CN205707227U - The underwater working device of micro-tunneling is opened based on ROV - Google Patents
The underwater working device of micro-tunneling is opened based on ROV Download PDFInfo
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- CN205707227U CN205707227U CN201620596607.5U CN201620596607U CN205707227U CN 205707227 U CN205707227 U CN 205707227U CN 201620596607 U CN201620596607 U CN 201620596607U CN 205707227 U CN205707227 U CN 205707227U
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Abstract
This utility model provides a kind of underwater working device opening micro-tunneling based on ROV, and during operation, creeper truck drives to job position；The tunnel initial part that remote control can first control to preset on the robot device operation giant salvaged thing of alignment carries out cleaning work；Then, giant is put back on tool replacing apparatus and tunnel piercing device and dredge pump is taken off from tool replacing apparatus by remote control control robot device；Remote control controls robot device and the tunnel initial part preset that tunnel piercing device alignment has been cleared up by giant is started tunneling；Meanwhile, dredge pump is directed at the head of tunnel piercing device and is siphoned away by the silt dug down by tunnel piercing device by remote control control robot device；So just may be implemented in cutting tunnel on the most salvaged thing, operation process need not personnel and enters under water, operation conveniently safety.
Description
Technical field
This utility model relates to a kind of underwater working device and operational method thereof opening micro-tunneling based on ROV, belongs to
A kind of device for underwater salvage operation.
Background technology
In China, search and rescue the system of dragging under water and be one and carry rescue and relief work that country specifies, salvage the professional contingent of task
5, it is responsible for boats and ships and Offshore Units, the relief of property, the salvaging of wrecks, the accident waterborne such as remove obstacles in harbour, navigation channel
Emergency reaction.According to the national regulation about ministries and commissions, the major responsibility of each Salvage Bureau of salvage system is: 1) undertakes country and specifies
The salvaging tasks of speedily carrying out rescue work such as special politics, military affairs, the disaster relief；2) remove obstacles in Wreck removal, public waters and navigation channel, harbour；3)
The salvage of boats and ships, facility and the property of non-life salvage waterborne；4) shipwreck trapped fuel and the emergent removing of difficult ship oil spilling, prevent
Marine environmental pollution.It can be seen that its major technique business is marine Wreck removal and urgent speedily carrying out rescue work is beaten from regulation
Drag for.Salvage system, since setting up, has completed the salvaging of substantial amounts of wrecks, emergency repair, preventing the pollution of the environment etc. one is
Row engineering, such as " Bohai Sea 2 " drilling platforms, " big Shun " number roll-on-roll-off ship, " trip of the Liao Dynasty crosses 7 " roll-on-roll-off ship, " silver hoe " number dredger, " puts forth energy
Prestige " number dredger, " South Sea 1 " ancient shipwreck, " 5.7 " airplane crash wrecked aircraft, etc. salvage engineering, complete country and public opinion
The accident being concerned about checks, effectively dredged navigation channel, remove marine obstacle, suppress or decrease environmental pollution, retrieved state
Family and people's property loss, carried out scientific research of engaging in archaeological studies under water, for country economic construction be made that the biggest contribution.
Over 30 years, the Chinese national economy gross output value with per year over 9% speed increment.Corresponding harbour is built
If with marine freight volume is also in rapid growth, marine transportation density increases considerably, and thing followed maritime accidents forecast hidden danger is also
Can increase, since two thousand two, there is over 300 boats and ships every year in the sinking of China marine site, some Ship's Sinking in navigation channel or
In person port, cause the situation of " a ship sinking, whole Hong Kong paralysis ", bring loss to the production at harbour, serve also can to country's band
Negative effect.How pre-control processes, with rapid, the important topic that public contingent even waterborne is government faces.But China should
The integration capability salvaged of suddenly speedily carrying out rescue work is big with the requirement gap of country, has a long way to go compared with world powers.Mainly equip deficiency,
Salvaging ability of speedily carrying out rescue work is more weak, complete emergency repair salvage task difficulty, has i.e. enabled be also required to take a long time with greatly
The human, financial, and material resources of amount.The ocean big country that this situation improves constantly as overall national strength with China is the most unbecoming.China according to statistics
In recent years pick up shipwreck to account for the ratio of shipwreck then and be about 5%.Namely also 95% shipwreck, owing to a variety of causes (is mainly beaten
Drag for the reason of ability) fail to pick up, cause problem of environmental pollution.If improving salvaging equipment, the salvaging of shipwreck can be improved
Rate, picks up some shipwrecks more, is possible not only to be substantially improved the environment in China waters, and the shipwreck reparation that can will pick up, i.e.
