CN212200530U

CN212200530U - Deep water limited space dredging vehicle

Info

Publication number: CN212200530U
Application number: CN202020416652.4U
Authority: CN
Inventors: 彭建平; 黎宙; 郑皓; 唐红平; 程阳锐; 彭赛锋; 李小艳
Original assignee: Changsha Research Institute of Mining and Metallurgy Co Ltd
Current assignee: Changsha Research Institute of Mining and Metallurgy Co Ltd
Priority date: 2020-03-27
Filing date: 2020-03-27
Publication date: 2020-12-22
Anticipated expiration: 2030-03-27

Abstract

The utility model discloses a car is dredged in limited space of deep water, including the automobile body and install running gear on the automobile body, conveying system, dredge operation mechanism, space detection mechanism and monitoring device, dredge operation mechanism and include cutter suction head and drive cutter suction head horizontal hunting's swing mechanism from top to bottom, conveying system includes connecting tube, delivery pump and pipeline, and the one end and the cutter suction head of connecting tube are connected, and the other end is connected with the input of delivery pump, and the output and the pipeline of delivery pump are connected, and space detection mechanism installs the both sides at the automobile body. The utility model discloses to dredge operation mechanism and conveying system and install on the automobile body that is furnished with running gear, simultaneously, the automobile body still is furnished with hydraulic power system, automatically controlled unit, hydraulic control unit, power control box, front and back supervision control subassembly, space detection mechanism, constitutes an adaptation deep water limited space environment, can independently go the stifled operation car of dredging of operation.

Description

Deep water limited space dredging vehicle

Technical Field

The utility model belongs to the technical field of equipment is dredged to the water conservancy, especially, relate to a car is dredged in limited space of deep water.

Background

At present, silt enters holes in water systems such as rivers, lakes and reservoirs and other underwater limited spaces due to various reasons, so that the silt in the holes and other underwater limited spaces is increased day by day, the effective water passing area of the limited spaces is reduced, and the normal function exertion is influenced. For flood control and drainage reasons, it is often necessary to dredge the settled sludge. At present, common dredging modes such as a cutter suction dredger, a trailing suction dredger, a chain bucket dredger and the like all operate by ship-mounted equipment, the equipment is complex in structure and large in overall dimension, meanwhile, due to the fact that sludge and the like are lifted in the dredging process, the camera shooting sight line is fuzzy, the problems that the sludge collides with the left side wall and the right side wall of an underwater limited space in the walking direction and scrapes the sludge and the like easily occur, and the common dredging modes are difficult to be suitable for dredging operation of the limited space such as holes and the like.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a car is dredged in limited space of deep water to solve above-mentioned problem.

For realizing the above-mentioned purpose, the utility model discloses a car is dredged to limited space of deep water, include the automobile body and install running gear, conveying system, the operation mechanism of dredging, space detection mechanism and monitoring and control device on the automobile body, it includes hank suction head and drive to dredge operation mechanism hank suction head horizontal hunting's swing mechanism from top to bottom, conveying system includes connecting tube, delivery pump and pipeline, connecting tube's one end with the hank suction head is connected, the other end with the input of delivery pump is connected, the output of delivery pump with pipeline connects, space detection mechanism installs the both sides of automobile body.

Furthermore, the space detection mechanism comprises a plurality of detection wheels which can be in contact with the side wall of the deepwater limited space, the detection wheels are pivoted with the vehicle body, and speed sensors for detecting the rotating speed of the detection wheels and force sensors for detecting the contact force of the side wall of the deepwater limited space are mounted on the detection wheels.

Further, the space detection mechanism further comprises a rotating shaft, a bearing and a sealing end cover, the force sensor is installed on the rotating shaft, the speed sensor is installed at the outer edge of the detection wheel, a stepped hole is formed in the detection wheel, the rotating shaft is installed on the vehicle body and is in sealed pin joint with the stepped hole, the bearing is installed in the stepped hole and is in sleeve joint with the rotating shaft, and the sealing end cover is used for sealing the end part of the rotating shaft in the stepped hole.

