WO2021092708A1 - Underwater fishing and engineering machine, and operation method therefor - Google Patents
Underwater fishing and engineering machine, and operation method therefor Download PDFInfo
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- WO2021092708A1 WO2021092708A1 PCT/CN2019/000214 CN2019000214W WO2021092708A1 WO 2021092708 A1 WO2021092708 A1 WO 2021092708A1 CN 2019000214 W CN2019000214 W CN 2019000214W WO 2021092708 A1 WO2021092708 A1 WO 2021092708A1
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- underwater
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- luffing
- boom
- car body
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
Definitions
- the boom two arms of the excavator mechanism, the cylinder and the shovel can also be installed at the front end of the box-shaped car body. Bucket, so as to realize underwater engineering construction operations.
- the bucket is used to excavate the sand.
- the motor or motor in the box-shaped car body drives the pump blades or the suction generated by the rotation of the blades.
- the sand is sucked in through the suction pipe and discharged from the discharge pipe.
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- Ocean & Marine Engineering (AREA)
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Abstract
Disclosed are an underwater fishing and engineering machine, and an operation method therefor, wherein a power source (39), a cab and a control mechanism (36), an underwater actuation mechanism, a walking mechanism (23), a variable-amplitude telescopic mechanism, and a gripper mechanism or an excavator mechanism are installed on a ship or a water surface movable platform (40). An underwater fishing operation and underwater engineering construction are realized by using an above-water control method for an underwater operation.
Description
本发明涉及到水下捕捞作业及水下工程施工的一种设备。The invention relates to an equipment for underwater fishing operations and underwater engineering construction.
目前国际上通用的方法是利用水下机械人及人工下潜捕捞或施工为主的方法，其劳动强度大，施工作业速度慢，成本高，容易造成安全隐患，急需解决水下用施工机械代替人工的方法。At present, the internationally accepted method is to use underwater robots and manual submerged fishing or construction methods. The labor intensity is high, the construction operation speed is slow, the cost is high, and it is easy to cause safety hazards. It is urgent to solve the problem of replacing the underwater construction machinery with construction machinery. Manual method.
发明内容Summary of the invention
本发明是要解决现有技术存在的上述问题，提供一种在船上或水面活动平台上包括：船上或水面活动平台上，安装了动力源机构(或使用船上的动力源)，船上又安装了驾驶室及控制机构，吊绳及高压管道卷扬机和上下摆动的吊臂，吊臂变幅油缸，吊臂变幅油缸上安装了吊臂变幅弹簧，实现变幅功能的同时可以利用弹簧使吊臂上下摆动，从而减少因波浪产生的上下颠簸给吊绳带来的拉力，控制机构通过吊臂带动吊绳及高压管道连接的水下执行机构下潜至水下地面，高压管道内安装了电路及液压管路，通过驾驶室及控制机构控制水下的执行机构运作，水下执行机构分别安装了箱状车体，密封承压阀体电器箱，行走机构，灯及摄像头，变幅伸缩机构，抓钳机构，挖掘机机构，密封承压阀体电器箱里的液压及电控阀通过电路及液压管路由控制机构控制行走机构、灯及摄像头，变幅伸缩机构，抓钳机构，挖掘机机构的动作，箱状车体利用行走机构在地面上实现行走和转向，箱状车体也可以通过吊绳带动水面上的船只移动，箱状车体前端安装有灯及摄像头，可以直观的展现水下的环境，通过变幅伸缩 机构上的管臂旋转油缸，管臂旋转变幅油缸，管臂变幅油缸，管臂伸缩油缸及颚口变角油缸，可以使管臂及抓钳机构上的上下颚口实现上下、左右、前后移动及下颚口变角，通过箱状车体内的电机或马达带动泵叶或桨叶旋转产生吸力，通过下颚口变角，使前端的物体吸入箱状车体内，同时也可以反转泵叶或桨叶，把箱状车体内的泥沙通过排沙器排出车体外，也可以在箱状车体前端安装挖掘机机构的大臂二臂及油缸和铲斗，从而实现水下工程施工作业，通过铲斗挖掘泥沙，箱状车体内的电机或马达带动泵叶或桨叶旋转产生的吸力，通过吸料管吸入泥沙，从排料管排出到指定地点，当结束施工作业时可以吊起水下执行机构至甲板上，打开箱状车体下的开关箱盖，使车体内的物体转移至船上，同时可以实现航行；当船只航行过程中，可以通过吊绳吊住水下执行机构不落在水下地面，利用灯及摄像头巡航查看水下物体。The present invention aims to solve the above-mentioned problems existing in the prior art, and provides a ship or surface movable platform including: on the ship or on the surface movable platform, a power source mechanism is installed (or the power source on the ship is used), and the ship is installed The cab and the control mechanism, the hoist rope and high-pressure pipeline hoist and the swinging boom, the boom luffing cylinder, the boom luffing cylinder is equipped with a boom luffing spring, which can realize the luffing function and use the spring to make the hoisting The arm swings up and down to reduce the pulling force of the sling caused by the up and down bumps caused by the waves. The control mechanism drives the sling and the underwater actuator connected to the high-pressure pipeline to the underwater ground through the boom, and a circuit is installed in the high-pressure pipeline. And hydraulic pipelines, the operation of the underwater actuator is controlled through the cab and control mechanism. The underwater actuator is equipped with a box-shaped car body, a sealed