CN109629625A - A kind of fixed point depth dredging robot car body - Google Patents
A kind of fixed point depth dredging robot car body Download PDFInfo
- Publication number
- CN109629625A CN109629625A CN201811531751.0A CN201811531751A CN109629625A CN 109629625 A CN109629625 A CN 109629625A CN 201811531751 A CN201811531751 A CN 201811531751A CN 109629625 A CN109629625 A CN 109629625A
- Authority
- CN
- China
- Prior art keywords
- car body
- dredging
- fixed point
- main body
- mud
- 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
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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
- E02F3/8816—Mobile land installations
-
- 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
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/08—Superstructures; Supports for superstructures
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/08—Superstructures; Supports for superstructures
- E02F9/0808—Improving mounting or assembling, e.g. frame elements, disposition of all the components on the superstructures
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/08—Superstructures; Supports for superstructures
- E02F9/085—Ground-engaging fitting for supporting the machines while working, e.g. outriggers, legs
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of fixed point depth dredging robot car bodies, including car body, the car body includes central, circular empty structure, empty bottom is equipped with silt dredging gun joint, silt dredging gun joint vehicle bottom at vehicle head, which is fixed with, sweeps mud winch, car body four corners are bascule, bascule is controlled by underwater steering engine, submersible machine is fixed in bascule, submersible machine is connected with wheel by axle, there are 45 degree of oblique angles in wheel axis direction and headstock direction, and four wheels in a ring, are equipped with the control line connecting with peripheral control unit at the car body top tailstock.The present invention carries silt dredging rifle by silt dredging gun joint, and moving body, allow silt dredging rifle freely to reach each corner in pond, realizes fixed point and the dredging of mould-fixed depth, silt dredging pump is carried by Overwater floating platform effectively mud is sucked out, underwater complex environment can be evaded by bascule.
Description
Technical field
The present invention relates to underwater desilting apparatus field, in particular to a kind of fixed point depth dredging robot car body.
Background technique
The dredging depth of dredging robot is exactly the depth of reamer embedment underwater mud layer, the dredging depth of dredging robot
One of index as strict control during dredging, the influence to desilting efficiency data are very big.Due to the depth one of underwater mud layer
As be it is rugged, therefore, if will the mud to different depth carry out clear up and do not influenced by water-bed sinuous flow, just must
The reamer that dredging robot must be controlled can be moved up and down with the variation of mud depth.It is clear that the prior art can not pinpoint depth
It becomes silted up, shortage moves freely ability, cannot effectively evade underwater complex landform, cause the dredging effect of dredging robot undesirable.
For example, Chinese patent application disclose " a kind of dredging robot dredging depth control system " (application No. is
201720080939.2), which includes mud height sensor, integrated industrial personal computer, PLC controller, driving electricity
Machine, depth adjustment, the mud height sensor are connected with PLC controller, the PLC controller and driving motor phase
Even, the driving motor is connected with depth adjustment, and the PLC controller is also connected with integrated industrial personal computer.Above-mentioned patent
Application solve the problems, such as to lack in the prior art can the system that is controlled of the dredging depth to dredging robot, but should
Dredging robot control system lacks fixed point depth dredging ability, and The turbulent river crashes its way through when dredging works, and collected data are difficult to reality
Border application, and lack the ability for moving freely and evading underwater complex landform, make desilting equipment be difficult to effectively work.
Summary of the invention
The purpose of the present invention is to provide a kind of fixed point depth dredging robot car bodies, solve in the prior art without legal
The problem of point depth dredging, shortage moves freely ability, cannot effectively evade underwater complex landform.
In order to achieve the above object, the invention is realized by the following technical scheme:
A kind of fixed point depth dredging robot car body includes:
Car body main body offers cavity in the car body main body；
Silt dredging gun joint, in the empty bottom, the silt dredging gun joint is fixedly installed at vehicle head to be swept for setting
Mud winch and motor, the motor drive described in sweep mud winch, the mud winch of sweeping twists underwater mud in silt dredging rifle, realizes
Dredging；
Several hollow modules that can be move freely are connected in the car body main body；
Several steering engines of the car body main body are built in, are connected with the hollow module, by adjusting the rudder
Machine rotational angle controls the hollow module and rotates upwardly and downwardly, so that car body main body completes elevating movement vertically.
