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Crawler chassis swing left and right twist suction dredging robot with track correction function

A technology of left and right swinging and tracked chassis, applied in the field of robotics, can solve the problems of endangering the safety of the main canal, etc., and achieve good dredging effect, high suction efficiency and small disturbance effect

Inactive Publication Date: 2021-02-02
CSIC ZHONGNAN EQUIP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, like other open channels, during the operation of these open channel main channels, a large amount of silt will inevitably be formed in the water conveyance channel and the flood discharge structures intersecting with it, which will affect the water supply and endanger the safety of the main channel

Method used

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  • Crawler chassis swing left and right twist suction dredging robot with track correction function
  • Crawler chassis swing left and right twist suction dredging robot with track correction function
  • Crawler chassis swing left and right twist suction dredging robot with track correction function

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0039] This embodiment provides a crawler chassis swinging left and right winch suction dredging robot with trajectory correction function, which can realize underwater harmless continuous movement and rapid dredging.

[0040] Such as figure 1 and figure 2 As shown, the dredging robot includes: a platform frame 9, a crawler chassis 1 arranged on the platform frame 9, a left and right swinging winch mechanism 6, a dredging mechanism 7, a pumping mechanism, a trajectory correction unit and a control unit. Wherein the crawler chassis 1 is the walking platform of the dredging robot, and the left and right swing winch mechanism 6 and the dredging mechanism 7 are the execution parts of the dredging robot.

[0041] Such as image 3 As shown, the dredging robot uses a crawler chassis 1 as a walking mechanism, and the crawler chassis 1 includes: a crawler hub 11, a crawler belt 12, a motor A13 and a reducer 14; the platform frame 9 is the supporting structure of the entire robot, an...

Embodiment 2

[0058] On the basis of the above-mentioned embodiment 1, increase the visual unit, such as Figure 8 As shown, the vision unit includes: a front sonar 39 installed on the platform frame 9 , a front lighting / camera unit 40 , a rear front lighting / camera unit 41 and a rear rear lighting / camera unit 42 . Wherein the front sonar 39 is arranged on the middle part of the front end of the platform frame 9, and a front lighting / camera unit 40 with a lens facing the front is respectively arranged on the left and right sides of the front end of the collection basket 4 on the platform frame 9, and behind the collection basket 4 on the platform frame 9 The middle position of the end is respectively provided with a rear-mounted front lighting / camera unit 41 and a rear-mounted rear lighting / camera unit 42, wherein the camera lens of the rear-mounted front lighting / camera unit 41 faces forward, and the lens of the rear rear lighting / camera unit 42 faces rearward. The vision unit is used to t...

Embodiment 3

[0060] On the basis of the above-mentioned embodiment 1-2, in order to prevent the wall in the culvert from being damaged by the whole vehicle of the underwater dredging robot, an anti-collision guiding device is provided on the platform frame 9, such as Figure 9 Shown, anti-collision guiding device: comprise the rubber wheel group that is symmetrically arranged on the left and right sides of platform frame 9, the rubber wheel group on each side includes four rubber wheels that are rectangularly distributed in the vertical plane as anti-collision wheel 47, anti-collision The axis of bumping wheel 47 is along vertical direction, and concrete installation method is: one end of support frame 46 links to each other with platform framework 9, and the other end links to each other with rotating shaft 48 by bearing, and anti-collision wheel 47 is sleeved on with rotating shaft 48 outsides by bearing.

[0061] The main function of the anti-collision guide device is to prevent the whol...

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Abstract

The invention discloses a crawler chassis left and right swinging cutter-suction type desilting robot with a trajectory correction function. The crawler chassis left and right swinging cutter-suctiontype desilting robot can realize underwater harmless continuous movement and rapid desilting. The desilting robot comprises a platform frame, the crawler chassis arranged on the platform frame, a leftand right swinging cutter-suction mechanism, and a desilting mechanism, a pumping mechanism, a trajectory correcting unit and a control unit; the crawler chassis is a walking platform of the desilting robot, and the left and right swinging cutter-suction mechanism and the desilting mechanism are the execution parts of the desilting robot. The desilting robot adopts the crawler chassis traveling and the left and right swinging cutter-suction mode to collect and pump sludge, and the underwater harmless continuous movement and rapid desilting can be realized; and the trajectory correcting unit can prevent the desilting robot from deviation, so that the desilting robot can reliably clean the sludge and remove the obstacles.

Description

technical field [0001] The invention relates to a robot, in particular to a dredging robot. Background technique [0002] Since the main canals of many open canals in China have been put into operation, the dependence of water users along the lines has gradually deepened, and the water supply guarantee rate is high. In the future operation, the hope value of the main canal water delivery of open canals is uninterrupted water supply. However, like other open channels, during the operation of these open channel main channels, a large amount of silt will inevitably be formed in the water conveyance channel and the flood discharge structures intersecting with it, which will affect the water supply and endanger the safety of the main channel. In order to ensure uninterrupted water supply and the safety of the main canal, and reduce the secondary pollution in the dredging process, it is necessary to study an underwater dredging robot [0003] Combined with the operating requireme...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): E02F3/88E02F3/90E02F3/92
CPCE02F3/8816E02F3/8825E02F3/905E02F3/907E02F3/9231
Inventor 施战军朱守义陈典章谢加权纪国晋熊新宇张思佳涂茜敏邓小磊向守正赵峰陈智海韩家望王锦宁周世杰刘建魁孙少春李进玉陈慧拳杜开荣尹宏徐士文宋文友徐春峰徐倩宇温世亿吕玉峰高森刘杰孙义
Owner CSIC ZHONGNAN EQUIP