pressure-bearing valve body, an electrical box, a walking mechanism, a lamp and a camera, and a luffing and retracting mechanism. , Clamping mechanism, excavator mechanism, sealed pressure-bearing valve body The hydraulic and electric control valve in the electrical box control the walking mechanism, lamp and camera through the circuit and hydraulic pipe routing control mechanism, luffing and retracting mechanism, grasping mechanism, excavator The action of the mechanism, the box-shaped car body uses the walking mechanism to realize walking and turning on the ground. The box-shaped car body can also be used to drive the boat on the water through the sling. The front end of the box-shaped car body is equipped with a light and a camera, which can be displayed intuitively. In the underwater environment, through the tube arm rotating cylinder on the luffing telescopic mechanism, the tube arm rotating luffing cylinder, the tube arm luffing cylinder, the tube arm telescopic cylinder and the jaw angle changing cylinder, the tube arm and the gripper mechanism can be The upper and lower jaw openings can move up and down, left and right, forward and backward, and the angle of the lower jaw can be changed. The motor or motor in the box-shaped car body drives the pump blades or blades to rotate to generate suction. In the body, the pump blades or paddles can be reversed at the same time, and the sediment in the box-shaped car body can be discharged out of the car body through the sand discharger. The boom two arms of the excavator mechanism, the cylinder and the shovel can also be installed at the front end of the box-shaped car body. Bucket, so as to realize underwater engineering construction operations. The bucket is used to excavate the sand. The motor or motor in the box-shaped car body drives the pump blades or the suction generated by the rotation of the blades. The sand is sucked in through the suction pipe and discharged from the discharge pipe. At the designated location, when the construction operation is finished, the underwater actuator can be lifted to the deck, and the switch box cover under the box-shaped car body can be opened, so that the objects in the car body can be transferred to the ship and the navigation can be realized at the same time; when the ship is sailing, The underwater actuator can be suspended by a sling to prevent it from falling on the underwater ground, and the light and camera can be used to cruise and view underwater objects.
本发明涉及的一种海底捕捞作业及水下工程施工的设备及施工方法，其特征包括：The invention relates to a submarine fishing operation and underwater engineering construction equipment and construction method, which are characterized by:
发明了动力源机构和驾驶室及控制机构，其中包括动力源(或使用船上的动力源)，驾驶室及控制机构安装在船或水面活动平台上，并安装了传递动力并带有吊绳及高压管道内安装电路液压管路及电刷和带卷扬换向器的卷扬，在吊绳和高压管道下端安装了与执行机构连接的减震器，通过高压管道把发动机的动力传递到水下的执行机构；Invented the power source mechanism and the driver's cab and control mechanism, including the power source (or use the power source on the ship). The driver's cab and the control mechanism are installed on the ship or water surface movable platform, and the transmission power is installed with a sling and The high-pressure pipeline is equipped with circuit hydraulic pipelines, electric brushes, and hoisting with a hoisting commutator. A shock absorber connected to the actuator is installed at the lower end of the sling and the high-pressure pipeline, and the power of the engine is transmitted to the water through the high-pressure pipeline. Executive agency under
发明了能变幅并能上下摆动的吊臂，其中包括吊臂变幅油缸上安装了吊臂上下摆动的变幅弹簧，安装了能带动吊绳和高压管道的管轮和绳轮，用于调节船或水面活动平台在波浪上下颠簸时对船或水面活动平台及执行机构所产生的拉力；Invented a boom capable of luffing and swinging up and down, including the boom luffing cylinder with a luffing spring for the boom to swing up and down, and a tube wheel and sheave that can drive the sling and high-pressure pipelines. Adjust the pulling force generated by the ship or water surface movable platform on the ship or water surface movable platform and the actuator when the wave is up and down;
