Crawler chassis winch suction dredging robot with self-rescue function

A crawler chassis and robot technology, applied in the field of robots, can solve problems such as endangering the safety of the main trunk canal, and achieve the effects of good dredging effect, small disturbance and high safety performance.

Active Publication Date: 2021-05-07
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 winch suction dredging robot with self-rescue function
  • Crawler chassis winch suction dredging robot with self-rescue function
  • Crawler chassis winch suction dredging robot with self-rescue function

Examples

Experimental program
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Effect test

Embodiment 1

[0035] This embodiment provides a crawler chassis winch-suction underwater dredging robot with a self-rescue function, which can realize underwater harmless, continuous moving and rapid dredging. The dredging robot has two application environments, as follows:

[0036] The first type: the artificial river is an open channel, straight, the water flows down the river, the cross section of the water flow is an inverted trapezoid, and the water quality is relatively clear; sometimes it also passes through bridges or dark holes across the river. Underwater equipment is needed to clear river silt and remove obstacles (stones or branches, braids).

[0037] The second type: The artificial river itself is an inverted trapezoidal culvert that crosses the open channel and is under the open channel. When it is full of water, the water flow section is square. It is usually called a channel-crossing culvert, and the river is turbid. All internal dimensions of the channel-crossing culvert i...

Embodiment 2

[0052] Such as Figure 12 As shown, in order to prevent the whole vehicle of the underwater dredging robot from crashing into the wall in the culvert, an anti-collision guide device is provided on the platform frame 15, and the anti-collision guide device: includes anti-collision wheels symmetrically arranged on the left and right sides of the platform frame 15 group, the rubber wheel group on each side includes four anti-collision wheels 47 distributed in a rectangular shape in the vertical plane, the axis of the anti-collision wheels 47 is along the vertical direction, and the specific installation method is: one end of the support frame 46 and the platform frame 15 The other end is connected with the rotating shaft 48 through the bearing, and the anti-collision wheel 47 is sleeved on the outside of the rotating shaft through the bearing. The main function of the anti-collision guide device is to prevent the whole vehicle of the underwater dredging robot from crashing into t...

Embodiment 3

[0054]On the basis of the above-mentioned embodiment 1 and embodiment 2, in the sludge suction mechanism 6, two extension springs 23 are arranged side by side between the middle collection cover 19 and the collection port 24, and one end of the extension spring 23 is connected with the middle collection cover 19. The extension spring support on the bottom surface links to each other, and the other end links to each other with the extension spring support on the surface of the collection port 24. During the process of collecting mud by the mud suction mechanism 6, the collection port 24 is under the action of external force (in this program, through the desilting mechanism five Axle manipulator 45 applies downward active force to the support plate that is arranged on collecting port 24 left and right sides) and opens, and extension spring 23 is in elongated state now; Shaft mechanical arm 45 is unclamped), and the collection port 24 is closed under the action of extension spring...

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Abstract

The invention discloses a crawler chassis stirring and suction dredging robot with a self-rescue function, which can realize underwater harmless continuous movement and rapid dredging, and has a self-rescue function. The dredging robot includes a platform frame, a crawler chassis arranged on the platform frame, a sludge suction mechanism, a dredging mechanism, an anti-collision guiding device, a rescue unit, a control unit and a vision unit. The sludge suction mechanism of the dredging robot adopts secondary collection and pumping, and the dredging effect is good; the auger is used to absorb and collect the sludge, which has little disturbance and does not cause secondary pollution. Moreover, the first-level collection mechanism and the second-level collection mechanism can be used jointly or separately to adapt to different use environments and make the use more flexible. Setting the anti-collision guide device can not only prevent the whole vehicle of the dredging robot from crashing into the wall in the culvert, but also realize the cleaning of the silt on the fixed track and the removal of obstacles. The rescue unit is used to assist the dredging robot to return from underwater to the shore, so as to improve the safety of the underwater dredging robot.

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): E02F3/88E02F3/90E02F3/92E02F3/96
CPCE02F3/8816E02F3/8825E02F3/905E02F3/907E02F3/9225E02F3/9237E02F3/961
Inventor 施战军朱守义陈典章谢加权纪国晋熊新宇张思佳严和君涂茜敏邓小磊向守正庄浩高昂朱学贤赵峰王科陈智海韩家望王锦宁周世杰杜浩斌蔡鹏容军刘建魁许家勤顾红延蔡新祥陈继荣温世亿吕玉峰高森刘杰孙义
Owner CSIC ZHONGNAN EQUIP
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