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
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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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