发明了水下执行机构，其中包括水下执行机构安装了箱状车体，用于储存 物体，在箱状车体上安装了密封承压阀体电器箱，用于安装液压阀块及电控阀，电机或马达，筛网，安装了用马达或电机带动的泵叶或桨叶，用于把水和物体从吸水管吸入箱状车体内，物体留在箱状车体内，水通过筛网从排水管排出，安装了行走机构，用于行走及转向，开关箱盖，用于取出物体，开关箱盖上安装了排沙器，用于排沙，安装了灯和摄像头，用于观察和照明，安装了返流板，用于阻拦物体；Invented underwater actuators, including underwater actuators installed with a box-shaped car body for storing objects, and a sealed pressure-bearing valve body electrical box installed on the box-shaped car body for installing hydraulic valve blocks and electric controls Valves, motors or motors, screens, installed with pump blades or paddles driven by motors or motors, used to suck water and objects into the box-shaped car body from the suction pipe, the objects stay in the box-shaped car body, and the water passes through the screen Drain from the drainage pipe, install a walking mechanism for walking and steering, switch the box cover to take out objects, install a sand discharger on the switch box cover for sand removal, install lights and cameras for observation and Lighting, equipped with a return plate, used to block objects;
发明了在箱状车体上安装变幅伸缩机构，其中包括变幅伸缩机构上安装了旋转管臂，管臂旋转油缸，用于管臂的旋转，安装了管臂旋转变幅油缸，变幅管臂，管臂变幅油缸，用于管臂的上下、左右变幅，安装了导流板，用于使机体吊装时稳定，安装了颚口伸缩管臂，颚口伸缩油缸，用于前后抓取物体；Invented the installation of a luffing telescopic mechanism on a box-shaped car body, including a rotating tube arm installed on the luffing telescopic mechanism, a tube arm rotating cylinder, used for the rotation of the tube arm, and a tube arm rotating luffing cylinder mounted on the luffing mechanism. Tube arm, tube arm luffing cylinder, used for up and down, left and right luffing of the tube arm, installed with deflectors, used to stabilize the body when hoisting, installed with jaw telescopic tube arm, jaw telescopic cylinder, used for front and rear Grab objects
发明了抓钳机构，其中包括上颚口，下颚口，颚口变角油缸，用于抓取物体及改变吸水口张口大小，改变吸水量，安装了漏沙口，阻沙器，用于阻止泥沙进入箱状车体；Invented the grasping forceps mechanism, which includes the upper jaw mouth, lower jaw mouth, and jaw mouth variable angle cylinders, which are used to grasp objects and change the opening size of the water suction mouth, change the water absorption, and install a sand leak and a sand stopper to prevent mud Sand enters the box-shaped car body;
发明了挖掘机机构，其中包括也可以安装挖机大臂二臂及油缸，铲斗，用于挖取或搅动泥沙，用吸料管吸入物体，通过马达或电机带动泵叶或桨叶，使泥沙顺排料管排出到指定地点；Invented the excavator mechanism, which can also be installed with two arms of the excavator, cylinders, buckets, used to dig or agitate sand, suck in objects with suction pipes, and drive pump blades or blades through motors or motors. Discharge the sediment along the discharge pipe to the designated location;
该水下捕捞机械及工程机械的有益效果是：能替代人工在水下捕捞或施工作业，作业效率高，保证安全，成本低，解决了水下捕捞及施工作业代替人工的方法，使陆地的工程机械在水下得以运用。The beneficial effects of the underwater fishing machinery and engineering machinery are: it can replace manual fishing or construction operations under water, has high operating efficiency, guarantees safety, and low cost, solves the problem of substituting manual methods for underwater fishing and construction operations, and makes land Construction machinery can be used underwater.
图1为本发明结构示意图；Figure 1 is a schematic diagram of the structure of the present invention;
图2为图1带有挖机机构示意图；Figure 2 is a schematic diagram of Figure 1 with an excavator mechanism;
图3为图1主视图；Figure 3 is a front view of Figure 1;
图4为图2航行状态示意图；Figure 4 is a schematic diagram of the navigation state of Figure 2;
图中：上颚口1，下颚口2，阻沙器3，漏沙口4，吸水口5，颚口变角油缸6，颚口伸缩管臂7，颚口伸缩油缸8，管臂变幅油缸9，上下变幅管臂10，导流板11，旋转管臂12，管臂旋转变幅油缸13，管臂旋转油缸14，灯和摄像头15，返流板16，开关箱盖17，排沙器18，箱状车体19，筛网20，密封承压阀体电器箱21，液压阀块及电控阀22，行走机构23，电机或马达24，高压管道25，电路及液压管路26，减震器27，吊绳28，马达或电机29，泵叶或桨叶30，箱体吊耳31，管轮及绳轮32，吊臂33，吊臂油缸34，吊臂变幅弹簧35，驾驶室及控制机构36，吊绳及高压管卷扬机37，电刷及卷扬换向器38，动力源39，船或活动平台40，挖机大臂二臂及油缸41，铲斗42，吸料管43，排料管44。In the picture: upper jaw port 1, lower jaw port 2, sand stopper 3, sand leak port 4, water suction port 5, jaw angle variable cylinder 6, jaw extension tube arm 7, jaw extension cylinder 8, tube arm luffing cylinder 9. Up and down luffing tube arm 10, deflector 11, rotating tube arm 12, tube arm rotating luffing cylinder 13, tube arm rotating cylinder 14, lamp and camera 15, return plate 16, switch box cover 17, sand discharge Device 18, box-shaped car body 19, screen 20, sealed pressure-bearing valve body electrical box 21, hydraulic valve block and electric control valve 22, traveling mechanism 23, motor or motor 24, high-pressure pipeline 25, electric circuit and hydraulic pipeline 26 , Shock absorber 27, sling 28, motor or motor 29, pump blade or blade 30, box lug 31, tube wheel and sheave 32, boom 33, boom cylinder 34, boom spring 35 , Cab and control mechanism 36, sling and high-pressure tube hoist 37, electric brush and hoist commutator 38, power source 39, boat or movable platform 40, excavator boom and cylinder 41, bucket 42, bucket 42, The suction pipe 43, the discharge pipe 44.
