水下清淤机器人 / Underwater Dredging Robot

设计概述：

水下清淤机器人实现了 “人不下井、路不开挖、水不断流、泥不落地”的施工作业，不仅清淤效率有了质的飞跃，更有效的解决了入工清淤带来的安全问题。采用超小机身设计，配备防水电缆，潜水深度可达 50m。机器入向前推进，可在污泥中自由行走，通过污泥回收装置集中到吸污口，利用吸污泵将淤泥吸入，利用排污泵将其排出。装有高清浑水网络摄像机，可全方位观测管道内壁情况。

Introduction

The underwater dredging robot realizes the construction operation of "no man going down the well, no road excavation, no water cut-off and no mud falling on the ground", which not only improves the efficiency of dredging, but also effectively solves the safety problems brought by dredging.The underwater dredging robot is designed with super small body and waterproof cable. The diving depth can reach 50m The machine is pushed forward and concentrated to the suction port through the sludge recovery device. The sludge is sucked in by the suction pump and discharged by the sewage pump. Walking in the sludge has a large pulling force and is durable. Equipped with high-definition muddy water network camera, it can observe the condition of the inner wall of the pipeline in all directions.

应用领域

城市河道暗渠明渠大坝、 循环水池管道等领域清淤排污作业。

Application area

Dredging and drainage operations in the fields of open channel dam and circulating water tank pipeline in urban river channel.

应用场景 Application scenario

南水北调明渠、暗渠清淤

Dredging of open channel and underground channel of South-to-North Water Diversion Project.

香港樱桃街箱形水渠情淤 The box shaped canal of Cherry Street in Hong Kong

香港渠务署污水渠清淤 Desilting of sewers of Hong Kong Drainage Services Department

齐鲁石化排海管线清淤 Dredging of Qilu Petrochemical discharge pipeline

电建公司施工现场清淤  Dredging of construction site of power construction company

深圳暗河、暗渠清淤  Dredging of underground rivers and culverts in Shenzhen

工程应用

南水北调天津分局于 2018 年 7 月在我公司订购了—台水下清淤机器人，并在 2018 年 11 月完成了交付，同年 12 月份完成了试运行并通过专家组的现场验收。

截止目前，该设备在南水北调中线已经累计施工两年多时间，并且辗转了十多个管理处进行水下清淤作业，其中包括天津曹庄管理处、河南鹤壁管理处、安阳管理处、河北石家庄汶河、   邢台管理处、李阳河等。

现场水体为静水，水体发黑，水中杂质较多。机器人下水后搭载的视频监测系统发现底部淤   积严重，有泥沙、碎石等推移质，水面漂浮塑料垃圾、树枝、油污等杂质，情况严重的倒虹   吸完全被污泥和杂物堵死，进出口扩散段水面漂浮大量水草藻类塑料垃圾和油污，水体发绿   发臭，倒虹吸内部淤积严重。

项目产品经历多个地点进行水下清淤作业，作业环境复杂多样，在施工的过程中遇到的复杂作业环境大大超出预估和客户描述，存在大量垃圾和淤泥板结的清况。垃圾大多出现在渠道、   闸前和分流井等视野可见范围，板结比较严重的位置在渠道中心的两侧和闸前淤积的地方， 由于长时间的堆积而形成的，具体情况见下组图片。

Engineering application

Tianjin Branch of South to North Water Diversion ordered an underwater dredging robot in our company in July 2018, and completed the delivery in November 2018. The trial operation was completed in December of the same year and passed the on-site acceptance of the expert group. Up to now, the equipment has been under construction for more than two years in the middle route of the south to North Water Diversion Project, and more than ten management offices  have been engaged in underwater dredging, including Tianjin Caozhuang management office, Henan Hebi management office, Anyang management office, Hebei Shijiazhuang Wenhe, Xingtai management office, Liyang River, etc.

