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Propeller driven left and right swinging twist suction dredging robot with self-correcting function

A propeller-driven, left-right swinging technology, applied in the field of robotics, can solve problems such as endangering the safety of the main canal, and achieve the effects of good dredging effect, small disturbance, and high suction efficiency

Inactive Publication Date: 2020-12-25
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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  • Propeller driven left and right swinging twist suction dredging robot with self-correcting function
  • Propeller driven left and right swinging twist suction dredging robot with self-correcting function
  • Propeller driven left and right swinging twist suction dredging robot with self-correcting function

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0037] This embodiment provides a propeller-driven left and right swinging suction dredging robot with a self-correcting function, which can realize underwater harmless continuous movement and rapid dredging.

[0038] Such as figure 1 with figure 2 As shown, the dredging robot includes a platform frame 9, a hull 1, a propeller propeller 2, a left and right swinging suction mechanism 4, a dredging mechanism 7, an anti-collision guiding device 5, a control unit and a vision unit. Wherein the hull 1, the propeller propeller and the anti-collision guiding device form the walking platform system, and the left and right swinging suction mechanism 4 and the dredging mechanism 7 are the execution parts.

[0039] Such as image 3 As shown, the dredging robot uses the hull 1 as the walking mechanism, and the propeller propeller 2 is installed at the tail of the hull 1, and the propeller propeller 2 provides power for the forward movement of the hull 1, that is, the hull 1 moves forwa...

Embodiment 2

[0058] On the basis of the above-mentioned embodiment 1, because the use environment of the dredging robot is generally inaccessible to humans, in order to improve the safety performance of the dredging robot, an underwater autonomous rescue unit is added.

[0059] When dredging robot is used in open channel: the rescue unit only comprises hoist 54, directly hoist 54 is fixed on the bank, and one end of the nylon rope that can carry 10 tons is wound on hoist 54, and the other end links to each other with dredging robot 50. Under normal circumstances, the nylon rope floats on the water surface and is not subject to load; when an emergency occurs, such as the water flow in the open channel exceeds 1m / s, affecting the work of the dredging robot 50 or when the dredging robot 50 fails, the nylon rope is recovered by the winch 54 , thereby dragging the dredging robot 50, especially when the dredging robot 50 returns to the bank from a straight river, the dragging of the winch 54 can ...

Embodiment 3

[0062] On the basis of the above-mentioned embodiment 1 or embodiment 2, a cleaning system is added, and the cleaning system includes a mechanical arm, a high-pressure water gun bound to the mechanical arm, and a high-pressure cleaning pump arranged on the ground and connected to the high-pressure water gun through a water pipe.

[0063] The cleaning system functions as follows:

[0064] (1) Since the existing culverts have inner chamfers, it is difficult for the dredging robot to completely clean them with the dredging mechanism. Flush and clean the silt at the inner chamfers on the left and right sides of the culvert, flush it to the center of the culvert, and then collect and pump it through the left and right swing suction mechanism 4 of the dredging robot, and pump the residual silt in the culvert to the ground in the mud-water separation equipment.

[0065] (2) When there are shellfish attached to the inner wall of the culvert, because the adhesion is not strong, the si...

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Abstract

The invention discloses a propeller-driving left-right swinging cutter-suction type desilting robot with a self-correction function. The propeller-driving left-right swinging cutter-suction type desilting robot with the self-correction function includes a platform frame, a ship body, a propeller, a left-right swinging cutter-suction mechanism, a desilting mechanism, a pumping mechanism, a self-correction unit, a controlling unit and a visual unit; the ship body is used as a walking mechanism of the desilting robot and is positioned at the bottom of the platform frame; the propeller offers power to the ship body to move forward under the control of the controlling unit; a buoyancy tank is arranged in the ship body; and the left-right swinging mechanism and the desilting mechanism are operative sections. According to the propeller-driving left-right swinging cutter-suction type desilting robot with a self-correction function, a propeller-driving submarine-type marching method and a left-right swinging cutter-suction desilting method are adopted, sludge collection and sludge pumping are conducted, different environments such as channel deposit and culvert inverted siphon stagnating are fitted, and harmless sequent movable quick desilting is achieved, and the desilting robot can be corrected through the self-correction unit, so that the sludge clearing and barrier eliminating are conducted by the desilting robot reliably.

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 a dredging robot [0003] Combined with the operating requirements of the o...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): E02F3/88E02F3/90E02F3/92
CPCE02F3/885E02F3/905E02F3/907E02F3/9225E02F3/9231
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杜浩斌刘建魁徐士文李进玉温世亿吕玉峰高森刘杰孙义
Owner CSIC ZHONGNAN EQUIP
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