Make to repair, disassemble as scrapping ship, provide the various raw materials such as considerable steel and non-ferrous metal, the most favorably can to country
Growth in China's green economy.Raising of a wreck technology has had bigger development in recent years, and it is mainly based on lifting salvaging
Modern salvaging have become as mainstream technology, instead of traditional raising with salvage pontoons technology to a great extent.
So-called lifting is salvaged, it is simply that directly shipwreck or hypostasis are hung seabed with the big elevating capacity crane on crane ship.
Its operational procedure is more simply too much than raising with salvage pontoons, removes necessary submarine inspection, salvages outside detail design, plan,
The preparation done determines that suspension centre, reeve and assist the desilting etc. in cutting, cabin that burrows, and lifts by crane shipwreck the most exactly.Journey
Sequence is fewer, and the activity duration is naturally the fewest, can realize fast salvaging.
ROV, i.e. unmanned remotely controlled submersible vehicle (Remote Operated Vehicle), system composition includes: Powered Propulsion
Device, remote control electric communication device, black and white or colour imagery shot, shooting tilt-top, user's peripheral sensor interface, real-time online
Display unit, navigation positional device, automatic steersman's navigation elements, assist illuminator and Kev draw the unit portions such as neutral buoyancy towing cable
Part.Function is varied, and different types of ROV, for performing different tasks, is widely used in army, coast guard, sea
The every field such as thing, customs, nuclear power, water power, offshore oil, fishery, marine salvage, pipeline detection and scientific research of seas.
In recent years, along with the development of China's economic construction, the total amount of goods transport is carried out also constantly by water route
Increase.The trend that waterway constantly loads so that once occur that the boat ran foul with each other and the dangerous situation that sinks, the most quickly, safety,
Effectively shipwreck is salvaged, thus reduce the loss thus caused to greatest extent, become the task of top priority.At shipwreck
In fishing operation, how wearing wirerope under shipwreck is exactly a crucial technology.Mud penetrator connects method under water, is the most conventional
Method.Operating procedure: 1, set mark in precalculated position；2, very heavy hole is rushed；3, diver attacks mud；4, cable is connected；5、
The very heavy wirerope of pull.Due to the shipwreck depth of water, surrounding low visibility, sometimes have harmful gas.If diver carries out work
Make, it can be caused certain risk.
Utility model content
The shortcoming of prior art in view of the above, it is micro-that the purpose of this utility model is to provide one to open based on ROV
The underwater working device in type tunnel and operational method thereof, it is possible to realize digging on the most salvaged thing tunnel.
For achieving the above object and other relevant purposes, this utility model provides a kind of and opens micro-tunneling based on ROV
Underwater working device, adopts the following technical scheme that a kind of underwater working device opening micro-tunneling based on ROV, including remotely
Controlling device, creeper truck and unmanned remotely controlled submersible vehicle, described unmanned remotely controlled submersible vehicle is arranged on creeper truck, and creeper truck is with unmanned
Remote-controlled vehicle is moved by remote control control；Described unmanned remotely controlled submersible vehicle is provided with robot device；Unmanned distant
It is also equipped with tool replacing apparatus on control submersible, described tool replacing apparatus is removably provided with giant, tunnel
Excavation device, dredge pump, described robot device is provided with the crawl interface being connected with giant, tunnel piercing device, dredge pump.
Preferably, described robot device has the first motion arm and the second motion arm, and described first motion arm is provided with
The crawl interface being connected with giant, tunnel piercing device；Described second motion arm is provided with the crawl being connected with dredge pump and connects
Mouthful.