The sealing device further comprises a spacer bush and a locking nut, wherein the spacer bush is sleeved at two ends of the rotating shaft in the stepped hole, the locking nut locks the inner ring of one of the bearings to abut against the spacer bush, and the sealing end cover abuts against the outer ring of the bearing.

Furthermore, the swing mechanism comprises a second support arm, a third oil cylinder, a second oil cylinder, a first support arm, a rotary seat and a first oil cylinder, one end of the second support arm is connected with the twisting suction head, the other end of the second support arm is hinged to one end of the first support arm, the other end of the first support arm is hinged to the rotary seat on the vehicle body, one end of the third oil cylinder is hinged to the second support arm, the other end of the third oil cylinder is hinged to the first support arm, one end of the second oil cylinder is hinged to the first support arm, the other end of the second oil cylinder is hinged to the rotary seat, one end of the first oil cylinder is hinged to the rotary seat, and the other end of the first oil cylinder is hinged to the vehicle body.

Furthermore, the second support arm is a hollow steel pipe, one end of the hollow steel pipe is connected with the output end of the twisting suction head, and the other end of the hollow steel pipe is connected with the input end of the connecting pipeline.

Furthermore, the running gear is a crawler-type running chassis.

Furthermore, the vehicle body is of a frame structure with an upper layer and a lower layer, the rotary seat and the delivery pump are arranged in the middle of the upper layer of the vehicle body, and the lower layer of the vehicle body is provided with a hydraulic power system, an electric control unit, a hydraulic control unit and a power control box.

Furthermore, the monitoring device comprises a front monitoring component and a rear monitoring component, wherein the front monitoring component and the rear monitoring component respectively comprise an underwater monitoring camera, a deep water camera lamp, a scanning sonar, an altimeter, an inertial navigation meter and an acoustic Doppler log.

Furthermore, the front end and the rear end of the vehicle body are provided with propellers for adjusting the left-right deflection angle of the vehicle body.

Compared with the prior art, the utility model has the advantages of:

the utility model discloses a deep water limited space dredging vehicle, it installs dredging operation mechanism and conveying system on the automobile body that is furnished with running gear, simultaneously, the automobile body still is furnished with hydraulic power system, electrical control unit, hydraulic control unit, power control box, front and back monitoring subassembly, space detection mechanism, constitutes a dredging operation vehicle that adapts to deep water limited space environment, can independently go the operation; furthermore, through the detection wheels on the two sides of the vehicle body, on one hand, under the condition that the deepwater camera sight is fuzzy, collision and scraping with the left side wall and the right side wall of the underwater limited space can be avoided through detection of the detection wheels; on the other hand, the detection wheel can also play a role in protecting the vehicle body from side collision and buffering.

The present invention will be described in further detail below with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification. In the drawings:

fig. 1 is a schematic front view of a deep water confined space dredge vehicle disclosed in the preferred embodiment of the present invention;

fig. 2 is a schematic top view of a deep water confined space dredge disclosed in the preferred embodiment of the present invention;

fig. 3 is a schematic diagram of a dredging operation mechanism and a conveying system and a material flow thereof according to the preferred embodiment of the present invention;

fig. 4 is an axial view of the space detecting mechanism disclosed in the preferred embodiment of the present invention;

fig. 5 is a schematic front view of a space detecting mechanism disclosed in the preferred embodiment of the present invention;

fig. 6 is an enlarged schematic view at a of fig. 5.

Illustration of the drawings:

1. twisting a suction head; 2. a second support arm; 3. a third oil cylinder; 4. connecting a pipeline; 5. a delivery conduit; 6. a delivery pump; 7. a second cylinder; 8. a first support arm; 9. a rotary base; 10. a first cylinder; 11. a front monitoring and monitoring component; 12. a post-monitoring component; 13. a traveling device; 14. a hydraulic power system; 15. an electronic control unit; 16. a space detection mechanism; 17. a hydraulic control unit; 18. a power control box; 19. a vehicle body; 20. a propeller; 21. a rotating shaft; 22. a bearing; 23. a spacer sleeve; 24. locking the nut; 25. sealing the end cap; 26. a force sensor; 27. a speed sensor; 28. detecting a wheel; 29. a stepped bore.

