CN109667305A - Have from the crawler body of rescue function and twists suction dredging robot - Google Patents
Have from the crawler body of rescue function and twists suction dredging robot Download PDFInfo
- Publication number
- CN109667305A CN109667305A CN201811457194.2A CN201811457194A CN109667305A CN 109667305 A CN109667305 A CN 109667305A CN 201811457194 A CN201811457194 A CN 201811457194A CN 109667305 A CN109667305 A CN 109667305A
- Authority
- CN
- China
- Prior art keywords
- dredging
- level
- dredging robot
- mud
- platform framework
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 126
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 22
- 238000004140 cleaning Methods 0.000 claims abstract description 17
- 230000000007 visual effect Effects 0.000 claims abstract description 10
- 230000000694 effects Effects 0.000 claims abstract description 5
- 238000005086 pumping Methods 0.000 claims description 22
- 238000005286 illumination Methods 0.000 claims description 14
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 7
- 239000010802 sludge Substances 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 4
- 150000001875 compounds Chemical class 0.000 claims description 3
- 238000011010 flushing procedure Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 230000009471 action Effects 0.000 claims description 2
- 238000005452 bending Methods 0.000 claims description 2
- 238000003756 stirring Methods 0.000 abstract description 2
- 239000004575 stone Substances 0.000 description 11
- 238000010586 diagram Methods 0.000 description 9
- 239000004677 Nylon Substances 0.000 description 4
- 229920001778 nylon Polymers 0.000 description 4
- 239000003638 chemical reducing agent Substances 0.000 description 3
- 239000004744 fabric Substances 0.000 description 3
- 239000013049 sediment Substances 0.000 description 3
- 239000002689 soil Substances 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 2
- 230000001070 adhesive effect Effects 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000007667 floating Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000008400 supply water Substances 0.000 description 2
- 102000010637 Aquaporins Human genes 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 241000237983 Trochidae Species 0.000 description 1
- 239000012223 aqueous fraction Substances 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000002262 irrigation Effects 0.000 description 1
- 238000003973 irrigation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
- E02F3/8816—Mobile land installations
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
- E02F3/8816—Mobile land installations
- E02F3/8825—Mobile land installations wherein at least a part of the soil-shifting equipment is mounted on a dipper-arm, backhoes or the like
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
- E02F3/90—Component parts, e.g. arrangement or adaptation of pumps
- E02F3/905—Manipulating or supporting suction pipes or ladders; Mechanical supports or floaters therefor; pipe joints for suction pipes
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
- E02F3/90—Component parts, e.g. arrangement or adaptation of pumps
- E02F3/907—Measuring or control devices, e.g. control units, detection means or sensors
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
- E02F3/90—Component parts, e.g. arrangement or adaptation of pumps
- E02F3/92—Digging elements, e.g. suction heads
- E02F3/9212—Mechanical digging means, e.g. suction wheels, i.e. wheel with a suction inlet attached behind the wheel
- E02F3/9225—Mechanical digging means, e.g. suction wheels, i.e. wheel with a suction inlet attached behind the wheel with rotating cutting elements
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
- E02F3/90—Component parts, e.g. arrangement or adaptation of pumps
- E02F3/92—Digging elements, e.g. suction heads
- E02F3/9212—Mechanical digging means, e.g. suction wheels, i.e. wheel with a suction inlet attached behind the wheel
- E02F3/9225—Mechanical digging means, e.g. suction wheels, i.e. wheel with a suction inlet attached behind the wheel with rotating cutting elements
- E02F3/9237—Suction wheels with axis of rotation in transverse direction of the longitudinal axis of the suction pipe
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/96—Dredgers; Soil-shifting machines mechanically-driven with arrangements for alternate or simultaneous use of different digging elements
- E02F3/961—Dredgers; Soil-shifting machines mechanically-driven with arrangements for alternate or simultaneous use of different digging elements with several digging elements or tools mounted on one machine
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses it is a kind of have from the crawler body of rescue function stir suction dredging robot, can be realized the underwater innoxious quick dredging of continuous moving, and have from rescue function.The dredging robot includes platform framework and the crawler body being arranged on platform framework, silt dredging mud mechanism, dredging mechanism, anticollision guiding device, rescue unit, control unit and visual unit.The silt dredging mud mechanism of the dredging robot is collected and is pumped using second level, and dredging effect is good；It is twisted using auger and absorbs collection mud, disturbance is small, does not cause secondary pollution.And level-one collecting mechanism and second level collecting mechanism can be used in combination and also can be used alone, and to adapt to different use environments, keep its use more flexible.Anticollision guiding device, which is arranged, can not only prevent dredging robot vehicle from breaking the wall in culvert, additionally it is possible to realize the cleaning of orbit determination road mud and the removing of obstacle.Rescue unit is for assisting the dredging robot to be retracted into bank under water, to improve the safety that underwater desilting machine people uses.