Preferably, described unmanned remotely controlled submersible vehicle is arranged on creeper truck by aluminum alloy frame, described aluminum alloy frame
Upper connection has spelter, and unmanned remotely controlled submersible vehicle is also equipped with buoyant device.
Preferably, described creeper truck, robot device and tunnel piercing device use hydraulic-driven.
Preferably, described unmanned remotely controlled submersible vehicle is provided with Underwater Camera, underwater luminaire and scanning sonar.
Preferably, described unmanned remotely controlled submersible vehicle is provided with positioner, inertial navigation module, depth gauge.
Preferably, described giant ejects after drawing sea water and being compressed by sea water.
Preferably, described creeper truck is provided with vehicular communication equipment and on-vehicle control apparatus, described vehicular communication equipment with
On-vehicle control apparatus communicates to connect；Described creeper truck and robot device all communicate to connect with on-vehicle control apparatus；Described remotely
Control device and be provided with telecommunication equipment, described telecommunication equipment and vehicular communication equipment communication connection.
A kind of the underwater working device of micro-tunneling is opened correspondingly based on ROV, this utility model with of the present utility model
Also provide for the operational method of a kind of underwater working device opening micro-tunneling based on ROV, adopt the following technical scheme that a kind of base
Open the operational method of the underwater working device of micro-tunneling in ROV, utilize technique scheme and arbitrary preferred technical side
Opening the underwater working device of micro-tunneling based on ROV and carry out operation described in case, comprises the steps:
1) open the underwater working device of micro-tunneling based on ROV be positioned over described near salvaged thing, remotely control
Device processed controls creeper truck and drives to job position；
2) remote control control robot device by capture interface and be connected with giant and by giant from
Take off on tool replacing apparatus；
3) giant is directed on salvaged thing the tunnel initial part preset by remote control control robot device,
The tunnel initial part that the water cleaning of giant ejection is preset；
4) giant is put back on tool replacing apparatus by remote control control robot device；
5) tunnel piercing device and dredge pump are taken off from tool replacing apparatus by remote control control robot device；
6) remote control control robot device by tunnel piercing device alignment by giant clear up preset
Tunnel initial part starts tunneling；Meanwhile, dredge pump is directed at tunnel digging by remote control control robot device
Enter the head of device and the silt dug down by tunnel piercing device is siphoned away；
7) remote control creeper truck continues to push ahead；
8) step 1 is repeated) to 7) until the tunnel termination portion that creeper truck is preset from salvaged thing passes.
As it has been described above, a kind of underwater working device opening micro-tunneling based on ROV of the present utility model, having following has
Benefit effect: utilize of the present utility model a kind of open micro-tunneling based on ROV underwater working device operation time, by described
The underwater working device opening micro-tunneling based on ROV is positioned near salvaged thing, and remote control controls crawler belt garage
Sail to job position；Remote control can first control robot device operation giant and be directed at and preset on salvaged thing
Tunnel initial part carries out cleaning work；Then, giant is put back into instrument more by remote control control robot device
Take off from tool replacing apparatus on changing device and by tunnel piercing device and dredge pump；Remote control controls robot device
The tunnel initial part preset that tunnel piercing device alignment has been cleared up by giant is started tunneling；Meanwhile, remotely
Control device and control the head that dredge pump is directed at tunnel piercing device by robot device the silt that will be dug down by tunnel piercing device
Siphon away；So just may be implemented in cutting tunnel on the most salvaged thing, operation process need not personnel and enters under water, and operation is convenient
And safety.With the beneficial effect of a kind of underwater working device opening micro-tunneling based on ROV of the present utility model correspondingly, this
The operational method of a kind of underwater working device opening micro-tunneling based on ROV of utility model also has above-mentioned beneficial effect,
Here is omitted.
Accompanying drawing explanation
Fig. 1 is shown as the schematic diagram of unmanned remotely controlled submersible vehicle.
Fig. 2 is shown as the schematic diagram of giant.
Fig. 3 is shown as the schematic diagram of dredge pump.
Fig. 4 is shown as the schematic diagram of tunnel piercing device.
Fig. 5 is shown as the schematic diagram of creeper truck.
Fig. 6 is shown as a kind of underwater working device underwater performance opening micro-tunneling based on ROV of the present utility model
Schematic diagram.