下面结合附图和具体实施方式对本发明做进一步详细说明：The present invention will be further described in detail below in conjunction with the drawings and specific embodiments:
如图1、图3所示，该设备安装在船上或活动平台40上，其中包括船上或活动平台40上，安装了动力源39(或使用船上的动力源)，船或活动平台40上又安装了驾驶室及控制机构36，吊绳及高压管道卷扬机37及上下摆动的吊臂33，吊臂33上安装了管轮及绳轮32，吊臂变幅油缸34一端安装在船或活动平台40上，另一端安装在吊臂33上，吊臂变幅油缸34上安装了吊臂变幅弹簧35，吊绳及高压管道卷扬机37上安装子电刷及卷扬换向器38，吊绳28的一端通过管轮及绳轮32和吊臂33安装在吊绳及高压管卷扬机37上，另一端安装在减震器27上，减震器27安装在箱体吊耳31上，箱体吊耳31安装在箱状车体19上，高压管道25的一端通过管轮及绳轮32和吊臂33安装在吊绳及高压管卷扬机37上，另一端安装在密封承压阀体电器箱21上，高压管道25内安装了 电路及液压管路26，箱状车体19后部安装了密封承压阀体电器箱21和电机或马达24，密封承压阀体电器箱21内安装了液压阀块及电控阀22，箱状车体19内部安装了筛网20和马达或电机29及泵叶或桨叶30，箱状车体19下部安装了开关箱盖17及行走机构23，开关箱盖17上安装了排沙器18，箱状车体19前部安装了灯和摄像头15，返流板16，管臂旋转油缸14一端安装在箱状车体19上，另一端安装在旋转管臂12上，旋转管臂12安装在箱状车体19前部，旋转管臂12上安装了管臂旋转变幅油缸13，上下变幅管臂10安装在旋转管臂12上，管臂变幅油缸9和导流板11安装在上下变幅管臂10上，颚口伸缩管臂7安装在上下变幅管臂10上，颚口伸缩油缸8安装在颚口伸缩管臂7上，上颚口1安装在颚口伸缩管臂7上，下颚口2安装在上颚口1上，颚口变角油缸6一端安装在颚口伸缩管臂7上，另一端安装在下颚口2上，下颚口2上安装了吸水口5，漏沙口4及阻沙器3；As shown in Figures 1 and 3, the equipment is installed on a ship or on a movable platform 40, including on a ship or on a movable platform 40, a power source 39 is installed (or a power source on a ship), and on the ship or on a movable platform 40 The cab and control mechanism 36, the hoisting rope and high-pressure pipeline hoist 37 and the swinging boom 33 are installed. The boom 33 is equipped with a tube wheel and sheave 32. One end of the boom luffing cylinder 34 is installed on a ship or a movable platform. 40, the other end is installed on the boom 33, the boom luffing cylinder 34 is equipped with a boom luffing spring 35, the hoisting rope and high-pressure pipeline hoist 37 are equipped with a sub-brush and hoisting commutator 38, hoisting rope One end of 28 is installed on the rope and high-pressure pipe hoist 37 through the tube wheel and sheave 32 and the boom 33, the other end is installed on the shock absorber 27, and the shock absorber 27 is installed on the box lifting lug 31. The lifting lug 31 is installed on the box-shaped car body 19, one end of the high-pressure pipe 25 is installed on the hoisting rope and high-pressure pipe hoist 37 through the tube wheel and sheave 32 and the boom 33, and the other end is installed in the sealed pressure-bearing valve body electrical box 21, the electric circuit and hydraulic pipeline 26 are installed in the high-pressure pipeline 25, the sealed pressure-bearing valve body electrical box 21 and the motor or motor 24 are installed in the rear of the box-shaped car body 19, and the sealed pressure-bearing valve body electrical box 21 is installed Hydraulic valve block and electric control valve 22, a screen 20, a motor or motor 29 and a pump blade or blade 30 are installed inside the box-shaped car body 19, and a switch box cover 17 and a walking mechanism 23 are installed in the lower part of the box-shaped car body 19, A sand discharger 18 is installed on the switch box cover 17, a light and a camera 15 are installed in the front of the box-shaped car body 19, a return plate 16, and a pipe arm rotating cylinder 14 is installed on the box-shaped car body 19 at one end and the other end at the box-shaped car body 19 On the rotating tube arm 12, the rotating tube arm 12 is installed on the front of the box-shaped car body 19, the tube arm rotating luffing cylinder 13 is installed on the rotating tube arm 12, and the upper and lower luffing tube arms 10 are installed on the rotating tube arm 12. The boom luffing cylinder 9 and the deflector 11 are installed on the upper and lower luffing tube arms 10, the jaw telescopic tube arm 7 is installed on the upper and lower luffing tube arms 10, and the jaw telescopic cylinder 8 is installed on the jaw telescopic tube arm 7. , The upper jaw opening 1 is installed on the jaw opening telescopic tube arm 7, the lower jaw opening 2 is installed on the upper jaw opening 1, one end of the jaw opening variable angle cylinder 6 is installed on the jaw opening telescopic tube arm 7, and the other end is installed on the lower jaw opening 2. The chin mouth 2 is equipped with a water suction port 5, a sand leakage port 4 and a sand stopper 3;