Description
Technical field
The present invention relates to a kind of robots, and in particular to a kind of dredging robot.
Background technique
Since being put into operation due to the general main canal of domestic many open channels, water user's degree of dependence is gradually deepened along the line, is supplied water
Fraction requires height, and in operation from now on, the desired value of the general main canal water delivery of open channel is uninterruptedly to supply water.However, and other
Open channel is the same, these open channel general main canals are during its operation, unavoidably in canal for water conveyance and the building that drains off floodwaters intersected therewith
It is interior to form a large amount of sediment, it influences to supply water and jeopardize general main canal safety.To guarantee uninterrupted water supply and general main canal safety, and subtract
Secondary pollution during light dredging, it is necessary to study a kind of underwater desilting machine people
In conjunction with open channel general main canal service requirement and field condition, underwater desilting machine people should be able to adapt to canal silting and culvert
The varying environments such as silt up, have the functions such as sediment cleaning, realizes and innoxious continuously moves quick dredging.
Summary of the invention
In view of this, the present invention provides a kind of crawler body strand suction dredging robot having from rescue function, it can
Realize the underwater innoxious quick dredging of continuous moving.
Described having from the crawler body strand suction dredging robot of rescue function includes: platform framework and setting
Crawler body, silt dredging mud mechanism, dredging mechanism, pumping mechanism, rescue unit, control unit and view on the platform framework
Feel unit；
Walking mechanism of the crawler body as the dredging robot is arranged in the platform framework bottom；It is described
Crawler body is walked under the control of described control unit；
Silt dredging mud mechanism is arranged in the platform framework front end, including level-one collecting mechanism and second level collecting mechanism；
The level-one collecting mechanism includes collecting hood, the collection port being arranged at collecting hood front opening and is arranged in collecting hood bottom
Roller group；Described collection port one end is connect with the collecting hood, and the other end slopes down to forward and ground face contact；The receipts
Integrate cover rear end face as reticular structure；
The second level collecting mechanism is arranged in level-one collecting mechanism rear end, comprising: cover and auger；The auger
It is transversely mounted on inside cover, is driven by motor B；Collecting hood rear end face in the cover open end and the level-one collecting mechanism
Docking, is provided with the mouth piece for being connected with pumping mechanism in the middle part of the cover rear end face, the pumping mechanism for realizing
The pumping of the mud of the silt dredging mud collect；The second level collecting mechanism is connected by support rod with the platform framework；
The motor B and pumping mechanism are controlled by described control unit；
The dredging mechanism includes: rotating platform and the mechanical arm that is mounted on the rotating platform；The rotating platform
It is mounted on platform framework by pedestal, the rotating platform is used to drive the mechanical arm axially existing around the rotating platform
It is rotated within the scope of set angle, the mechanical arm completes picking action in setting position in the control of described control unit, and will
Object is picked up to be put into the collection basket being arranged at the top of the platform framework；The rotating platform and mechanical arm are controlled by the control
Unit processed；
Image of the visual unit for environment where obtaining dredging robot in real time, and passed by photoelectric compound cable
Transport to the host computer on ground；Described control unit receives the instruction of the host computer, controls silt dredging mud mechanism and silt remover
Structure work；
The rescue unit includes volume from bank, the rescue unit is retracted under water for assisting the dredging robot
Machine is raised, on the hoist engine, the other end is connected the one ends wound of rescue rope with underwater desilting machine people.
Further, when the dredging robot is used in open channel, the hoist engine is fixed on bank；
When the dredging robot is used in across the culvert of open channel, on the fixed pontoon bridge of the hoist engine, the pontoon bridge is logical
Guo Liangtao bindiny mechanism is connected with the hanging plate hung up on the metope perpendicular to culvert opening；Liang Tao bindiny mechanism bilateral symmetry cloth
It sets, every set bindiny mechanism includes long-cylinder, short oil cylinder and chain, one end of the chain and hinged branch corresponding on the pontoon bridge
Seat is hinged, and the other end and corresponding pivoting support on the hanging plate are hinged；The cylinder body end of the long-cylinder is corresponding on pontoon bridge
Pivoting support is hinged, and tailpiece of the piston rod and pivoting support corresponding on hanging plate are hinged；The hoist engine is fixed on described by pressing plate
On pontoon bridge, the pivoting support in the cylinder body end and pressing plate of the short oil cylinder is hinged, tailpiece of the piston rod hinged branch corresponding on hanging plate
Seat is hinged；One end on the pontoon bridge with respect to hole is provided with U-shaped opening.
