CN110644556B

CN110644556B - Deep hole drainage building dredging device and dredging method

Info

Publication number: CN110644556B
Application number: CN201910913240.3A
Authority: CN
Inventors: 王义锋; 宛良朋; 姚汉光; 顾功开; 王坤; 潘洪月; 李华; 赵代鹏
Original assignee: China Three Gorges Corp; China Three Gorges Projects Development Co Ltd CTG
Current assignee: China Three Gorges Corp; China Three Gorges Projects Development Co Ltd CTG
Priority date: 2019-09-25
Filing date: 2019-09-25
Publication date: 2024-04-19
Anticipated expiration: 2039-09-25
Also published as: CN110644556A

Abstract

A dredging device for a deep hole drainage building comprises a robot operation system and a transfer system; the robot operation system comprises a first travelling machine head, wherein the first travelling machine head is arranged in a track groove at the top end of the deep hole flood discharge tunnel in a sliding manner; the lower end of the first travelling machine head is provided with a mechanical arm which is connected with the mechanical arm; the transfer system comprises an underwater belt conveyor, wherein the underwater belt conveyor is connected with a walking base, and the walking base is arranged on a bottom plate of the deepwater flood discharging tunnel; a traveling bucket is arranged on one side of the underwater belt conveyor and connected with a lifting mechanism on a second traveling machine head through a lifting rope set, and the second traveling machine head is arranged in the track groove; the other side of the walking bucket is provided with a lifting platform which is connected with the crane through a cable. The dredging device for the deep hole spillway building can be used for cleaning the dredging objects of the deep hole spillway tunnel.

Description

Deep hole drainage building dredging device and dredging method

Technical Field

The invention relates to the field of deep water dredging, in particular to a dredging device and a dredging method for a deep hole water drainage building.

Background

The main dredging means in the existing stage can be summarized into three types: 1) Cleaning by mechanical equipment or artificial submerging under water; 2) Flood discharge or water discharge flushing the sediment in front of the bottom hole gate; 3) The above 2 modes are combined.

In the existing hydraulic gate of the hydropower station, due to management and technical lack, the front silting of the gate is not eliminated in time, multiple operation accidents are caused, the gate and the dam are seriously damaged, and the dam is even broken. At present, a plurality of reservoirs do not regularly develop the cleaning work of the sediment before the deep hole gate, which is not beneficial to the long-term stable operation and the safe operation of engineering. The deep water dredging technology of the underwater robot is an important research subject in China.

Because in the deepwater environment, the underwater robot walks in the deepwater environment, three technical problems need to be overcome: 1) The hydraulic pressure effect is overcome, the stability of the structure and the stability of the walking track are ensured, and the existing robot is generally realized through the weight of the robot and crawler walking; 2) For the working environment with higher siltation, the risk of sealing and burying the underwater robot due to collapse of siltation is overcome; 3) The method overcomes the defect that the sediment components and the accumulation form in deep water are unstable and brings higher technical requirements for the underwater self-propelled walking of the robot.

In addition, the existing dredging equipment needs to draw out the deep-hole underwater topography and determine the form of a dredging body in advance before the robot is launched, and then the robot positioning operation is carried out through various equipment, so that the cost is high and the operation period is long.

In addition, in the deep water field, in the dredging process, the underwater photography technology is difficult to play a role: after the sludge is disturbed by the walking of the robot and the operation, the polluted surface of the water quality is large, and the visibility is basically zero.

In addition, the dredging condition can not be mastered in time, in the dredging and crushing process, the matching of the extension and crushing completion conditions of the mechanical arm can not be accurately controlled, the mechanical arm is easy to operate on a drainage building, and the building is directly damaged.

Conventional underwater self-propelled robots are often adapted to complex terrain conditions by crawler-type walking. For a drainage building with a bottom plate protection structure, the crawler belt is directly contacted with the concrete bottom plate, so that a certain damage is easily caused. Under the flushing effect of the water discharge after the gate is lifted, the potential threat of structural damage is provided.

In the dredging process of the deepwater sluicing building, the underwater walking robot mainly has the methods of siphonage, robot entrainment or carrying and migration, siphonage and carrying combination and the like for the impurities after dredging, on one hand, the working efficiency is low, on the other hand, the robot walks repeatedly, the loss of the building bottom plate is further aggravated, and on the other hand, the siphonage for unconventional dredging objects such as nets, branches and the like cannot be realized.