Piece mark explanation
1 creeper truck 6 tool replacing apparatus
2 unmanned remotely controlled submersible vehicle 7 giants
3 robot device 8 tunnel piercing devices
4 first motion arm 9 dredge pumps
The 5 second salvaged things of motion arm 10
Detailed description of the invention
Below by way of specific instantiation, embodiment of the present utility model being described, those skilled in the art can be by this theory
Content disclosed by bright book understands other advantages of the present utility model and effect easily.This utility model can also be by additionally
Different detailed description of the invention is carried out or applies, the every details in this specification can also based on different viewpoints with should
With, under without departing from spirit of the present utility model, carry out various modification or change.
Fig. 1 is shown as the schematic diagram of unmanned remotely controlled submersible vehicle, unmanned remotely controlled submersible vehicle, and English name is Remote
Operated Vehicle, is called for short ROV, can be equipped with robot device 3, from remotely operating machine on unmanned remotely controlled submersible vehicle 2
Tool arm device 3 action, it is possible to conveniently realize unmanned operation under water, may need in working environment to use several work under water
Instrument, it is possible to be equipped with tool replacing apparatus 6 on unmanned remotely controlled submersible vehicle 2, removably put on tool replacing apparatus 6
Put multiple types of tools, when needs use a certain instrument, can be at long-range manipulator's device 3 from tool replacing apparatus 6
This instrument is taken off and operates with, instrument and dismountable connected mode of tool replacing apparatus 6, and robot device 3
The mode of gripping tool is prior art.Fig. 2 is shown as the schematic diagram of giant, giant 7 can spray have the highest
The water of pressure, may be used to clean dunghill, has the giant under water in prior art, can operation under water.Fig. 3 shows
Be shown as the schematic diagram of dredge pump, prior art has can the dredge pump 9 of operation under water, dredge pump can suck mud extraction side by side
Sand, can be used for desilting row dirty.Fig. 4 is shown as the schematic diagram of tunnel piercing device, and tunnel piercing device 8 has excavating bur, can dig
Remove and broken harder object, such as can be in mine working tunnel, the specification of tunnel piercing device varies, large-scale tunnel
Excavation device such as excavates the tunnel piercing device of seabed tunnel, subway tunnel, sum it up, tunnel piercing device 8 is in prior art
A kind of can the instrument of tunneling.Fig. 5 is shown as the schematic diagram of creeper truck, and creeper truck is prior art, the car of creeper truck 1
Crawler belt it is coated with, using the teaching of the invention it is possible to provide the biggest frictional force being combined with ground on wheel, and, the lifting capacity of creeper truck is very strong, its
It is particularly well-suited to the working environment that load-carrying demand is big, ground environment is complicated, be prone to skidding.
As shown in Figure 6, a kind of underwater working device opening micro-tunneling based on ROV of the present utility model, including remotely
Controlling device, creeper truck 1 and unmanned remotely controlled submersible vehicle 2, described unmanned remotely controlled submersible vehicle 2 is arranged on creeper truck 1, creeper truck 1
Move by remote control control with unmanned remotely controlled submersible vehicle 2；Described unmanned remotely controlled submersible vehicle 2 is provided with robot device
3；It is also equipped with tool replacing apparatus 6 on unmanned remotely controlled submersible vehicle 2, described tool replacing apparatus 6 is removably provided with height
Setting-out rifle 7, tunnel piercing device 8, dredge pump 9, described robot device 3 is provided with and giant 7, tunnel piercing device 8, suction mud
The crawl interface that pump 9 connects.Utilizing a kind of underwater working device operation opening micro-tunneling based on ROV of the present utility model
Time, open the underwater working device of micro-tunneling based on ROV be positioned near salvaged thing 10 by described, remote control
Control creeper truck 1 and drive to job position；Dotted line in Fig. 6 is default tunnel route, and remote control can first control
Robot device 3 operate giant 7 be directed on salvaged thing 10 preset tunnel initial part carry out cleaning work；Then, far
Process control device controls robot device 3 and is put back on tool replacing apparatus 6 by giant 7 and by tunnel piercing device 8 and suction
Dredge pump 9 takes off from tool replacing apparatus 6；Remote control controls robot device 3 and is directed at the highest by tunnel piercing device 8
The tunnel initial part preset of setting-out rifle 7 cleaning starts tunneling；Meanwhile, remote control controls robot device
Dredge pump 9 is directed at the head of tunnel piercing device 8 and is siphoned away by the silt dug down by tunnel piercing device 8 by 3；So just may be implemented in
Digging tunnel on the most salvaged thing 10, operation process need not personnel and enters under water, operation conveniently safety.