The site water body is still water, the water is black, and there are many impurities in the water. After the robot was launched into the water, the video monitoring system found that the bottom of the robot was seriously silted, with bed load such as sediment and gravel, plastic garbage, tree branches, oil and other impurities floating on the water surface. The serious inverted siphon was completely blocked by sludge and debris. A large amount of aquatic grass, algae, plastic garbage and oil were floating on the water surface of the diffusion section at the inlet and outlet. The water body turned green and smelly, and the internal sedimentation of the inverted siphon was serious.

The products of the project have undergone underwater dredging operations in multiple locations, and the working environment is complex and diverse. The complex operation environment encountered in the construction process greatly exceeds the estimated and customer description, and there is a large amount of garbage and sludge consolidation. Most of the garbage appears in the visible range of the channel, gate front and diversion well, and the location with serious hardening is on both sides of the channel center and the silting place in front of the gate, which is formed due to long-time accumulation. See the pictures below for details.

水下实况 Underwater circumstances 

塑料垃圾、树枝 Plastic garbage, branches        板结层 Hardening layer

清淤效果 Desilting effect

编织袋、渔网 Woven bags and fishing nets        大量的垃圾淤堵 A lot of rubbish is clogged up

工作原理

整套系统是由清淤机器人、污泥处理单元、运载车辆、供电系统以及控制系统组成。通过清淤机器人水下作业将河道淤泥抽送至后端污泥处理系统---大颗粒固相分离---小颗粒固相分离---泥浆和水分离。设备可实现施工现场的分级固液分离。振动筛分和除泥固相分离后的砂石含水率在20%-30%左右，经卧螺离心机固液分离后的泥浆含水率在55%, 分离水目视清澈。Working principle

The whole system is composed of dredging robot, sludge treatment unit, vehicle, power supply system and control system. Through the underwater operation of the dredging robot, the river sludge is pumped to the back-end sludge treatment system --- large particle solid phase separation --- small particle solid phase separation --- mud and water separation. The equipment can realize the hierarchical solid-liquid separation at the construction site. The water content of sand and gravel after vibration screening and desliming solid-phase separation is about 20% -30%, and the water content of mud after solid-liquid separation by horizontal screw centrifuge is 55%, and the separated water is visually clear.

工作流程 Working process

（一）清淤机器人 Underwater dredging robot

（二）地面基站 Ground base station

（三）振动筛分、离心机装置 Vibration classification and centrifuge device

（四）分离出来的粗渣、细渣、清澈的饮用水  Separated coarse slag, fine slag and clear drinking water

首次采用多个加装层组合的独创方式 打破市场上水下机器人功能单一的局面

The original way of combining multiple additional layers is adopted for the first time Break the situation of single function of underwater robot on the market 

智能检测作业系列 Intelligent Observation Job Series

技术参数 Specification

尺寸重量：1900*1180*1350mm,1.5T（根据实际情况调整） 总功率电压：15-45kW, 380VAC

驱动方式：全液压

电缆拉力：4000-6000kg

行走速度， 爬坡能力：3-15m/min，≤25° 工作长度，压力，深度：150m, 16MPa, 50m 渣浆泵、扬程：16-25m

水平传输距离：150-300m

流量：22-92m3/h, 根据泵送的污水含固率的不同，水泵效率会随之浮动 10%-15%

泵送颗粒直径：8-48mm 排污口径：DN50-100mm

Dimension weight: 1900 * 1180 * 1350mm, 1.5T(adjusted according to actual situation) Total power voltage: 15-45kw, 380VAC

Driving mode: full hydraulic Cable tension: 4000-6000kg

Walking speed, climbing capacity: 3-15m / min, ≤ 25 ° Working length, pressure, depth: 150m, 16MPa, 50m Slurry pump, lift: 16-25m

Horizontal transmission distance: 150-300m

Flow rate: 22-92m3/ h, the pump efficiency will fluctuate by 10% - 15% depending on the solid content of the sewage

Diameter of pumped particles: 8-48mm Discharge diameter:DN50-100mm