Disclosure of Invention

The invention aims to solve the technical problem of providing a dredging device and a dredging method for a deep-hole water drainage building, which can effectively dredge the deep-hole water drainage building and avoid damage to the deep-hole water drainage building.

In order to solve the technical problems, the invention adopts the following technical scheme:

a dredging device for a deep hole drainage building comprises a robot operation system and a transfer system;

The robot operation system comprises a first travelling machine head, wherein the first travelling machine head is arranged in a track groove at the top end of the deep hole flood discharge tunnel in a sliding manner; the lower end of the first travelling machine head is provided with a mechanical arm which is connected with the mechanical arm;

The transfer system comprises an underwater belt conveyor, wherein the underwater belt conveyor is connected with a walking base, and the walking base is arranged on a bottom plate of the deepwater flood discharging tunnel; a traveling bucket is arranged on one side of the underwater belt conveyor and connected with a lifting mechanism on a second traveling machine head through a lifting rope set, and the second traveling machine head is arranged in the track groove; the other side of the walking bucket is provided with a lifting platform which is connected with the crane through a cable.

The first walking machine head and the second walking machine head comprise sealing shells, two ends of a rotating shaft extend out of the sealing shells and are connected with the walking wheels, and the rotating shaft is driven by a gear transmission mechanism and a first servo motor.

The mechanical arm comprises a machine head connected with a first travelling machine head, a second servo motor is installed outside the machine head, the output end of the second servo motor is connected with a first lifting arm, the lower end of the first lifting arm is provided with a third servo motor, the output end of the third servo motor is connected with a base, one end of the second lifting arm is hinged with the base, the other end of the second lifting arm is hinged with a swinging arm, a first hydraulic cylinder is hinged at a position, extending out of a hinge point, of the upper end of the swinging arm, and the other end of the first hydraulic cylinder is hinged with the base.

The manipulator includes the connector, and connector and rocking arm lower extreme threaded connection, the connector lower extreme articulates about has semicircle hopper, and two semicircle hopper outsides all articulate there is the second pneumatic cylinder, and the second pneumatic cylinder other end articulates with connector (33).

The outer wall of the semicircular hopper is provided with a crushing head, the crushing head comprises a welding part, one end of the welding part is provided with a connecting rod, and a spiral sheet is fixed on the connecting rod.

The lifting rope sets are four in number, are distributed in pairs side by side left and right, the upper ends of the lifting ropes of each group are arranged on the wire reels, and each wire reel is driven by a fourth servo motor.

The lifting platform is internally provided with an inclined supporting plate, one end of the inclined surface of the inclined supporting plate, which is lower, is far away from the walking bucket, and the other end of the inclined surface of the inclined supporting plate, which is higher, is provided with a notch, and the width of the notch is larger than the width of the walking bucket.

A dredging method for a deep hole water drainage building comprises the following steps:

1) The first walking machine head is used for installing the mechanical arm and the mechanical arm in place and is placed on the lifting platform, the mechanical arm and the mechanical arm are fixed through buckling or are fixed in a belt binding mode, the crane is used for being lowered under water, and the crane is required to be lowered under water and is located below the top of the hole for a certain distance.

2) And completing manual binding and installation of the robot underwater, and installing the first travelling machine head into the track groove.

3) And the control system is electrified, so that the first travelling machine head walks back and forth in the track groove, underwater clogging scene information is collected through the video monitoring system, and an operator on water supply analyzes the underwater clogging scene information.

4) Similar to the robot lowering, the lowering of the underwater belt conveyor and the walking bucket belt is completed in sequence.

5) Fixing fence plates around the lifting platform, and placing diagonal brace plates on the lifting platform. The platform is transformed into a platform with a collecting function. A notch is arranged on one side of the lifting platform, so that the lifting platform can be conveniently toppled over.

6) Moving the manipulator into position through the first travelling head; the underwater belt conveyor moves into position, and the traveling bucket is next to the right side of the underwater belt conveyor.

7) And the whole length of the mechanical arm is adjusted through the rotation of the second servo motor and the expansion and contraction of the first hydraulic cylinder, so that the mechanical arm is suitable for the accumulation height of the blocking objects. Starting a second hydraulic cylinder, and closing the two semicircular hoppers; starting a third servo motor to enable the manipulator to rotate; therefore, the crushing head can crush the clogging matters to a certain extent in the rotating process, and the later grabbing is convenient.

