shape, the attitude sensor monitors the attitude of the dredging robot in real time and sends the attitude to an upper computer, and the current position of the dredging robot in a lower slope section, a plane section or an upper slope section of a culvert outlet can be known according to the attitude data monitored by the attitude sensor; when the dredging robot is located at the plane section, the height measuring instrument measures the distance from the position of the dredging robot to the upper slope of the culvert outlet in real time and sends the distance to the upper computer, and the upper computer obtains the distance from the underwater dredging robot to the culvert inlet by combining the known total length of the culvert.
3. The screw propeller-driven right-left swinging cutter-suction type desilting robot with the trajectory correcting function according to claim 1 or 2, characterized in that: still include anticollision guider, anticollision guider sets up including the symmetry the anticollision wheelset of platform frame (9) left and right sides, and the anticollision wheelset of every side includes more than two anticollision wheels (47) that are located same vertical plane, the axis of anticollision wheel (47) is along vertical direction.
4. The screw propeller-driven right-left swinging cutter-suction type desilting robot with the trajectory correcting function according to claim 1 or 2, characterized in that: the system comprises a robot, a visual unit and a ground host computer, wherein the robot is used for dredging a soil block and a soil block, and the visual unit is used for acquiring an image of the environment where the robot is located in real time and transmitting the image to the ground host computer through a photoelectric composite cable; the visual unit includes: a front sonar (39), a front illumination camera unit (40), a rear front illumination/camera unit (41) and a rear illumination/camera unit (42); the front sonar system is characterized in that the front sonar (39) is arranged in the middle of the front end of a platform frame (9), a front lighting/shooting unit (40) with a lens facing the front is arranged on each of the left side and the right side of the front end of the platform frame (9), and a rear front lighting/shooting unit (41) with a lens facing the front and a rear lighting/shooting unit (42) with a lens facing the rear are arranged in the middle of the rear end of the platform frame (9).
5. The screw propeller-driven right-left swinging cutter-suction type desilting robot with the trajectory correcting function according to claim 1 or 2, characterized in that: the left side and the right side of the inside of the ship body (1) are respectively provided with two buoyancy tanks (14), the two buoyancy tanks (14) on each side are arranged in front and back, wherein the two buoyancy tanks positioned in front are communicated, and the two buoyancy tanks positioned in back are communicated; two mutually communicated buoyancy tanks share one water supply and drainage mechanism.
6. The screw propeller-driven right-left swinging cutter-suction type desilting robot with the trajectory correcting function according to claim 1 or 2, characterized in that: the utility model discloses a desilting robot, including hull (1), supporting mechanism (16), telescopic cylinder, support mechanism (16) are the telescopic cylinder, and its cylinder end links to each other with hull (1), hull (1) is in when traveling state, supporting mechanism (16) shrink, work as when the desilting robot begins desilting work, supporting mechanism (16) stretch out, support to correspond on the culvert wall of side.
7. The screw propeller-driven right-left swinging cutter-suction type desilting robot with the trajectory correcting function according to claim 1 or 2, characterized in that: and a torsion spring is arranged at the joint of the towing rod (57) and the corresponding hinge shaft.
8. The screw propeller-driven right-left swinging cutter-suction type desilting robot with the trajectory correcting function according to claim 1 or 2, characterized in that: the left-right swing twisting and sucking mechanism (4) further comprises a supporting oil cylinder (19), the cylinder body end of the supporting oil cylinder (19) is fixed on the mounting seat (18), the piston rod end is connected with the telescopic arm (20), and when the left-right swing twisting and sucking mechanism works, the supporting oil cylinder (19) is in a free telescopic state.
9. The screw propeller-driven right-left swinging cutter-suction type desilting robot with the trajectory correcting function according to claim 1 or 2, characterized in that: connect the high-pressure squirt on the arm, the high-pressure squirt leads to pipe and links to each other with the high-pressure cleaning pump on ground, forms cleaning system for the clearance of washing that goes on silt and wall attachment.
10. The screw propeller-driven right-left swinging cutter-suction type desilting robot with the trajectory correcting function according to claim 1 or 2, characterized in that: and a scraping plate is arranged at the tail end of the mechanical arm to form a scraping system for scraping the attachments on the side wall.
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| CN201811459453.5A CN109577404B (en) | 2018-11-30 | 2018-11-30 | Propeller-driven left-right swinging cutter-suction type desilting robot with track correction function |
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| CN201811459453.5A CN109577404B (en) | 2018-11-30 | 2018-11-30 | Propeller-driven left-right swinging cutter-suction type desilting robot with track correction function |
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| CN110588917A (en) * | 2019-10-25 | 2019-12-20 | 金龙 | Underwater ship bottom cleaning device |
| CN111877441B (en) * | 2020-08-28 | 2024-05-28 | 河北省水利科学研究院 | Wet sludge wringing and sucking device |
| CN117419771B (en) * | 2023-12-18 | 2024-02-20 | 山东博硕自动化技术有限公司 | Device and method for dynamically detecting building material with irregular thickness |
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| CN106609531B (en) * | 2016-06-16 | 2019-06-11 | 襄阳忠良工程机械有限责任公司 | It is broken to dig integral type drive hoeing machine |
| CN206570856U (en) * | 2016-12-27 | 2017-10-20 | 长沙智汛通环保科技有限公司 | A kind of impeller pump crawler type dredging robot |
| CN107227762A (en) * | 2017-07-05 | 2017-10-03 | 中交天航环保工程有限公司 | It is a kind of to be applied to strand suction ship and its construction method that mark is passed through under the larger shale of radix |
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