如图2所示，在上下变幅管臂10上安装了挖机大臂二臂及油缸41，在挖机大臂二臂及油缸41前端安装了铲斗42，在上下变幅管臂10上安装了吸料管43，在箱状车体19上方安装了排料管44；As shown in Figure 2, two boom arms and cylinders 41 are installed on the upper and lower luffing arms 10, a bucket 42 is installed at the front end of the boom boom and cylinder 41 of the excavator, and the upper and lower luffing arms 10 A suction pipe 43 is installed on it, and a discharge pipe 44 is installed above the box-shaped car body 19;
具体操作方法：利用动力源(或船上的动力源)39提供的动力，由驾驶室及控制机构36控制电刷及卷扬换向器38带动吊绳及高压管道卷扬机37转动，吊绳及高压管道卷扬机37带动吊绳28和高压管道25沿着管轮及绳轮32和吊臂33运动，放下或提起箱状车体19及水下机械入水或放至甲板；利用吊臂油缸34上安装的吊臂变幅弹簧35，使吊臂33能实现变幅功能的同时还能上下自由摆动，避免因波浪颠簸给吊绳28和高压管道25带来的拉力；利用高压管道25内的电路及液压管路26，给行走机构23提供动力，能使箱状车体19在水下地面上自如行走及转向；利用高压管道25内的电路及液压管路26，给管臂旋 转油缸14，管臂旋转变幅油缸13，管臂变幅油缸9，颚口伸缩油缸8，颚口变角油缸6提供动力，使变幅伸缩机构和抓钳机构能上下、左右、前后运动，能够精确对准物体，利用下颚口2的运动来实现抓取物体的功能；在捕捞作业时利用马达或电机29带动泵叶或桨叶30旋转，使抓钳机构前方的物体能够吸入箱状车体内，当马达或电机29停止工作时，返流板16自动闭合，使箱状车体19实现储存功能；也可反流运行；在马达或电机29带动泵叶或桨叶30反转时，由于返流板16闭合促使箱状车体19内的泥沙通过开关箱盖17上的排沙器18排出；在工程施工时利用马达或电机29带动泵叶或桨叶30旋转，把挖掘机机构挖出的泥沙通过吸料管43吸入，再从排料管44排出至指定地点；利用控制机构通过吊臂变幅油缸34带动吊臂33，吊绳28提起水下的执行机构到甲板上，打开开关箱盖17，把箱状车体19内的物体转移至船上，同时可以实现航行；当船只航行过程中，可以通过吊绳28吊住水下执行机构不落在水下地面，利用灯及摄像头15巡航查看水下物体；Specific operation method: using the power provided by the power source (or power source on the ship) 39, the cab and the control mechanism 36 control the brushes and the hoisting commutator 38 to drive the rope and high-pressure pipeline hoist 37 to rotate, the rope and high-pressure The pipe hoist 37 drives the sling 28 and the high-pressure pipeline 25 to move along the pipe wheel and sheave 32 and the boom 33, lowering or lifting the box-shaped car body 19 and the underwater machinery into the water or putting it on the deck; use the boom cylinder 34 to install The boom luffing spring 35 enables the boom 33 to realize the luffing function while also swinging freely up and down, avoiding the pulling force of the rope 28 and the high-pressure pipeline 25 due to the turbulence of the waves; using the circuit and the high-pressure pipeline 25 The hydraulic pipeline 26 provides power to the walking mechanism 23 to enable the box-shaped car body 19 to walk and turn freely on the underwater ground; the circuit in the high-pressure pipeline 25 and the hydraulic pipeline 26 are used to rotate the cylinder 14 and the pipe for the tube arm. The arm rotating luffing cylinder 13, the tube arm luffing cylinder 9, the jaw telescopic cylinder 8, and the jaw variable angle cylinder 6 provide power, so that the luffing and retracting mechanism and the grasping mechanism can move up and down, left and right, and back and forth, and can be accurately aligned Objects, use the movement of the lower jaw 2 to achieve the function of grabbing objects; during fishing operations, the motor or motor 29 is used to drive the pump blades or blades 30 to rotate, so that the objects in front of the grasping mechanism can be sucked into the box-shaped vehicle body. Or when the motor 29 stops working, the return plate 16 is automatically closed, so that the box-shaped car body 19 can realize the storage function; it can also run in reverse flow; when the motor or motor 29 drives the pump blade or the blade 30 to reverse, the return plate 16 16 is closed to cause the sand in the box-shaped car body 19 to be discharged through the sand discharger 18 on the switch box cover 17; in the construction of the project, the motor or motor 29 is used to drive the pump blade or blade 30 to rotate, and the excavator mechanism is dug out. The silt is sucked in through the suction pipe 43, and then discharged from the discharge pipe 44 to the designated location; the control mechanism is used to drive the boom 33 through the boom luffing cylinder 34, and the sling 28 lifts the underwater actuator to the deck and turns on the switch The box cover 17 transfers the objects in the box-shaped car body 19 to the ship, and at the same time realizes the navigation; when the ship is sailing, the underwater actuator can be suspended by the sling 28 to prevent it from falling on the underwater ground, using lights and cameras 15 Cruise to view underwater objects;