8) After the crushing of the local area is completed, the second hydraulic cylinder is contracted, the two semicircular hoppers are opened, the mechanical arms perform corresponding actions to grasp the blocking object, then the second hydraulic cylinder is extended, the two semicircular hoppers are closed, the two semicircular hoppers are moved to the underwater belt conveyor through the action of the mechanical arms, and the two semicircular hoppers are opened to release the blocking object to the underwater belt conveyor.

9) When the blocking objects on the underwater belt conveyor are accumulated to a certain weight, the belt motor drives the underwater belt conveyor to slowly move, and the blocking objects fall into the travelling bucket when at the tail end of the belt. The belt stops and continues to receive materials.

10 When the blocking object in the walking bucket reaches a certain weight, the second walking machine head drives the walking bucket to move to the lifting platform, and the left lifting rope group rolls up the part, so that the left side of the walking bucket is tilted and turned over, and the blocking object in the walking bucket is poured into the lifting platform. And then the traveling bucket returns to the underwater belt conveyor to continue receiving materials.

11 Repeating the actions of 6) -10) until the blockage is cleaned, lifting the lifting platform to the shore through the crane interval, and returning to the original position after the blockage in the lifting platform is cleaned.

The invention discloses a dredging device and a dredging method for a deep hole drainage building, which have the following technical effects:

1) The track groove can be prefabricated in the construction process of the underwater building, so that the design and construction of the building are innovative, and for the cleaning, the top of the robot can be walked, the contact of the crawler belt and a blocking object is avoided in the walking process of the robot, and the water quality is turbid and the visual field is lost; on the other hand, the walking of the established track has relatively simple technical requirements on underwater positioning, and can be obtained by back calculation through the telescopic length of the cable.

2) The force generated during operation is transmitted to the hole top through the reverse thrust of downward operation of the mechanical arm, the hydraulic pressure effect is overcome, and the stability of the structure and the stability of the walking track are ensured

3) The robot is stable in the deepwater environment without gravity, so that the robot can be subjected to light-weight treatment, the safety of walking of the robot on a track is ensured, and meanwhile, the loss caused by walking of the heavy robot on a building bottom plate is avoided.

4) The hole top walking robot has no ground walking problem, and can form a walking space through crushing even if the walking space is insufficient.

5) The contact between the robot head and the building can be effectively controlled by controlling the maximum extension length and the height of the hole of the robot and matching the maximum extension width and the diameter of the hole of the robot, so that the loss to the building is reduced to the greatest extent

7) The mechanical arm and the mechanical arm are detachably connected, and after crushing, different mechanical heads are utilized for operation, so that various unconventional material sources can be met, and the effect is remarkable.

8) By arranging the underwater belt conveyor, the underwater belt conveyor has a certain length, so that the traditional robot can be prevented from walking back and forth and siphoning operation, the stroke is saved, and the operation efficiency is improved; in addition, as the surface area borne on the underwater belt conveyor is large, the accuracy of the mechanical arm in delivering the blockage can be reduced.

Drawings

The invention is further illustrated by the following examples in conjunction with the accompanying drawings:

Fig. 1 is a schematic view of the working state of the present invention.

Fig. 2 is an installation schematic view (only schematic, not specific structure) of the robot in the present invention.

Fig. 3 is a schematic structural view of a robot according to the present invention.

Fig. 4 is a schematic structural view of a robot according to the present invention.

Fig. 5 is a schematic structural view of the walking bucket according to the present invention.

Fig. 6 is an enlarged partial schematic view at a in fig. 5.

FIG. 7 is a schematic view of the present invention with the traveling bucket adjacent to the lift platform.

Fig. 8 is a schematic structural view of a semicircular hopper in the present invention.

Fig. 9 is a schematic view of the structure of the crushing head according to the present invention.

Fig. 10 is an electrical control block diagram of a robot in accordance with the present invention.

