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Propeller-driven left-right swing cutter suction type dredging robot with track correction 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 effect of high silt suction efficiency

Active Publication Date: 2019-04-05
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-right swing cutter suction type dredging robot with track correction function
  • Propeller-driven left-right swing cutter suction type dredging robot with track correction function
  • Propeller-driven left-right swing cutter suction type dredging robot with track correction function

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0034] In this embodiment, a propeller-driven submarine swinging left and right twisting suction dredging robot is provided, which can realize underwater harmless continuous movement and rapid dredging.

[0035] Such as figure 1 and 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 pumping mechanism 3, 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.

[0036] 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 hu...

Embodiment 2

[0056] On the basis of the above-mentioned embodiment 1, a cleaning system is added. The cleaning system includes a mechanical arm, a high-pressure water gun bound to the mechanical arm, and a high-pressure cleaning pump connected to the high-pressure water gun on the ground through a water pipe.

[0057] The cleaning system functions as follows:

[0058] (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.

[0059] (2) When there are shellfish attached to the inner wall of the culvert, because the adhesion is not strong, the sides and top of the culvert can be...

Embodiment 3

[0062] On the basis of the above-mentioned embodiment 1, because there are shell organisms attached around the inner wall of the culvert in some areas at present, the adhesion is not strong, and the diameter is between 10-60 mm. For this special sediment, the underwater dredging robot has derived a shoveling system. Specifically, a shoveling plate is installed at the end of the five-axis robotic arm of the dredging robot, and the rotating platform under the five-axis robotic arm rotates to make the five The side wall of the culvert is vertical to the axis robotic arm, through the shovel plate installed at the front end, and then through the forward extension of the five-axis robotic arm, the shells and other attachments on the inner walls of the culvert are scraped, and finally through the left and right sides of the dredging robot Swing suction mechanism 4 collects and pumps silt and shells, and completes the dredging work in the culvert. The shell organisms at the top of the...

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Abstract

The invention discloses a propeller-driven left-right swing cutter suction type dredging robot with a track correction function. The propeller-driven left-right swing cutter suction type dredging robot with the track correction function comprises a platform frame, a ship hull, a propeller, a left-right swing cutter suction mechanism, a dredging mechanism, a pumping mechanism, a track correction unit, a control unit and a vision unit. The ship hull is used as a walking mechanism of the dredging robot and is arranged at the bottom of the platform frame; the propeller provides power for the shiphull to move forward under the control of the control unit; a buoyancy tank is arranged in the ship hull; and the left-right swing cutter suction mechanism and the dredging mechanism are executive parts. A propeller-driven submarine type traveling mode and the left-right swing cutter suction type dredging mode are adopted in the dredging robot to collect and pump sludge, the dredging robot can adapt to different environments such as channel siltation and culvert inverted siphon siltation, and harmless, continuous, movable and fast dredging is realized. The track correction unit can enable thedredging robot to reliably remove sludge and remove 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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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蔡鹏容军刘建魁孙少春李进玉陈慧拳尹宏徐士文宋文友温世亿吕玉峰高森刘杰孙义
Owner CSIC ZHONGNAN EQUIP
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