設計概述：

水下清淤機器人實現了 “人不下井、路不開挖、水不斷流、泥不落地”的施工作業(yè)，不僅清淤效率有了質的飛躍，更有效的解決了入工清淤帶來的安全問題。采用超小機身設計，配備防水電纜，潛水深度可達 50m。機器入向前推進，可在污泥中自由行走，通過污泥回收裝置集中到吸污口，利用吸污泵將淤泥吸入，利用排污泵將其排出。裝有高清渾水網絡攝像機，可全方位觀測管道內壁情況。

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.

應用領域

城市河道暗渠明渠大壩、 循環(huán)水池管道等領域清淤排污作業(yè)。

Application area

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

應用場景 Application scenario

南水北調明渠、暗渠清淤

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

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

香港渠務署污水渠清淤 Desilting of sewers of Hong Kong Drainage Services Department

齊魯石化排海管線清淤 Dredging of Qilu Petrochemical discharge pipeline

電建公司施工現場清淤  Dredging of construction site of power construction company

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

工程應用

南水北調天津分局于 2018 年 7 月在我公司訂購了—臺水下清淤機器人，并在 2018 年 11 月完成了交付，同年 12 月份完成了試運行并通過專家組的現場驗收。

截止目前，該設備在南水北調中線已經累計施工兩年多時間，并且輾轉了十多個管理處進行水下清淤作業(yè)，其中包括天津曹莊管理處、河南鶴壁管理處、安陽管理處、河北石家莊汶河、   邢臺管理處、李陽河等。

現場水體為靜水，水體發(fā)黑，水中雜質較多。機器人下水后搭載的視頻監(jiān)測系統發(fā)現底部淤   積嚴重，有泥沙、碎石等推移質，水面漂浮塑料垃圾、樹枝、油污等雜質，情況嚴重的倒虹   吸完全被污泥和雜物堵死，進出口擴散段水面漂浮大量水草藻類塑料垃圾和油污，水體發(fā)綠   發(fā)臭，倒虹吸內部淤積嚴重。

項目產品經歷多個地點進行水下清淤作業(yè)，作業(yè)環(huán)境復雜多樣，在施工的過程中遇到的復雜作業(yè)環(huán)境大大超出預估和客戶描述，存在大量垃圾和淤泥板結的清況。垃圾大多出現在渠道、   閘前和分流井等視野可見范圍，板結比較嚴重的位置在渠道中心的兩側和閘前淤積的地方， 由于長時間的堆積而形成的，具體情況見下組圖片。

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.

水下實況 Underwater circumstances 

塑料垃圾、樹枝 Plastic garbage, branches        板結層 Hardening layer

清淤效果 Desilting effect

編織袋、漁網 Woven bags and fishing nets        大量的垃圾淤堵 A lot of rubbish is clogged up

工作原理

整套系統是由清淤機器人、污泥處理單元、運載車輛、供電系統以及控制系統組成。通過清淤機器人水下作業(yè)將河道淤泥抽送至后端污泥處理系統---大顆粒固相分離---小顆粒固相分離---泥漿和水分離。設備可實現施工現場的分級固液分離。振動篩分和除泥固相分離后的砂石含水率在20%-30%左右，經臥螺離心機固液分離后的泥漿含水率在55%, 分離水目視清澈。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）清淤機器人 Underwater dredging robot

（二）地面基站 Ground base station

（三）振動篩分、離心機裝置 Vibration classification and centrifuge device

（四）分離出來的粗渣、細渣、清澈的飲用水  Separated coarse slag, fine slag and clear drinking water

首次采用多個加裝層組合的獨創(chuàng)方式 打破市場上水下機器人功能單一的局面

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 

智能檢測作業(yè)系列 Intelligent Observation Job Series

技術參數 Specification

尺寸重量：1900*1180*1350mm,1.5T（根據實際情況調整） 總功率電壓：15-45kW, 380VAC

驅動方式：全液壓

電纜拉力：4000-6000kg

行走速度， 爬坡能力：3-15m/min，≤25° 工作長度，壓力，深度：150m, 16MPa, 50m 渣漿泵、揚程：16-25m

水平傳輸距離：150-300m

流量：22-92m3/h, 根據泵送的污水含固率的不同，水泵效率會隨之浮動 10%-15%

泵送顆粒直徑：8-48mm 排污口徑：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