也可直接通过吊绳及高压管卷扬机37，电刷及卷扬换向器38，吊起水下执行机构，直接作业。It is also possible to directly use the lifting rope and high-pressure tube hoist 37, electric brush and hoisting commutator 38 to hoist the underwater actuator for direct operation.
以上所述仅为本发明的优选实施例，并非因此限制本发明的专利范围，凡是在本发明的发明构思下，利用本发明说明书及附图内容所作的等效结构变换，或直接、间接运用在其他相关的技术领域均包括在本发明的专利保护范围内。The above descriptions are only the preferred embodiments of the present invention, and do not limit the scope of the present invention. Under the inventive concept of the present invention, equivalent structural transformations made by using the contents of the description and drawings of the present invention, or direct or indirect use All other related technical fields are included in the scope of patent protection of the present invention.
Claims (10)
- 一种水下捕捞作业及水下工程施工的设备及方法，其特征在于，包括：船或水面活动平台上，安装了动力源机构及驾驶室及控制机构，安装了用于传递动力并带有吊绳及高压管道内安装电路液压管路及电刷和卷扬换向器的卷扬，安装了能变幅并能上下摆动的吊臂，在吊臂上安装了能带动吊绳和高压管道的管轮和绳轮，在水下执行机构上安装了箱状车体或车体并在箱状车体上安装了行走机构，安装了用马达或电机带动的泵叶或桨叶，安装了筛网，安装了开关箱盖，安装了密封承压阀体电器箱，安装了变幅伸缩机构，安装了照明及摄像设备，安装了导流板，安装了高压抽水及排水机构，安装了抓钳机构，或安装了挖掘机机构；An equipment and method for underwater fishing operations and underwater engineering construction, which is characterized in that it comprises: a power source mechanism, a driver's cab and a control mechanism are installed on a ship or a water surface movable platform, and a power source mechanism, a driver's cab, and a control mechanism are installed on a ship or a water surface movable platform. The hoisting ropes and high-pressure pipelines are equipped with circuit hydraulic pipelines, electric brushes, and hoisting commutators for hoisting, and a boom capable of luffing and swinging up and down is installed, and the hoisting ropes and high-pressure pipelines are installed on the boom. The tube wheel and rope wheel, the box-shaped car body or car body is installed on the underwater actuator, the walking mechanism is installed on the box-shaped car body, and the pump blade or blade driven by the motor or motor is installed. The screen is equipped with a switch box cover, a sealed pressure-bearing valve body electrical box is installed, a luffing telescopic mechanism is installed, lighting and camera equipment are installed, a deflector is installed, a high-pressure pumping and drainage mechanism is installed, and a gripping mechanism is installed. Clamp mechanism, or an excavator mechanism is installed;具体操作方法，所述的利用动力源(或船上的动力源)提供的动力，由驾驶室及控制机构控制电刷及卷扬换向器带动吊绳及高压管道卷扬机转动，吊绳及高压管道卷扬机带动吊绳和高压管道沿着管轮及绳轮和吊臂运动，放下或提起箱状车体及水下机械入水或放至甲板；利用吊臂油缸上安装的吊臂变幅弹簧，使吊臂能实现变幅功能的同时还能上下自由摆动，避免因波浪颠簸给吊绳和高压管带来的拉力；利用高压管道内的电路及液压管路，给行走机构提供动力，能使执行机构在行走机构的带动下在水下地面上自如行走及转向，同时也可以通过吊绳带动水面上的船只移动；利用高压管道内的电路及液压管路，给管臂旋转油缸，管臂旋转变幅油缸，管臂变幅油缸，颚口伸缩油缸，颚口变角油缸提供动力，使变幅伸缩机构和抓钳机构能上下左右前后运动，能够精确对准物体，利用下颚口的运动来实现抓取物体的功能；在捕捞作业时利用马达或电机带动泵叶或桨叶旋转，使抓钳机构前方的物体能够吸入箱状车体内，吸入箱状 车体内的水从排水管排出，当马达或电机停止工作时，返流板自动闭合，使箱状车体实现储存功能；在马达或电机带动泵叶或桨叶反转时，由于返流板闭合促使箱状车体内的泥沙通过开关箱盖上的排沙器排出；也可以在工程施工时利用马达或电机带动泵叶或桨叶旋转，把挖掘机机构挖出的泥沙通过吸料管吸入，再从排料管排出至指定地点；利用控制机构通过吊臂变幅油缸带动吊臂，吊绳提起水下的执行机构到甲板上，打开开关箱盖，把箱状车体内的物体转移至船上，同时可以实现航行；当船只航行过程中，可以通过吊绳吊住水下执行机构不落在水下地面，利用灯及摄像头巡航查看水下物体。