Preferably, the cavity is round cavity, is placed in the central location of the main body.
Preferably, the four corners of the car body main body are set as the square breach being recessed inwardly, each in the square breach
It is connected with the hollow module.
Preferably, the first side of the hollow module is fixed with steering engine connector, and the steering engine connector is connect with the steering engine,
Second side of the hollow module is fixed with thin bar, and the thin bar and the square breach side are rotatablely connected.
Preferably, it is fixed with submersible machine inside the hollow module, is equipped on the outside of the hollow module and is passed through for axle
Car axle hole, the axle connect with the submersible machine, and the axle passes through the car axle hole and connect with wheel；The vehicle
The axis of wheel is parallel with the axle, has 45 degree of oblique angles between the axis and vehicle head line of the wheel, four wheels are tied in a ring
Structure.
Preferably, the head end of the car body main body, which is equipped with, understands taking the photograph for sub-marine situations for surveying the terrain to be embodied
As head and it is used to help judge the infrared sensor of instantaneous operating conditions.
Preferably, it is provided with string holes at the car body body top tailstock, is equipped with switch by the string holes；Remote controler conducting wire one
End is connect through the string holes with control panel fixed in the car body main body, is realized by the program deposited into the control panel in advance
Car body moving freely and rotating all around；The other end of the remote controler conducting wire is connect with land controller, the silt dredging
Gun joint is equipped with the mud height sensor to detect mud actual height at parking stall, and by the reality of mud
Border altitude information is sent to the control panel, and operator holds the land controller, surveyed the terrain by camera, and with
The mud height sensor feedback data is used as according to progress operation.
Preferably, car body main body vehicle stem bottom end two sides are respectively fixed with a jewel-arraning plate, and the jewel-arraning plate and vehicle are first
Line direction is at 30 degree of oblique angles and to contract；The jewel-arraning plate and car body main body junction are equipped with spring, make row's stone
Stone is blocked in outer and returns to commitment positions by plate after encountering stone.
Preferably, female mouth being offered at the top of the car body main body and being equipped with screw, the screw and female mouth are carried secretly
Counter weight group prevents water flow and silt dredging rifle self-acting power chaotic when work from causing car body main body unbalance at counterweight module.
Preferably, the top of the car body main body is equipped with for pinpointing several hanging rings launched and steadily gone up and down.
Compared with prior art, the invention has the benefit that
(1) fixed point depth dredging robot car body of the invention is equipped with the hollow module and wheel activity branch that can be move freely
Support structure can be such that car body completes and be hung down with center axis by adjusting rotating upwardly and downwardly for steering engine rotational angle control module using this
Elevating movement above and below straight carries silt dredging rifle based on silt dredging gun joint and passes through moving body, and silt dredging rifle can freely reach water
The each corner in pond effectively carries out fixed point and the dredging of mould-fixed depth, simultaneously as module has the function of lifting car body, Ke Yiyou
Effect evades water-bed complicated landform and collides with the influence of generation to car body, and depth dredging can not be pinpointed by solving, and cannot effectively evade water
The problem of lower complicated landform.
(2) fixed point depth dredging robot car body of the invention, motion wheel axis is parallel with axle, the wheel axis
Have 45 degree of oblique angles with vehicle head line, four wheels in a ring structure, it can be achieved that trolley moving freely all around, solves shortage
The problem of moving freely ability.
(3) fixed point depth dredging robot car body of the invention, lifting steering engine and motor are all waterproof model, are worked in close
Cabin is closed, working environment is good, and no replacement is required and trimming for short-period used, and whole device structure is simple, compared to traditional silt remover
Device people's effect is more preferable.
Detailed description of the invention
Fig. 1 is fixed point depth dredging robot body construction schematic diagram of the invention；
Fig. 2 is fixed point depth dredging robot body construction cross-sectional view of the invention.