It further, further include anticollision guiding device, the anticollision guiding device includes being symmetricly set on the platform frame
Anticollision wheel group at left and right sides of frame, the anticollision wheel group of every side includes four or more the anticollision wheels being located in same vertical plane, described
The axis of anticollision wheel is along the vertical direction.
Further, the visual unit includes: preposition sonar, preposition illumination camera unit, postposition front lit/camera shooting list
Illumination/camera unit after member and postposition；Wherein the preposition sonar is arranged in platform framework front center, in the platform framework
Preposition illumination/camera unit of the camera lens towards front is each side arranged in upper front end, in the platform framework rear end
Middle position be respectively set camera lens towards front postposition front lit/camera unit and camera lens towards shining after the postposition at rear
Bright/camera unit.
The utility model has the advantages that
(1) the silt dredging mud mechanism of the dredging robot is collected and is pumped using second level, completes dredging work, dredging effect
It is good；It is twisted using auger and absorbs collection mud, disturbance is small, does not cause secondary pollution.And level-one collecting mechanism and second level collecting mechanism are
Can be used in combination also can be used alone, and to adapt to different use environments, keep its use more flexible；Its dredging robot tool
For from rescue function, keep the usage safety performance of the underwater desilting machine people higher.
(2) dredging mechanism is set, the pickup compared with bigger material such as underwater stone and branch can be realized before silt dredging mud, so that
Silt dredging is more efficient.
(3) setting anticollision guiding device can not only prevent dredging robot vehicle from breaking the wall in culvert, additionally it is possible to
Realize the cleaning of orbit determination road mud and the removing of obstacle.
(4) mechanical arm in dredging mechanism can be matched with the tools such as giant or shovel scraper plate, remove culvert inner wall
The aufwuches such as the shell that surrounding occurs.
Detailed description of the invention
The system composition block diagram of Fig. 1 dredging robot；
Fig. 2 is the overall structure diagram of the dredging robot；
Fig. 3 is the structural schematic diagram of the dredging robot crawler body；
Fig. 4 is the structural schematic diagram of the dredging robot silt dredging mud mechanism；
Fig. 5 and Fig. 6 is the structural schematic diagram of level-one collecting mechanism in silt dredging mud mechanism；
Fig. 7 is the structural schematic diagram of second level collecting mechanism in silt dredging mud mechanism；
Fig. 8 is the structural schematic diagram of dredging mechanism；
Fig. 9 is the structural schematic diagram of visual unit；
Figure 10 is the side view of underwater autonomous rescue system；
Figure 11 is the top view of underwater autonomous rescue system；
Figure 12 is the structural schematic diagram of anticollision guiding device.
Wherein: 1- crawler body, 4- collect basketry, 5- pumping mechanism, 6- silt dredging mud mechanism, 7- dredging mechanism, 8- anticollision
Guiding device, 10- vision system, 11- crawler belt wheel hub, 12- crawler belt, 13- motor A, 14- speed reducer, 15- platform framework, 16- mono-
Grade collecting mechanism, 17- second level collecting mechanism, 18- supporting shaft hole, 19- intermediate collection cover, the small collecting hood of 20-, 21- rubber wheel A,
22- rubber wheel B, 23- tension spring, 24- collection port, 25- connecting plate, 26- support base, 27- telescopic oil cylinder, 28- support rod, 29- cover
The preposition illumination camera shooting of the soft cover of body, 30-, 31- rubber wheel C, 32- motor B, 33- anticollision wheel, 34- auger, 39- sonar, 40- is single
Illumination/camera unit, 43- pedestal, 44- oscillating oil cylinder, 45- are mechanical after member, 41- postposition front lit/camera unit, 42- postposition
Arm, 46- support frame, 47- anticollision wheel, 48- rotary shaft, 50- dredging robot, 51- hanging plate, 52- long-cylinder, 53- short oil cylinder,
54- hoist engine, 55- pontoon bridge, 56- chain.
Specific embodiment
With reference to the accompanying drawings and examples, the present invention is described in further detail.
