Propeller-driven left and right swinging cutter-suction dredging robot with trajectory 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: 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 cutter-suction dredging robot with trajectory correction function
  • Propeller-driven left and right swinging cutter-suction dredging robot with trajectory correction function
  • Propeller-driven left and right swinging cutter-suction dredging robot with trajectory correction function

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

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

[0035]Such asfigure 1 withfigure 2 As shown, the dredging robot includes a platform frame 9, a hull 1, a propeller 2, a left-right swing cutter suction mechanism 4, a dredging mechanism 7, an anti-collision guide device 5, a pumping mechanism 3, a control unit, and a vision unit. Among them, the hull 1, the propeller and the anti-collision guide device constitute a walking platform system, and the left and right swing cutter suction mechanism 4 and the dredging mechanism 7 are the executive parts.

[0036]Such asimage 3 As shown, the dredging robot uses hull 1 as a walking mechanism, and a propeller 2 is installed at the tail of hull 1, and propeller 2 provides power for hull 1, that is, hull 1 moves forward along the culvert under the action of propeller 2 March. The propeller 2 can also...

Embodiment 2

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

[0057]The functions of the cleaning system are as follows:

[0058](1) Since the existing culverts have internal chamfers, it is difficult for the dredging robot to completely clean them with the dredging mechanism. After the main dredging work of the culvert is completed, the high-pressure water gun is bound to the five-axis mechanical arm to achieve The silt at the inner chamfers on the left and right sides of the culvert is washed and cleaned, washed to the center of the culvert, and then collected and pumped by the left and right swing cutter suction mechanism 4 of the dredging robot to pump the remaining sludge in the culvert to the ground The mud-water separation equipment.

[0059](2) When there are ...

Embodiment 3

[0062]On the basis of the above example 1, due to the presence of attached shell organisms around the inner wall of the culvert in some areas, the adhesion is not strong, and the diameter is between 10-60 mm. For this kind of special silt, the underwater dredging robot derives 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 axis robot arm is vertical to the side wall of the culvert. Through the shoveling plate installed at the front end of the culvert, the five-axis robot arm is extended to realize the shoveling of shells and other attachments on both sides of the culvert. The swing cutter suction mechanism 4 collects and pumps silt and shells to complete the dredging work in the culvert. The shell organisms at the top of the culvert still need to rely on the washing of the high-pressure water gun in the above embodime...

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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 channels in China have been put into operation, the dependence of water users along the route has gradually increased and the water supply guarantee rate is high. In the future operation, the hope of the main canal of open channels is uninterrupted water supply. However, like other open channels, these main open channels will inevitably form a large amount of silt in the water conveyance channels and the flood discharge buildings that cross them during their operation, affecting the water supply and endangering the safety of the main channels. In order to ensure the uninterrupted water supply and the safety of the main canal, and to reduce the secondary pollution during the dredging process, it is necessary to develop an underwater dredging robot[0003]Combining the operating requirements of the main open channel and the site conditions...

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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