Wherein, 1. car body；2. round cavity；3. silt dredging gun joint；4. sweeping mud winch；5. motor；6. camera；7. infrared
Sensor；8. square breach；9. hollow module；10. steering engine；11. submersible machine；12. car axle hole；13. axle；14. wheel；
15. string holes；16. remote controler conducting wire；17. control panel；18. land controller；19. switch；20. jewel-arraning plate；21. opening；22. rudder
Machine connector；23. thin bar；24. female mouth；25. screw；26. clump weight；27. hanging ring；28. spring；29. mud height sensor.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention is purged, is complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Fig. 1-2 combination, fixed point depth dredging robot car body of the invention includes car body 1, and the center of car body 1 is set
There is round cavity 2,2 bottoms of round cavity are provided with silt dredging gun joint 3, and silt dredging gun joint 3 is fixedly installed at vehicle head and sweeps
Mud winch 4 and motor 5 sweep mud winch 4 by the drive of motor 5, and underwater mud can be twisted in silt dredging rifle by sweeping mud winch 4, real
Existing dredging.
The head end of car body 1 is provided with camera 6 and infrared sensor 7, and camera 6 can help to understand with being embodied
Sub-marine situations, but when carrying out silt dredging work, underwater visibility is limited, then can obtain to a certain extent by infrared sensor 7
To making up, help judges instantaneous operating conditions.
1 four corners of car body are set as the square breach 8 being recessed inwardly, and opening 21 is provided at left and right sides of square breach 8, side
The hollow module that can be move freely 9 is respectively connected in v notch v 8.
Car body 1 is built-in with steering engine 10, and steering engine 10 connects with hollow module 9；9 side of hollow module is fixed with steering engine connector
22, steering engine connector 22 is closely connect with steering engine 10, and 9 other side of hollow module is fixed with thin bar 23, thin bar 23 and square breach 8 one
Side rotation connection.By adjusting 10 rotational angle of steering engine, control hollow module 9 and rotate upwardly and downwardly, it is possible thereby to complete car body 1 with
Center is the elevating movement of axis vertically, effectively evades water-bed complicated landform and collides with the influence of generation to car body 1, realizes simultaneously
Pinpoint depth dredging.
It is fixed with submersible machine 11 inside hollow module 9, there is car axle hole 12 on the outside of hollow module 9, axle 13 passes through axle
Hole 12 connects submersible machine 11 and wheel 14, and 14 axis of wheel is parallel with axle 13, has 45 between 14 axis of wheel and vehicle head line
Spend oblique angle, four wheels 14 structure in a ring.
The present invention passes through the program that is deposited into control panel 17 in advance and realizes trolley moving freely and rotating all around.Car body
String holes 15 is offered at the 1 top tailstock, remote controler conducting wire 16 connect with control panel 17 fixed in car body 1 through string holes 15, is remotely controlled
16 other end of device conducting wire connects land controller 18, and the hand-holdable land controller 18 of operator passes through 6 observation place of camera
Shape, and using 29 feedback data of mud height sensor as according to progress operation.
Switch 19 is equipped with by string holes 15,1 vehicle stem bottom end two sides of car body are fixed, and there are two jewel-arraning plate 20, jewel-arraning plate 20 and vehicles
It is provided with spring 28 at 30 degree of oblique angles between first line direction and to contract, jewel-arraning plate 20 and 1 junction of car body, makes jewel-arraning plate 20
It is blocked in outer after encountering stone and returns to commitment positions.
1 two sides roof of car body respectively opens up there are two female mouth 24 and is equipped with two screws 25, and screw 25 is matched with female entrainment of mouth 24
Pouring weight 26 forms counterweight module, prevents water flow and silt dredging rifle self-acting power chaotic when work from causing car body 1 unbalance, silt dredging rifle
Connector 3 is fixedly installed with mud height sensor 29 at parking stall, to detect the actual height of mud, and by mud
The actual height data of layer are sent to control panel 17.It is set at the top of car body 1 there are four hanging ring 27, is risen for pinpointing to launch with steady
Drop.Whole device structure is simple, more preferable compared to traditional dredging robot effect.
Land controller 18 involved in the present invention can be computer or other intelligent terminals.The electric appliance member occurred in the present invention
Part is electrically connected with extraneous main controller and 220V alternating current, and main controller can play the conventionally known of control for computer etc. and set
It is standby.