In the figure: gate 1, silt and blockage 2, first travelling head 3, track groove 4, mechanical arm 5, mechanical arm 6, underwater belt conveyor 7, travelling base 8, bottom plate 9, travelling bucket 10, lifting rope set 11, second travelling head 12, lifting mechanism 13, lifting platform 14, cable 15, crane 16, control system 17, seal housing 18, rotating shaft 19, travelling wheel 20, gear transmission mechanism 21, first servo motor 22, head 23, control module 24, underwater computer 25, second servo motor 26, first lifting arm 27, third servo motor 28, base 29, second lifting arm 30, swinging arm 31, first hydraulic cylinder 32, connector 33, semicircular hopper 34, second hydraulic cylinder 35, crushing head 36, welding part 37, connecting rod 38, spiral piece 39, wire spool 40, fourth servo motor 41, deep hole flood hole 42, main control box 43, operation display box 44, cable 45, motor drive module 46.

Detailed Description

As shown in fig. 1, a deep hole drainage building dredging device acts on a deep hole spillway tunnel 42.

The deep hole flood discharging hole 42 is of a surrounding rock lining concrete structure, one end of the deep hole flood discharging hole is provided with a gate 1, when water level adjustment is needed in the operation of the power station, the gate needs to be lifted for discharging water, and the operation safety of the power station is affected if the lifting process is blocked due to blockage.

The bottom plate 9 of deep hole spillway hole 42 is concrete structure, in traditional robot desilting technique, and the robot is direct to walk on concrete structure, because the existence of silt thing leads to the robot to walk by oneself the process from steady degree of difficulty big, need to lean on guaranteeing to walk steadily through the serious increase of robot, in the track walking process, there is the possibility of damage to the bottom plate.

The top of the deep hole flood discharge tunnel 42 is of an arc-shaped structure, track grooves are reserved on a traditional arc-shaped top plate, the track grooves are required to be arranged in the civil engineering construction process of the flood discharge tunnel, compared with the traditional construction scheme, the existing track grooves change the civil engineering construction process, the lining requirements are improved, but convenience is brought to later maintenance, dredging, gate overhaul and the like of the flood discharge tunnel due to the existence of the reserved track. The robot can walk on the top of the hole, and the problem of self-stabilization does not exist in the dredging process, so that the weight of the robot and the damage to the bottom plate can be greatly reduced.

The clogging matter 2 here is mainly the clogging matter 2 in front of the gate 1.

A dredging device for a deep hole water drainage building comprises an in-hole operation system and an out-hole operation system.

The out-of-tunnel operation system mainly comprises a crane 16 on the out-of-tunnel water, wherein the crane 16 can be an automobile crane or a tower crane. Mainly provides power for vertical transportation. The crane 16 is connected with the underwater lifting platform 14 through a cable 15 (a steel cable), wherein the lifting platform 14 provides a placement platform for vertical transportation, and the cable 15 is connected after being gathered around the lifting platform 14, so that the stability of the underwater vertical movement of the lifting platform 14 is ensured. The bottom of the lifting platform 14 is hollowed out, and clamping grooves are reserved around the bottom, so that the fixing railing panels can be conveniently installed.

The control system 17 is also arranged on the water outside the hole, and the control system 17 comprises a main control box 43 which is connected with an operation display box 44 through a cable and is connected with underwater equipment through an umbilical cable 45 for processing input operation instructions and operation data fed back by the underwater equipment.

The in-tunnel operation system comprises a robot, wherein the robot comprises a first travelling head 3, and the first travelling head 3 is arranged in a track groove 4 at the top end of the deep hole flood discharge tunnel in a sliding manner; the lower end of the first travelling machine head 3 is provided with a mechanical arm 5, and the mechanical arm 5 is connected with a mechanical arm 6.

The first travelling machine head 3 comprises a sealed shell 18, two ends of a rotating shaft 19 extend out of the sealed shell 18 and are connected with travelling wheels 20, and the rotating shaft 19 is driven by a gear transmission mechanism 21 and a first servo motor 22.

The number of the walking wheels 20 is four, the balance of the stress in the walking process of the robot is ensured, the power is provided by the first servo motor 22, the power is transmitted by a gear, and the walking wheels 20 and the track grooves 4 are combined to provide track and power for the walking of the robot.

The mechanical arm 5 here comprises a head 23 connected to the first travelling head 3, the head 23 being a subsea control center. The control module 24, the underwater computer 25 and the motor driving module 46 are arranged in the machine head 23, the control module 24 is connected with the control system 17 through an umbilical cable 45, and the underwater computer 25 is connected with the control module 24 through the umbilical cable 45. During operation, the underwater computer 25 is supplied with instructions by the water operators, the underwater computer 25 specifically operates each device according to the instruction requirements, and then feeds back each item of data.