Detailed Description

The embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways as defined and covered by the claims.

As shown in fig. 1-6, the utility model discloses a car is dredged to limited space of deep water, including automobile body 19 and the running gear 13 of installing on automobile body 19, conveying system, the operation mechanism of dredging, space detection mechanism 16 and monitoring and control device, running gear 13 is crawler-type walking chassis, thereby be convenient for walk in silt under water, the operation mechanism of dredging includes cutter head 1 and the swing mechanism of drive cutter head 1 horizontal hunting about from top to bottom, conveying system includes connecting tube 4, delivery pump 6 and pipeline 5, the one end of connecting tube 4 is connected with cutter head 1, the other end is connected with the input of delivery pump 6, the output and the pipeline 5 of delivery pump 6 are connected, space detection mechanism 16 installs the both sides at automobile body 19, in this embodiment, space detection mechanism 16 includes can be around the rotatory detection wheel 28 in center, install on the detection wheel 28 and be used for detecting the speedtransmitter 27 of detection wheel 28 rotational speed and be used for detecting and limited space side of deep water side with deep water and be used for detecting and be connected with The distance between the vehicle body 19 and two sides of an underwater space is controlled by the space detection mechanism 16 through the force sensor 26 of the wall contact force, on one hand, under the condition that the deepwater camera sight is fuzzy, collision and scraping with the left side wall and the right side wall of the underwater limited space can be avoided through detection of the detection wheels 28 through the detection wheels 28 on two sides of the vehicle body 19; on the other hand, the detection wheel 28 may also protect the vehicle body 19 from a side collision.

Referring to fig. 4-6, the space detecting mechanism 16 further includes a rotating shaft 21, two bearings 22, a spacer 23, a lock nut 24 and a sealing end cover 25, wherein the number of the bearings 22 is two, and the force sensor 26 is mounted on the rotating shaft 21, and may be a strain gauge type sensor disposed on the rotating shaft 21 or a pressure sensor for detecting the pressure of the detecting wheel 28 on the rotating shaft 21. The speed sensor 27 is installed at the outer edge of the detection wheel 28, detects the rotating speed of the detection wheel 28, a stepped hole 29 is arranged in the detection wheel 28, the rotating shaft 21 is installed on the vehicle body 19 and is in sealed pivot connection with the stepped hole 29 (realized by arranging a rubber sealing ring), the bearing 22 is installed in the stepped hole 29 and is sleeved with the rotating shaft 21, and the end part of the rotating shaft 21 is sealed in the stepped hole 29 by the sealing end cover 25. The spacer 23 is sleeved at two ends of the rotating shaft 21 in the stepped hole 29, the lock nut 24 locks the inner ring of one bearing 22 to abut against the spacer 23, and the sealing end cover 25 abuts against the outer ring of the bearing 22, so that the detection wheel 28 is installed on the rotating shaft 21, and the corrosion prevention requirement of the bearing 22 in the stepped hole 29 is also met.

In this embodiment, the swing mechanism includes a second arm 2, a third cylinder 3, a second cylinder 7, a first arm 8, a rotary seat 9 and a first cylinder 10, one end of the second arm 2 is connected to the twisting head 1, the other end is hinged to one end of the first arm 8, the other end of the first arm 8 is hinged to the rotary seat 9 mounted on the vehicle body 19, one end of the third cylinder 3 is hinged to the second arm 2, the other end is hinged to the first arm 8, one end of the second cylinder 7 is hinged to the first arm 8, the other end is hinged to the rotary seat 9, one end of the first cylinder 10 is hinged to the rotary seat 9, the other end is hinged to the vehicle body 19, wherein the third cylinder 3 and the second cylinder 7 are linked to realize the up-down swing of the twisting head 1, the rotation of the rotary seat 9 is driven by the first cylinder 10 to further drive the twisting head 1 mounted on the rotary seat 9 to swing left and right, thereby realizing the up-down and left-right swinging of the twisting and sucking head 1.