In a kind of underwater working device opening micro-tunneling based on ROV of the present utility model, preferred as one
Embodiment, as it is shown in figure 1, described robot device 3 has the first motion arm 4 and the second motion arm 5, described first motion arm
4 are provided with the crawl interface being connected with giant 7, tunnel piercing device 8；Described second motion arm 5 is provided with dredge pump 9 even
The crawl interface connect.So, of the present utility model a kind of open micro-tunneling based on ROV underwater working device operation time,
The first motion arm 4 can be utilized to carry out tunneling to operate tunnel piercing device 8, utilize the second motion arm 5 operation to inhale mud simultaneously
The silt digged down by tunnel piercing device 8 is siphoned away and discharges by pump 9.So, the first motion arm 4 and the second motion arm 5 are mutual
Coordinate, using the teaching of the invention it is possible to provide the flexibility ratio of operation and working performance.Described first motion arm 4 and the second motion arm 5 can be to have 5
Degree of freedom or the motion arm of 7 degree of freedom, so can operate for greater flexibility.For the ease of driving creeper truck 1, machinery
Arm device 3 and tunnel piercing device 8, can use hydraulic-driven to realize creeper truck 1, robot device 3 and tunnel piercing device 8
Driving, hydraulic-driven power is big, and easily controllable operation.Underwater environment low visibility, and may also have barrier, in order to enable
Enough operations the most smoothly, just first have to can avoiding obstacles, open micro-based on ROV in order to improve one of the present utility model
The performance capacity of the underwater working device in type tunnel, can be provided with Underwater Camera, under water on described unmanned remotely controlled submersible vehicle 2
Illuminating lamp and scanning sonar, so, provide light source by underwater luminaire, can observe operation under water by Underwater Camera
Environment, Underwater Camera it will be observed that information pass to remote control, operator can remotely recognize under water
Environment.When working environment exists muddy situation under water, Underwater Camera is also difficult to observe by truth under water, at this moment may be used
Underwater environment be scanned and to be formed sonar image information with scanning sonar and to pass to remote control, operator
Can remotely recognize underwater environment.Positioner, inertial navigation mould can also be provided with on described unmanned remotely controlled submersible vehicle 2
Block, depth gauge, positioner can detect creeper truck 1 location and to remote control report position information；Inertia
Creeper truck 1 can be navigated and navigation information is passed to remote control by navigation module；Depth gauge can detect shoe
Depth information is reported with the depth of water degree of depth residing for car 1 and to remote control.For the ease of from remotely controlling this utility model
A kind of underwater working device opening micro-tunneling based on ROV, it is preferable that on described creeper truck 1, be provided with vehicle-carrying communication set
Standby and on-vehicle control apparatus, described vehicular communication equipment and on-vehicle control apparatus communicate to connect；Described creeper truck 1 and mechanical hand dress
Put 3 all to communicate to connect with on-vehicle control apparatus；Described remote control is provided with telecommunication equipment, and described telecommunication sets
Standby and vehicular communication equipment communicates to connect.So, operator are from motion and the robot device that remotely just can control creeper truck 1
The action of 3, it is also possible to by the electrically unit such as described Underwater Camera, surface sweeping sonar, positioner, inertial navigation module, depth gauge
Part communicates to connect with on-vehicle control apparatus, sets up control annexation by on-vehicle control apparatus and remote control.