The plurality of motor driving modules 46 are connected to the control module 24 and the underwater computer 25 through cables, and each of the servo motors is connected to one of the motor driving modules 46 through a cable.

The underwater computer 25 is a north China industrial control BIS-6310 waterproof computer,

Each servo motor can adopt Suctech brand ABZM-SW underwater direct-current stepping servo motors.

The motor drive module 46 employs a loose MINAS A series drive.

The control module 24 employs Mitsubishi FX series PLC controllers.

In addition, a first servo motor 24 is further installed in the machine head 23, an output end of the first servo motor 24 is connected with a base 25, and the first servo motor 24 drives the base 25 to circumferentially rotate. The second servo motor 26 is fixedly installed on the base 25, the output end of the second servo motor 26 is connected with the first lifting arm 27, and the first lifting arm 27 can be driven to rotate around the output shaft of the second servo motor 26 through rotation of the second servo motor 26, so that the lower end of the first lifting arm 27 moves up and down in space. And a third servo motor 28 is arranged at the bottom end of the first lifting arm 27, and the output end of the third servo motor 28 is connected with a base 29. The third servo motor 28 drives the base 29 to rotate circumferentially. One end of the second lifting arm 30 is hinged with the base 29, the other end of the second lifting arm is hinged with the swinging arm 31, a first hydraulic cylinder 32 is hinged at a position, extending out of a hinge point, of the upper end of the swinging arm 31, and the other end of the first hydraulic cylinder 32 is hinged with the base 29. The swing arm 31 is driven to swing back and forth by the first hydraulic cylinder 32.

Through realizing rocking, rotation, satisfy multi-angle removal and operation, the connected mode is all realized through the connecting rod effect, and is comparatively ripe. Wherein, the total elongation of the robot arm and the machine head is matched with the maximum height of the chamber.

A thread sleeve is arranged at the bottom end of the swing arm 31, and the swing arm 31 is connected with a manipulator through the thread sleeve. Therefore, universality can be realized, and the manipulator can be disassembled and reassembled as required. And mechanical arms in the forms of grab bucket, breaking hammer, backhoe and the like are respectively adopted in the processes of cleaning sundries on the surface of the clogging object and loosening the plate objects during movement of the loosening object.

Specifically, the manipulator here includes connector 33, and connector 33 and swing arm 31 lower extreme threaded connection, the left and right sides of connector 33 lower extreme articulates there is semicircle hopper 34, and the outside of both semicircle hoppers 34 all articulates there is second pneumatic cylinder 35, and the second pneumatic cylinder 35 other end articulates with connector 33. When the second hydraulic cylinder 35 is retracted, the two semicircular hoppers 34 are opened, and when the second hydraulic cylinder 35 is extended, the two semicircular hoppers 34 are closed to form a sphere.

The outer wall of the semicircular hopper 34 is provided with a crushing head 36, the crushing head 36 comprises a welding part 37, one end of the welding part 37 is provided with a connecting rod 38, and a spiral piece 39 is fixed on the connecting rod 38. Thus, at the beginning, the two semicircular hoppers 34 can be closed first, and the second lifting arm 30, the swing arm 31 and the two semicircular hoppers 34 can be rotated by starting the third servo motor 28, so that the crushing head 36 is used for rotary crushing.

An underwater belt conveyor 7 is arranged on one side of the robot, the underwater belt conveyor 7 is connected with a walking base 8, and the walking base is arranged on a bottom plate 9 of the deepwater flood discharging tunnel. The walking base 8 is provided with walking wheels which are driven by a servo motor and can horizontally move in the hole.

One side of the underwater belt conveyor 7 is provided with a traveling bucket 10, the traveling bucket 10 is connected with a lifting mechanism 13 on a second traveling machine head 12 through a lifting rope group 11, and the second traveling machine head 12 (the same structure as the first traveling machine head 3) is arranged in the track groove 4.