In this embodiment, the second arm 2 is a hollow steel pipe, and the hollow steel pipe has two functions, namely a supporting arm of the twisting and sucking head 1 and a conveying flow channel for cleaning sludge by the twisting and sucking head 1, and forms a part of a conveying system, so that the structural arrangement of the swing mechanism is simplified. One end of the hollow steel pipe is connected with the output end of the twisting suction head 1, and the other end of the hollow steel pipe is connected with the input end of the connecting pipeline 4. In this embodiment, the vehicle body 19 is a frame structure with two upper and lower layers, the rotary seat 9 and the delivery pump 6 are installed in the middle of the upper layer of the vehicle body 19, and the lower layer of the vehicle body 19 is provided with the hydraulic power system 14, the electronic control unit 15, the hydraulic control unit 17 and the power control box 18. The monitoring device comprises a front monitoring component 11 and a rear monitoring component 12, wherein the front monitoring component 11 and the rear monitoring component 12 respectively comprise an underwater monitoring camera, a deep water camera lamp, a scanning sonar, an altimeter, an inertial navigation meter and an acoustic Doppler log, so that the walking process of the vehicle body 19 is accurately controlled. Meanwhile, when the vehicle body 19 is positioned below the marine mother ship, impellers 20 with impellers are provided at the front and rear ends of the vehicle body 19 in order to adjust the yaw angle of the vehicle body 19.

During specific work, the dredging vehicle for the deep water confined space drives to the entrance of the confined space by itself or is lowered to the confined space through the distribution device (when the dredging vehicle cannot reach the entrance by itself, such as a hole in the middle of a dam). When the dredging vehicle adopts the arrangement device to lower, the direction angle of the dredging vehicle can be adjusted through the propeller 20, so that the vehicle head always faces the set trend. Under the guidance of the front monitoring and controlling assembly 11 and the rear monitoring and controlling assembly 12, the traveling device 13 is started to make the dredging vehicle go to the operation site by itself. During travel to the work site, the dredge vehicle deviates from the heading, resulting in the vehicle approaching the side wall of the confined space. In this process, the space detection mechanism 16 of the dredging vehicle first contacts with the sidewall, so that the space detection mechanism 16 generates a certain rotational motion and is acted by a certain force, the related sensors for measuring the speed and the force on the space detection mechanism 16 detect related signals, the related signals are transmitted to the electronic control unit 15 of the dredging vehicle, and the electronic control unit 15 processes the related signals and sends corresponding instructions to guide the dredging vehicle to return to the correct course.

When the dredging operation vehicle arrives at the dredging operation site, the delivery pump 6 is started, and a suction head of the delivery pump 6 enables negative pressure to be formed inside the cutter suction head 1, so that water and sludge particles outside the cutter suction head 1 are sucked into the cutter suction head 1 and are discharged to a specified area according to the flow direction shown in figure 3. Then the twisting suction head 1 is opened, under the combined action of the third oil cylinder 3, the second oil cylinder 7 and the first oil cylinder 10 in a telescopic mode, the second support arm 2 and the first support arm 8 move together to move the twisting suction head 1 to a deposition point, the twisting suction head 1 rotates to enable sludge to be broken into particles with certain particle sizes by a blade of the twisting suction head 1, under the negative pressure formed by the delivery pump 6, a mixture of the sludge particles and water is sucked into the twisting suction head 1, and then the sludge is discharged out of a limited space through the connecting pipeline 4, the delivery pump 6 and the delivery pipeline 5.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a car is dredged in limited space of deep water, its characterized in that, include automobile body (19) and install running gear (13), conveying system, the operating mechanism of dredging, space detection mechanism (16) and monitoring and control device on automobile body (19), it includes hank suction head (1) and drive to dredge operating mechanism the swing mechanism of hank suction head (1) horizontal hunting about from top to bottom, conveying system includes connecting tube (4), delivery pump (6) and pipeline (5), the one end of connecting tube (4) with hank suction head (1) is connected, the other end with the input of delivery pump (6) is connected, the output of delivery pump (6) with pipeline (5) are connected, space detection mechanism (16) are installed the both sides of automobile body (19).