Containing more salinity in sea water, easily unmanned remotely controlled submersible vehicle 2 and other devices are caused corrosion, can be in institute
Stating unmanned remotely controlled submersible vehicle 2 to be arranged on creeper truck 1 by aluminum alloy frame, described aluminum alloy frame connects spelter, aluminum
Alloy is a kind of corrosion-resistant material, is difficult to by seawater corrosion, and spelter can substitute other metallic elements and be corroded,
Other metallic elements can be played a protective role.Described giant 7, tunnel piercing device 8 and dredge pump 9 use corrosion resistant
Erosion, high pressure resistant material are made, in order to use in the seawater, it is possible to seawater corrosion resistance.Described giant 7 can be the most direct
Eject after drawing the sea water in surrounding and sea water being compressed.Buoyancy can also be installed on unmanned remotely controlled submersible vehicle 2
Device, the buoyant mass etc. that such as gas cell, light material are made, so can utilize buoyancy of water balance creeper truck 1 and install
The gravity of the device on creeper truck 1, alleviates the load pressure of creeper truck 1.
This utility model also provides for the operational method of a kind of underwater working device opening micro-tunneling based on ROV, utilizes
Opening the underwater working device of micro-tunneling based on ROV and make described in technique scheme and arbitrary preferred technical scheme
Industry, comprises the steps:
1) open the underwater working device of micro-tunneling based on ROV be positioned near salvaged thing 10, remotely by described
Control device control creeper truck 1 and drive to job position；
2) remote control control robot device 3 is connected and by giant 7 with giant 7 by capturing interface
Take off from tool replacing apparatus 6；
3) remote control control robot device 3 giant 7 is directed on salvaged thing 10 preset tunnel rise
Beginning portion, giant 7 ejection water cleaning preset tunnel initial part；
4) giant 7 is put back on tool replacing apparatus 6 by remote control control robot device 3；
5) remote control controls robot device 3 by tunnel piercing device 8 and dredge pump 9 from tool replacing apparatus 6
Take off；
6) tunnel piercing device 8 is directed at by presetting that giant 7 is cleared up by remote control control robot device 3
Tunnel initial part start tunneling；Meanwhile, dredge pump 9 is directed at tunnel by remote control control robot device 3
The silt dug down by tunnel piercing device 8 is also siphoned away by the head of road excavation device 8；
7) remote control creeper truck 1 continues to push ahead；
8) step 1 is repeated) to 7) until the tunnel termination portion that creeper truck 1 is preset from salvaged thing 10 passes.
The operational method utilizing the above-mentioned underwater working device opening micro-tunneling based on ROV can underwater be beaten
Drag for and on thing 10, cut the tunnel passed for wirerope, and whole operation process has remote control to control, it is not necessary to behaviour
Make water operation under personnel, it is ensured that the life security of operator, save labour force and cost.
In above-mentioned steps 6) and step 7) between can also have the following steps: silt is expelled to unmanned by described dredge pump 9
Remote-controlled vehicle 2 rear, the silt that remote control control unmanned remotely controlled submersible vehicle 2 is moved rearwards by and is discharged by dredge pump 9
From tunnel, initial part is sent.So, being mined the sandy soil got off and be discharged tunnel, tunnel keeps unimpeded, it is simple to follow-up penetrates
The operation of wirerope.
In above-mentioned steps 8) after can also have the following steps: remote control control robot device 3 clamp wirerope
Pass from the tunnel offered, then utilize hoisting device just can be sling from water by salvaged thing 10.
Technical scheme based on above-described embodiment, a kind of work under water opening micro-tunneling based on ROV of the present utility model
Industry device and operational method thereof are capable of carrying out salvaged thing 10 under water the operation of tunneling, in order to penetrate hoisting steel
Cable, whole operation process is remotely being controlled by operator, it is not necessary under operator, water enters in entering into severe, dangerous environment
Row operation, thus ensure that the life security of operator.
Above-described embodiment only illustrative principle of the present utility model and effect thereof are new not for limiting this practicality
Type.Above-described embodiment all can be carried out by any person skilled in the art under spirit and the scope of the present utility model
Modify or change.Therefore, art has usually intellectual such as without departing from the essence disclosed in this utility model
All equivalences completed under god and technological thought are modified or change, and must be contained by claim of the present utility model.