The four lifting rope groups 11 are distributed in parallel, the upper ends of the lifting ropes in each group are arranged on the wire reels 40, and the wire reels 40 are driven by the fourth servo motor 41. The lifting of the left and right lifting rope sets 11 is kept synchronous. When the lengths of the four lifting rope groups 11 are the same, the horizontal movement of the walking lifting bucket 10 can be realized; when the spool 40 at the left or right end winds, one end of the traveling bucket 10 is tilted, and unloading can be performed.

The lifting platform 14 is flat, after the robot, the underwater belt conveyor and the like are lowered and arranged through the lifting platform 14, the fence plates are arranged around the lifting platform 14, and the diagonal brace plates 42 are arranged in the lifting platform 14. The lower end of the inclined surface of the inclined support plate 42 is far away from the walking bucket 10, the higher end of the inclined surface of the inclined support plate 42 is provided with a notch 43, and the width of the notch 43 is larger than that of the walking bucket 10. This allows the plug poured into the lift platform 14 to flow to the other side of the lift platform 14, avoiding unbalance caused by accumulation in one place.

Here, since the underwater belt conveyor 7 and the traveling bucket 10 move back and forth more frequently, in order to avoid collision, pressure sensors are provided at left and right extending ends of the underwater belt conveyor 7 and the traveling bucket 10, and when the pressure sensors contact with the front or rear obstacle and form a certain pressure, the pressure is fed back to the machine head 23, so that the underwater belt conveyor 7 or the second traveling machine head 12 stops braking in time.

The pressure sensor is connected with the signal acquisition module, and the signal acquisition card is connected with the control module 24;

the pressure sensor is an intentional semiconductor LPS33HW pressure sensor.

The signal acquisition module employs chip ICL7135. The signal acquisition module is arranged in a sealing box at one side of the casing of the underwater belt conveyor.

Because the underwater belt conveyor 7 and the walking bucket 10 can input the blocking substances, the gravity sensor can be arranged on the lower part of the upper section belt and the walking rope set 11, the blocking substances can be detected, and the starting, stopping and transferring of the underwater belt conveyor 7 and the walking bucket 10 can be controlled in time.

The gravity sensor adopts a CG-5 quartz sensor,

The gravity sensor is connected with a signal acquisition chip, the signal acquisition chip adopts an A68AD A/D conversion module,

The signal acquisition chip of the belt conveyor is arranged in a sealing box at one side of the shell of the belt conveyor. The signal acquisition chip of the walking bucket 10 is mounted in a sealed box on one side of the bucket.

In addition, for the convenience of observation, an underwater camera (not shown) with strong illumination is installed at a suitable place on the robot. For the operator to see at a glance.

The underwater camera adopts a DS-2XC6225F-L camera viewed from sea conway.

The underwater camera is connected with a driving module, and the driving module is connected with a control module 24 and an underwater computer 25 on the robot.

The driving devices in the device are all required to be subjected to waterproof treatment, so that electric leakage is avoided.

Working principle and process:

1) The first travelling head 3 is used for installing the mechanical arm 5 and the mechanical arm 6 in place and is placed on the lifting platform 14, fixed through buckling or fixed in a belt binding mode, and is lowered under water by the crane 16, required to be lowered under water and located below the top of the hole for a certain distance.

2) And completing manual binding and installation of the robot underwater, and installing the first travelling head 3 into the track groove 4.

3) The first travelling machine head 3 is electrified through the control system 17 to travel back and forth in the track groove 4, underwater clogging scene information is collected through the video monitoring system, and an operator on water supply analyzes the underwater clogging scene information.

4) Similar to the robot lowering, the lowering of the belt of the underwater belt conveyor 7 and the traveling bucket 10 is completed sequentially.

5) The fence plates are fixed around the lifting platform 14, and the diagonal brace plates 42 are placed on the lifting platform 14. The platform is transformed into a platform with a collecting function. A notch is arranged on one side of the lifting platform 14, so that the lifting platform can be conveniently toppled over.

6) The manipulator 6 is moved into position by the first travelling head 3; the underwater belt conveyor 7 is moved into position and the traveling bucket 10 is immediately to the right of the underwater belt conveyor 7.

7) The length of the whole mechanical arm 5 is adjusted by the rotation of the second servo motor 26 and the extension and retraction of the first hydraulic cylinder 32, and the length is adapted to the deposit height. Starting the second hydraulic cylinder 35 to close the two semicircular hoppers 34; starting the third servo motor 28 to rotate the manipulator 6; thus, the crushing head 36 can crush the clogging matters to a certain extent in the rotating process, and the later grabbing is convenient.