The working principle of fixed point depth dredging robot car body of the invention is as follows:
When using depth dredging robot car body is pinpointed, silt dredging rifle is securely docked with silt dredging gun joint 3 first, is used in combination
Suspension hook hangs hanging ring 27 and is steadily put into the bottom, opens camera 6 and mud height sensor 29, observes sub-marine situations with computer
And trolley movement is controlled, since structure, four-wheel forward trolley move forward four-wheel in a ring, turns trolley after four-wheel and move back, the near front wheel is right
Turn trolley after rear-wheel forward off-front wheel left rear wheel to move to right, the front-wheel left rear wheel forward trolley that turns right after the near front wheel off hind wheel moves to left, and beats
It opens silt dredging rifle and starts silt dredging work, due to sight muddiness when work, trolley descending depth and underwater can be determined by infrared sensor 7
Basal conditions, adjustment 10 angle of steering engine carry out fixed point depth dredging, at the same clump weight 26 can during safeguard work trolley it is flat
Surely, control steering engine 10 lifting car body 1 evades crater wall after completing depth dredging at one, and moving trolley goes to next dredging point
Or region, different preset modes is also set with according to several frequently seen underwater situation in control panel 17, can voluntarily be implemented simple clear
Silt work.
In conclusion fixed point depth dredging robot car body of the invention, be provided with the hollow module that can be move freely and
Wheel movement support structures, by adjusting rotating upwardly and downwardly for steering engine rotational angle control module, with this car body can be made to complete with
Center is the elevating movement of axis vertically, and fixed point depth dredging can effectively be carried out by carrying silt dredging rifle by silt dredging gun joint,
Silt dredging pump is carried by Overwater floating platform effectively mud is sucked out, underwater complex environment can be evaded by bascule.The present invention
Fixed point depth dredging robot car body, motion wheel axis is parallel with axle, and wheel axis and vehicle head line have 45 degree of oblique angles, four
A wheel in a ring structure, it can be achieved that trolley moving freely all around, solves the problems, such as that shortage moves freely ability.This
The fixed point depth dredging robot car body of invention, lifting steering engine and motor are all waterproof model, work in closed in space, building ring
Border is good, and no replacement is required and trimming for short-period used, and whole device structure is simple, more preferable compared to traditional dredging robot effect.
It is discussed in detail although the contents of the present invention have passed through above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read above content, for of the invention
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (10)
1. a kind of fixed point depth dredging robot car body, characterized by comprising:
Car body main body offers empty (2) in the car body main body；
Silt dredging gun joint (3), setting are fixedly mounted at vehicle head in described empty (2) bottom, the silt dredging gun joint (3)
Mud winch (4) and motor (5) are swept, is swept mud winch (4) described in motor (5) drive, the mud winch (4) of sweeping becomes silted up the bottom
Mud twists in silt dredging rifle, realizes dredging；
Several hollow modules (9) that can be move freely, are connected in the car body main body；
Several steering engines (10) of the car body main body are built in, are connected with the hollow module (9), by adjusting described
Steering engine (10) rotational angle controls the hollow module (9) and rotates upwardly and downwardly, so that car body main body completes lifting fortune vertically
It is dynamic.
2. fixed point depth dredging robot car body as described in claim 1, which is characterized in that
The cavity (2) is round cavity, is placed in the central location of the main body.
3. fixed point depth dredging robot car body as described in claim 1, which is characterized in that
The four corners of the car body main body are set as the square breach (8) being recessed inwardly, and are respectively connected in the square breach (8)
One hollow module (9).
4. fixed point depth dredging robot car body as described in claim 1, which is characterized in that
First side of the hollow module (9) is fixed with steering engine connector (22), the steering engine connector (22) and the steering engine (10)
Connection, second side of the hollow module (9) are fixed with thin bar (23), the thin bar (23) and the square breach (8) side
Rotation connection.
5. fixed point depth dredging robot car body as described in claim 1, which is characterized in that
It is fixed with submersible machine (11) inside the hollow module (9), is equipped on the outside of the hollow module (9) and is worn for axle (13)
The car axle hole (12) crossed, the axle (13) connect with the submersible machine (11), and the axle (13) passes through the car axle hole
(12) and with wheel (14) it connect；
The axis of the wheel (14) is parallel with the axle (13), has 45 degree between the axis and vehicle head line of the wheel (14)
Oblique angle, four wheels (14) structure in a ring.
6. fixed point depth dredging robot car body as described in claim 1, which is characterized in that
The head end of the car body main body be equipped with for surveying the terrain be embodied understand sub-marine situations camera (6) and
It is used to help judge the infrared sensor (7) of instantaneous operating conditions.