The specific method of operation, the use of the power provided by the power source (or the power source on the ship), the cab and the control mechanism control the brushes and the hoisting commutator to drive the rope and high-pressure pipeline hoist to rotate, the rope and the high-pressure pipeline The hoist drives the hoist rope and high-pressure pipeline to move along the tube wheel, rope wheel and boom, and lowers or lifts the box-shaped car body and underwater machinery into the water or puts it on the deck; use the boom luffing spring installed on the boom cylinder to make The boom can realize the luffing function and can swing up and down freely to avoid the pulling force of the rope and the high-pressure pipe due to the wave and turbulence; the circuit and hydraulic pipeline in the high-pressure pipe are used to provide power to the walking mechanism and enable execution The mechanism can walk and turn freely on the underwater ground under the drive of the walking mechanism. At the same time, it can also drive the ship on the water surface through the sling; use the circuit and hydraulic pipeline in the high-pressure pipeline to rotate the cylinder and the tube arm. The luffing cylinder, tube arm luffing cylinder, jaw telescopic cylinder, and jaw variable angle cylinder provide power, so that the luffing and retracting mechanism and the gripper mechanism can move up and down, left and right, and can accurately align objects, using the movement of the jaw Realize the function of grabbing objects; use motors or motors to drive the pump blades or paddles to rotate during fishing operations, so that the objects in front of the grabbing mechanism can be sucked into the box-shaped car body, and the water sucked into the box-shaped car body is discharged from the drain pipe. When the motor or motor stops working, the return plate is automatically closed, so that the box-shaped car body realizes the storage function; when the motor or motor drives the pump blade or the blade to reverse, the return plate is closed to promote the passage of the sand in the box-shaped car body The sand discharger on the cover of the switch box is discharged; it is also possible to use motors or motors to drive the pump blades or paddles to rotate during construction, so that the sand excavated by the excavator mechanism is sucked in through the suction pipe, and then discharged from the discharge pipe to the Designated location; use the control mechanism to drive the boom through the boom luffing cylinder, the sling lifts the underwater actuator to the deck, opens the switch box cover, and transfers the objects in the box-shaped car body to the ship, while sailing can be realized; When the vessel is sailing, the underwater actuator can be suspended by the sling to prevent it from falling on the underwater ground, and the lights and cameras can be used to cruise and view underwater objects.
- 如权利要求1所述的水下捕捞作业及水下工程施工的设备，其特征在于，吊臂上安装了吊臂变幅油缸，吊臂变幅油缸上安装了吊臂上下摆动的变幅弹簧，安装了能带动吊绳和高压管道的管轮和绳轮。The underwater fishing operation and underwater engineering construction equipment according to claim 1, wherein the boom is equipped with a boom luffing cylinder, and the boom luffing cylinder is equipped with a boom spring for swinging up and down. , Install the tube wheel and sheave that can drive the rope and high-pressure pipeline.
- 如权利要求1所述的水下捕捞作业及水下工程施工的设备，其特征在于，设置安装箱状车体，车体内安装了马达或电机，泵叶或桨叶，筛网，排沙器，行走机构，开关箱盖，返流板。通过改变泵叶或桨叶的旋转方向，从而改变水流的流动方向，实现该设备吸取物料并通过排料管排出及吹动清理设备前方物料的功能。The equipment for underwater fishing operations and underwater engineering construction according to claim 1, characterized in that a box-shaped vehicle body is installed, and a motor or motor, pump blades or paddles, a screen, and a sand discharge device are installed in the vehicle body. , Walking mechanism, switch box cover, return plate. By changing the direction of rotation of the pump blades or paddles, the flow direction of the water flow is changed, so that the equipment can suck materials and discharge them through the discharge pipe and blow and clean the materials in front of the equipment.