8) After the crushing of the local area is completed, the second hydraulic cylinder 35 is contracted, the two semicircular hoppers 34 are opened, the mechanical arm 5 performs corresponding actions to grasp the blocking object, then the second hydraulic cylinder 35 is extended, the two semicircular hoppers 34 are closed, the two semicircular hoppers 34 are moved to the underwater belt conveyor 7 through the action of the mechanical arm 5, and the two semicircular hoppers 34 are opened to release the blocking object to the underwater belt conveyor 7.

9) When the blocking objects on the underwater belt conveyor 7 are accumulated to a certain weight, the belt motor drives the underwater belt conveyor 7 to slowly rotate, and the blocking objects fall into the walking bucket 10 when at the tail end of the belt. The belt stops and continues to receive materials.

10 When the blockage in the walking bucket 10 reaches a certain weight, the second walking machine head 12 drives the walking bucket 10 to move to the lifting platform 14, and the left lifting rope group 11 rolls up the part, so that the left side of the walking bucket 10 is tilted, and the blockage in the walking bucket 10 is poured into the lifting platform 14. The traveling bucket 10 then returns to the underwater belt conveyor 7 to continue receiving material.

11 Repeating the actions of 6) -10) until the blockage is cleaned, in the process, the lifting platform 14 can lift up the water surface at intervals through the crane 16, lift up the water to the shore through the automobile, and return to the original position after the blockage in the lifting platform 14 is cleaned.

In the process, each time the clogging object 2 at one position is cleaned, the first travelling machine head 3 moves forwards for a small distance, and the underwater belt conveyor 7 moves along with the first travelling machine head 3 to the position close to the gate 1 for the same distance, so that fixed-point transmission is met. While the traveling bucket 10 moves back and forth.

Claims

1. The utility model provides a deep hole sluicing building dredges stifled device which characterized in that: the robot comprises a robot operating system and a transfer system;

The robot operation system comprises a first travelling machine head (3), wherein the first travelling machine head (3) is arranged in a track groove (4) at the top end of the deep hole flood discharge hole in a sliding manner; the lower end of the first travelling machine head (3) is provided with a mechanical arm (5), and the mechanical arm (5) is connected with a mechanical arm (6);

The transfer system comprises an underwater belt conveyor (7), wherein the underwater belt conveyor (7) is connected with a walking base (8), and the walking base (8) is arranged on a deep water spillway tunnel bottom plate (9); one side of the underwater belt conveyor (7) is provided with a traveling crane (10), the traveling crane (10) is connected with a lifting mechanism (13) on a second traveling machine head (12) through a lifting rope group (11), and the second traveling machine head (12) is arranged in the track groove (4); a lifting platform (14) is arranged on the other side of the walking bucket (10), and the lifting platform (14) is connected with a crane (16) through a cable (15);

The first travelling machine head (3) and the second travelling machine head (12) both comprise a sealing shell (18), two ends of a rotating shaft (19) extend out of the sealing shell (18) and are connected with travelling wheels (20), and the rotating shaft (19) is driven by a gear transmission mechanism (21) and a first servo motor (22);

The mechanical arm (5) comprises a machine head (23) connected with the first travelling machine head (3), a second servo motor (26) is arranged outside the machine head (23), the output end of the second servo motor (26) is connected with a first lifting arm (27), a third servo motor (28) is arranged at the lower end of the first lifting arm (27), the output end of the third servo motor (28) is connected with a base (29), one end of the second lifting arm (30) is hinged with the base (29), the other end of the second lifting arm is hinged with a swinging arm (31), a first hydraulic cylinder (32) is hinged at a position of a hinged point extending out of the upper end of the swinging arm (31), and the other end of the first hydraulic cylinder (32) is hinged with the base (29).

2. The deep hole drainage building dredging device according to claim 1, wherein: the manipulator comprises a connector (33), the connector (33) is in threaded connection with the lower end of the swing arm (31), semicircular hoppers (34) are hinged to the left and right of the lower end of the connector (33), second hydraulic cylinders (35) are hinged to the outer sides of the two semicircular hoppers (34), and the other ends of the second hydraulic cylinders (35) are hinged to the connector (33).