7. fixed point depth dredging robot car body as described in claim 1, which is characterized in that
It is provided at the car body body top tailstock string holes (15), switch (19) is equipped with by the string holes (15)；
Remote controler conducting wire (16) one end is connect through the string holes (15) with control panel (17) fixed in the car body main body, is passed through
The program that is deposited into the control panel (17) in advance realizes car body moving freely and rotating all around；The remote controler conducting wire
(16) the other end is connect with land controller (18), and the silt dredging gun joint (3) is equipped at parking stall to be become silted up to detect
The mud height sensor (29) of mud layer actual height, and the actual height data of mud are sent to the control panel
(17), operator holds the land controller (18), is surveyed the terrain by camera (6), and with the mud layer height
Sensor (29) feedback data is used as according to progress operation.
8. fixed point depth dredging robot car body as described in claim 1, which is characterized in that
Car body main body vehicle stem bottom end two sides are respectively fixed with a jewel-arraning plate (20), the jewel-arraning plate (20) and the line side vehicle head
To at 30 degree of oblique angles and to contract；
The jewel-arraning plate (20) and car body main body junction are equipped with spring (28), after so that the jewel-arraning plate (20) is encountered stone
Stone is blocked in outer and returns to commitment positions.
9. fixed point depth dredging robot car body as described in claim 1, which is characterized in that
Female mouth (24) is offered at the top of the car body main body and is equipped with screw (25), the screw (25) and female mouth (24)
It carries clump weight (26) secretly and forms counterweight module, prevent water flow and silt dredging rifle self-acting power chaotic when work from leading to car body main body
It is unbalance.
10. fixed point depth dredging robot car body as described in claim 1, which is characterized in that
The top of the car body main body is equipped with for pinpointing several hanging rings (27) launched and steadily gone up and down.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811531751.0A CN109629625A (en) | 2018-12-14 | 2018-12-14 | A kind of fixed point depth dredging robot car body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811531751.0A CN109629625A (en) | 2018-12-14 | 2018-12-14 | A kind of fixed point depth dredging robot car body |
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| CN109629625A true CN109629625A (en) | 2019-04-16 |
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| CN201811531751.0A Pending CN109629625A (en) | 2018-12-14 | 2018-12-14 | A kind of fixed point depth dredging robot car body |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102561431A (en) * | 2012-02-22 | 2012-07-11 | 山东双轮股份有限公司 | Submersible dredging vehicle |
| CN103128730A (en) * | 2013-02-27 | 2013-06-05 | 广东工业大学 | Multi-form real-time information transmission rescue robot |
| CN203681692U (en) * | 2013-11-21 | 2014-07-02 | 徐工集团工程机械股份有限公司道路机械分公司 | Symmetric multi-degree of freedom full four-wheel drive walking-type chassis of walking excavator |
| CN204525436U (en) * | 2015-01-30 | 2015-08-05 | 王成财 | A kind of four-wheel drive transfer robot |
| CN105464162A (en) * | 2015-12-17 | 2016-04-06 | 于锡汉 | Underwater dredging robot |
| CN106151770A (en) * | 2016-08-12 | 2016-11-23 | 广东工业大学 | A kind of pipeline mobile robot device |
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2018
- 2018-12-14 CN CN201811531751.0A patent/CN109629625A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102561431A (en) * | 2012-02-22 | 2012-07-11 | 山东双轮股份有限公司 | Submersible dredging vehicle |
| CN103128730A (en) * | 2013-02-27 | 2013-06-05 | 广东工业大学 | Multi-form real-time information transmission rescue robot |
| CN203681692U (en) * | 2013-11-21 | 2014-07-02 | 徐工集团工程机械股份有限公司道路机械分公司 | Symmetric multi-degree of freedom full four-wheel drive walking-type chassis of walking excavator |
| CN204525436U (en) * | 2015-01-30 | 2015-08-05 | 王成财 | A kind of four-wheel drive transfer robot |
| CN105464162A (en) * | 2015-12-17 | 2016-04-06 | 于锡汉 | Underwater dredging robot |
| CN106151770A (en) * | 2016-08-12 | 2016-11-23 | 广东工业大学 | A kind of pipeline mobile robot device |
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Application publication date: 20190416 |
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| RJ01 | Rejection of invention patent application after publication |