- 如权利要求1所述的水下捕捞作业及水下工程施工的设备，其特征在于，设置了高压管道及吊绳，高压管道及吊绳一端安装在带电刷及卷扬换向器的卷扬机上另一端安装在水下行走机构上。The equipment for underwater fishing operations and underwater engineering construction according to claim 1, wherein a high-pressure pipeline and a sling are provided, and one end of the high-pressure pipeline and the sling is installed on a hoist with an electric brush and a hoist commutator The other end is installed on the underwater walking mechanism.
- 如权利要求1所述的水下捕捞作业及水下工程施工的设备，其特征在于，安装了挖掘机机构，可以安装挖掘机大臂二臂及油缸，铲斗，吸料管，排料管，同时安装了马达或电机，泵叶或桨叶。用于水下工程施工作业。The equipment for underwater fishing operations and underwater engineering construction according to claim 1, characterized in that the excavator mechanism is installed, which can be installed with the two arms of the excavator and the cylinder, bucket, suction pipe, and discharge pipe. , At the same time installed a motor or motor, pump blades or paddles. Used for underwater engineering construction operations.
- 如权利要求1所述的水下捕捞作业及水下工程施工的设备，其特征在 于，抓钳机构安装了通过颚口变角油缸可以变角上颚口和下颚口，吸水口，漏沙口，阻沙器。The equipment for underwater fishing operations and underwater engineering construction according to claim 1, wherein the gripper mechanism is equipped with a jaw-changing oil cylinder that can change the angles of the upper and lower jaws, water suction ports, and sand leakage ports, Sand blocker.
- 如权利要求1所述的水下捕捞作业及水下工程施工的设备，其特征在于，在箱状车体上安装了变幅伸缩机构，变幅伸缩机构上安装了旋转管臂，管臂旋转油缸，管臂旋转变幅油缸，颚口伸缩管臂，颚口伸缩油缸。The equipment for underwater fishing operations and underwater engineering construction according to claim 1, wherein the box-shaped car body is equipped with a luffing and retracting mechanism, and a rotating tube arm is installed on the luffing and retracting mechanism, and the tube arm rotates. Oil cylinder, tube arm rotating luffing oil cylinder, jaw telescopic tube arm, jaw telescopic oil cylinder.
- 如权利要求1所述的水下捕捞作业及水下工程施工的设备，其特征在于，安装了灯和摄像头，在箱状车体上安装了由控制机构控制的灯和摄像头。The equipment for underwater fishing operations and underwater engineering construction according to claim 1, wherein a lamp and a camera are installed, and a lamp and a camera controlled by a control mechanism are installed on the box-shaped vehicle body.
- 如权利要求1所述的水下捕捞作业及水下工程施工的设备，其特征在于，安装了导流板，在箱状车体和变幅伸缩机构上安装了导流板。The equipment for underwater fishing operations and underwater engineering construction according to claim 1, wherein the deflector is installed, and the deflector is installed on the box-shaped car body and the luffing and telescopic mechanism.
- 如权利要求1所述的水下捕捞作业及水下工程施工的设备，其特征在于，设置了水下行走机构。The equipment for underwater fishing operations and underwater engineering construction according to claim 1, wherein an underwater walking mechanism is provided.
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| PCT/CN2019/000214 WO2021092708A1 (en) | 2019-11-11 | 2019-11-11 | Underwater fishing and engineering machine, and operation method therefor |
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| CN106143841A (en) * | 2015-04-08 | 2016-11-23 | 青岛赶海机器人有限公司 | A kind of multi-function operation type underwater robot |
| CN207175114U (en) * | 2017-08-14 | 2018-04-03 | 无锡南方电工机械有限公司 | ROV umbilical cables winch and management system |
| CN207956006U (en) * | 2018-03-05 | 2018-10-12 | 淮阴师范学院 | A kind of underwater fishing robot |
| CN110122438A (en) * | 2019-06-22 | 2019-08-16 | 西南石油大学 | A kind of exploration of pump suction type marine product and finishing device |
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2019
- 2019-11-11 WO PCT/CN2019/000214 patent/WO2021092708A1/en active Application Filing
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4906136A (en) * | 1987-06-16 | 1990-03-06 | Kvaerner Subsea Contracting A/S | Method for connecting a conduit to a subsea structure, and a device for use in connecting a conduit end to a subsea structure |
| CN102635134A (en) * | 2012-05-06 | 2012-08-15 | 张洪达 | Bucket suction mixed type dredger |
| CN106143841A (en) * | 2015-04-08 | 2016-11-23 | 青岛赶海机器人有限公司 | A kind of multi-function operation type underwater robot |
| CN207175114U (en) * | 2017-08-14 | 2018-04-03 | 无锡南方电工机械有限公司 | ROV umbilical cables winch and management system |
| CN207956006U (en) * | 2018-03-05 | 2018-10-12 | 淮阴师范学院 | A kind of underwater fishing robot |
| CN110122438A (en) * | 2019-06-22 | 2019-08-16 | 西南石油大学 | A kind of exploration of pump suction type marine product and finishing device |
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