3. The deep hole drainage building dredging device according to claim 2, wherein: the outer wall of the semicircular hopper (34) is provided with a crushing head (36), the crushing head (36) comprises a welding part (37), one end of the welding part (37) is provided with a connecting rod (38), and a spiral sheet (39) is fixed on the connecting rod (38).

4. The deep hole drainage building dredging device according to claim 1, wherein: the four lifting rope groups (11) are distributed in parallel, the left lifting rope and the right lifting rope are arranged at the upper ends of the lifting ropes in pairs, the winding reels (40) are arranged at the upper ends of the lifting ropes in each group, and each winding reel (40) is driven by a fourth servo motor (41).

5. The deep hole drainage building dredging device according to claim 1, wherein: the lifting platform (14) is internally provided with an inclined support plate (42), the lower end of the inclined surface of the inclined support plate (42) is far away from the walking bucket (10), the higher end of the inclined surface of the inclined support plate (42) is provided with a notch (43), and the width of the notch (43) is larger than that of the walking bucket (10).

6. The method for dredging the deep hole drainage building dredging device according to claim 1, wherein the method comprises the following steps of: the method comprises the following steps:

1) The first travelling machine head (3) is used for installing the mechanical arm (5) and the mechanical arm (6) in place, placing the mechanical arm and the mechanical arm on the lifting platform (14), forming a fixed or belt binding mode through a buckle to be fixed, and lowering the mechanical arm and the mechanical arm to the water by using the crane (16) to be required to be lowered to the water and positioned below the hole top for a certain distance;

2) Completing manual binding and installation of the robot underwater, and installing the first travelling machine head (3) into the track groove (4);

3) Electrifying through a control system (17) to enable the first travelling machine head (3) to travel back and forth in the track groove (4), collecting underwater clogging scene information through a video monitoring system, and analyzing by an operator on water supply;

4) Similar to the robot lowering, the lowering of the underwater belt conveyor (7) and the walking bucket (10) is sequentially completed;

5) Fixing fence plates around the lifting platform (14), and placing diagonal brace plates (42) on the lifting platform (14); the platform is transformed into a platform with a collection function; a gap is arranged at one side of the lifting platform (14), so that the lifting platform can be conveniently toppled over;

6) The manipulator (6) is moved into position by the first travelling machine head (3); the underwater belt conveyor (7) moves to be in position, and the walking bucket (10) is close to the right side of the underwater belt conveyor (7);

7) The whole length of the mechanical arm (5) is adjusted through the rotation of the second servo motor (26) and the expansion and contraction of the first hydraulic cylinder (32), so that the mechanical arm is adapted to the accumulation height of the blocking objects; starting a second hydraulic cylinder (35) to close the two semicircular hoppers (34); starting a third servo motor (28) to enable the manipulator (6) to rotate; thus, the crushing head (36) can crush the clogging matters to a certain extent in the rotating process, and the later grabbing is convenient;

8) After the crushing of the local area is completed, the second hydraulic cylinder (35) is contracted, the two semicircular hoppers (34) are opened, the mechanical arm (5) performs corresponding actions to grasp the blocking object, then the second hydraulic cylinder (35) is extended, the two semicircular hoppers (34) are closed, the two semicircular hoppers (34) are moved to the underwater belt conveyor (7) through the action of the mechanical arm (5), the two semicircular hoppers (34) are opened, and the blocking object is released to the underwater belt conveyor (7);

9) When the blocking objects on the underwater belt conveyor (7) are accumulated to a certain weight, the belt motor drives the underwater belt conveyor (7) slowly, the blocking objects drop into the traveling bucket (10) when at the tail end of the belt, and the belt stops to continue receiving materials;

10 When the blocking object in the walking bucket (10) reaches a certain weight, the second walking machine head (12) drives the walking bucket (10) to move to the lifting platform (14), and the left lifting rope group (11) rolls up the part, so that the left side of the walking bucket (10) is tilted and turned over, and the blocking object in the walking bucket (10) is poured into the lifting platform (14); then the traveling bucket (10) returns to the underwater belt conveyor (7) to continue receiving materials;

11 Repeating the steps 6) -10) until the clogging matters are cleaned, in the process, the lifting platform (14) can lift out of the water surface through the crane (16), and the clogging matters in the lifting platform (14) are removed and returned to the original position after being lifted to the shore through the automobile.