Claims (8)
1. open a underwater working device for micro-tunneling based on ROV, it is characterized in that, including remote control, creeper truck
And unmanned remotely controlled submersible vehicle (2) (1), described unmanned remotely controlled submersible vehicle (2) is arranged on creeper truck (1), creeper truck (1) and unmanned
Remote-controlled vehicle (2) is moved by remote control control；Described unmanned remotely controlled submersible vehicle (2) is provided with robot device
(3)；
It is also equipped with tool replacing apparatus (6), on unmanned remotely controlled submersible vehicle (2) on described tool replacing apparatus (6) removably
Being provided with giant (7), tunnel piercing device (8), dredge pump (9), described robot device (3) is provided with and giant
(7), the crawl interface that tunnel piercing device (8), dredge pump (9) connect.
2. the underwater working device opening micro-tunneling based on ROV as claimed in claim 1, is characterized in that: described mechanical hand
Device (3) has the first motion arm (4) and the second motion arm (5), described first motion arm (4) be provided with giant (7),
The crawl interface that tunnel piercing device (8) connects；Described second motion arm (5) is provided with the crawl interface being connected with dredge pump (9).
3. the underwater working device opening micro-tunneling based on ROV as claimed in claim 1, is characterized in that: described unmanned distant
Control submersible (2) is arranged on creeper truck (1) by aluminum alloy frame, and described aluminum alloy frame connects spelter, unmanned distant
It is also equipped with buoyant device in control submersible (2).
4. the underwater working device opening micro-tunneling based on ROV as claimed in claim 1, is characterized in that: described creeper truck
(1), robot device (3) and tunnel piercing device (8) use hydraulic-driven.
5. the underwater working device opening micro-tunneling based on ROV as claimed in claim 1, is characterized in that: described unmanned distant
Control submersible (2) is provided with Underwater Camera, underwater luminaire and scanning sonar.
6. the underwater working device opening micro-tunneling based on ROV as claimed in claim 1, is characterized in that: described unmanned distant
Control submersible (2) is provided with positioner, inertial navigation module, depth gauge.
7. the underwater working device opening micro-tunneling based on ROV as claimed in claim 1, is characterized in that: described water under high pressure
Rifle (7) ejects after drawing sea water and being compressed by sea water.
8. the underwater working device opening micro-tunneling based on ROV as claimed in claim 1, is characterized in that: described creeper truck
(1) being provided with vehicular communication equipment and on-vehicle control apparatus, described vehicular communication equipment communicates to connect with on-vehicle control apparatus；Institute
State creeper truck (1) and robot device (3) all communicates to connect with on-vehicle control apparatus；Described remote control is provided with remotely
Communication equipment, described telecommunication equipment and vehicular communication equipment communication connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620596607.5U CN205707227U (en) | 2016-06-17 | 2016-06-17 | The underwater working device of micro-tunneling is opened based on ROV |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620596607.5U CN205707227U (en) | 2016-06-17 | 2016-06-17 | The underwater working device of micro-tunneling is opened based on ROV |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106005312A (en) * | 2016-06-17 | 2016-10-12 | 上海遨拓深水装备技术开发有限公司 | Underwater operation device for micro-tunnel excavation based on remote operated vehicle (ROV) and operation method thereof |
| CN108051819A (en) * | 2017-11-13 | 2018-05-18 | 刘永风 | A kind of deep water rescue mode |
| CN111042251A (en) * | 2019-12-19 | 2020-04-21 | 中交疏浚技术装备国家工程研究中心有限公司 | Large-tonnage sunken ship bottom hard soil hole digging and conveying system and construction operation method thereof |
-
2016
- 2016-06-17 CN CN201620596607.5U patent/CN205707227U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106005312A (en) * | 2016-06-17 | 2016-10-12 | 上海遨拓深水装备技术开发有限公司 | Underwater operation device for micro-tunnel excavation based on remote operated vehicle (ROV) and operation method thereof |
| CN108051819A (en) * | 2017-11-13 | 2018-05-18 | 刘永风 | A kind of deep water rescue mode |
| CN111042251A (en) * | 2019-12-19 | 2020-04-21 | 中交疏浚技术装备国家工程研究中心有限公司 | Large-tonnage sunken ship bottom hard soil hole digging and conveying system and construction operation method thereof |
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