2. The dredging vehicle for confined deep water space according to claim 1, wherein the space detecting mechanism (16) comprises a plurality of detecting wheels (28) contactable with the side wall of the confined deep water space, the detecting wheels (28) being pivotally connected to the vehicle body (19), the detecting wheels (28) being mounted with speed sensors (27) for detecting the rotational speed of the detecting wheels (28) and force sensors (26) for detecting the contact force with the side wall of the confined deep water space.

3. The deep water confined space dredging vehicle of claim 2, wherein the space detecting mechanism (16) further comprises a rotating shaft (21), a bearing (22) and a sealing end cover (25), the force sensor (26) is mounted on the rotating shaft (21), the speed sensor (27) is mounted on the outer edge of the detecting wheel (28), a stepped hole (29) is formed in the detecting wheel (28), the rotating shaft (21) is mounted on the vehicle body (19) and is in sealed pivot joint with the stepped hole (29), the bearing (22) is mounted in the stepped hole (29) and is in socket joint with the rotating shaft (21), and the sealing end cover (25) seals the end of the rotating shaft (21) in the stepped hole (29).

4. The dredging vehicle for the confined space in deep water according to claim 3, further comprising a spacer (23) and a lock nut (24), wherein the spacer (23) is sleeved at both ends of the rotating shaft (21) in the stepped hole (29), the lock nut (24) locks the inner ring of one of the bearings (22) against the spacer (23), and the seal end cover (25) abuts against the outer ring of the bearing (22).

5. The dredging vehicle for confined deep water spaces according to claim 1, wherein the swing mechanism comprises a second arm (2), a third cylinder (3), a second cylinder (7), a first arm (8), a rotary seat (9) and a first cylinder (10), one end of the second arm (2) is connected with the winch head (1), the other end is hinged with one end of the first arm (8), the other end of the first arm (8) is hinged with the rotary seat (9) mounted on the vehicle body (19), one end of the third cylinder (3) is hinged with the second arm (2), the other end is hinged with the first arm (8), one end of the second cylinder (7) is hinged with the first arm (8), the other end is hinged with the rotary seat (9), one end of the first cylinder (10) is hinged with the rotary seat (9), the other end is hinged with the vehicle body (19).

6. Dredging vehicle for confined spaces in deep water according to claim 5, characterized in that the second arm (2) is a hollow steel tube, one end of which is connected to the output of the cutter head (1) and the other end is connected to the input of the connecting pipe (4).

7. The deep water confined space dredging vehicle of any one of claims 1-6, characterized in that the walking means (13) is a crawler-type walking chassis.

8. The dredging vehicle for confined spaces in deep water according to claim 5 or 6, wherein the vehicle body (19) is of a frame type structure with two upper and lower layers, the rotary base (9) and the delivery pump (6) are installed in the middle of the upper layer of the vehicle body (19), and the hydraulic power system (14), the electronic control unit (15), the hydraulic control unit (17) and the power control box (18) are installed in the lower layer of the vehicle body (19).

9. The deep water confined space dredge vehicle of any one of claims 1-6 wherein the monitoring and monitoring apparatus comprises a front monitoring and monitoring assembly (11) and a rear monitoring and monitoring assembly (12), the front monitoring and monitoring assembly (11) and the rear monitoring and monitoring assembly (12) each comprising an underwater surveillance camera, a deep water camera light, a scanning sonar, an altimeter, an inertial navigation and an acoustic Doppler log.

10. The deep water confined space dredging vehicle of any one of claims 1-6, wherein the front and rear ends of the vehicle body (19) are provided with thrusters (20) for adjusting the yaw angle of the vehicle body (19).