Embodiment 1:
A kind of crawler body strand suction underwater desilting machine people having from rescue function, Neng Goushi are provided in the present embodiment
The now underwater innoxious quick dredging of continuous moving.There are two types of application environments for the dredging robot, specific as follows:
The first: sloot is open channel, straight, water flow goes downstream, and water flow section is inverted trapezoidal, and water quality is more clear
It is clear；Also to pass through the horizontal bridge in river or dark hole when individual.Underwater equipment is needed to realize cleaning and the barrier of riverway sludge
Hinder the removing of (stone or branch, braided fabric).
Second: sloot itself is to cross below open channel, and the inverted trapezoidal culvert under open channel, and is full water shape
Under state, water flow section is square, commonly referred to as wears canal culvert, and river water is muddy.Wear all size (such as holes of canal culvert therein
Length, the inverted trapezoidal gradient, gradient plan-viewed length, longitudinal slope face complexion and all relative dimensions) precognition.Underwater equipment is needed to realize culvert
The removing of the cleaning of mud and obstacle (stone or branch, braided fabric).
As depicted in figs. 1 and 2, which includes platform framework 15, crawler body 1, silt dredging mud mechanism 6, dredging
Mechanism 7, rescue unit, pumping mechanism 5, control unit and visual unit.Wherein crawler body 1 and anticollision guiding device group are embarked on journey
Plateform system is walked, silt dredging mud mechanism 6 and dredging mechanism 7 are execution part.
As shown in figure 3, the dredging robot is used as walking mechanism using crawler body 1, crawler body 1 includes: Athey wheel
Hub 11, crawler belt 12, motor A13 and speed reducer 14；Platform framework 15 is the support construction of entire robot, and top is provided with receipts
Collect basketry 4, bottom both ends are respectively arranged a crawler belt wheel hub 11, abrasive rubber crawler belt 12, each crawler belt is arranged on crawler belt wheel hub 11
The corresponding motor A13 of wheel hub 11 is transferred to crawler belt wheel hub 11 by speed reducer 14 as power unit, the power of motor A13,
To provide power for the walking of dredging machine.
As shown in fig. 6, the front end of dredging robot, including level-one collecting mechanism 16 and second level is arranged in silt dredging mud mechanism 6
Collecting mechanism 17.Wherein the structure of level-one collecting mechanism 16 is as shown in Figure 5 and Figure 6, comprising: is existed by intermediate collection cover 19 and setting
The collecting hood of the composition of small collecting hood 20 of 19 two sides of intermediate collection cover, the Kei-shaped collection being arranged at collecting hood front opening
Mouth 24 and the roller group that collecting hood bottom is set；Wherein the underrun of one end of collection port 24 and intermediate collection cover 19 is closed
Page connection, the other end slope down to forward and ground face contact.19 front opening of intermediate collection cover, rear end face are reticular structure,
Small 20 front opening of collecting hood, rear end face and the one end being connected with intermediate collection cover 19 are reticular structure, with intermediate collection cover
19 opposite end face closings.It is provided with roller group in collecting hood and 24 bottom of collection port, as shown in fig. 6, respectively two soft
Rubber wheel A21 and two soft rubber wheel B22；For dredging robot during traveling, collecting hood and collection port 24 pass through roller group
Cooperate with ground surface.16 rear end of level-one collecting mechanism (one end opposite with platform framework 15) is provided with rubber connecting plate 25,
The both ends of connecting plate 25 are provided with the supporting shaft hole 18 for connecting second level collecting mechanism.
As shown in fig. 7, second level collecting mechanism 17 includes: cover 29, telescopic oil cylinder 27, support frame 28, motor B32 and auger
34；Cover 29 is lightweight iron sheet stainless steel cage of the surface throughout mesh, can either in culvert slope and horizontal base it is free
It floats, and can guarantee that the silt particle into second level collecting mechanism will not be drifted with water flow to downstream.Auger 34 is transversely mounted on steel
It inside cover 29 processed, is driven by motor B32, absorbs collection mud by twisting, be provided with mouth piece in the middle part of 29 rear end face of cover, be used for
It is connected with pumping mechanism 5, the sludge after auger 34 stirs enters subsequent pumping mechanism 5 by mouth piece.Auger 34 axial two
End is stretched out after cover 29 through bearing support in the supporting shaft hole 18 at 25 both ends of connecting plate.It is equipped with simultaneously at 29 both ends of cover
Rubber wheel C31, during traveling, rubber wheel C31 and ground surface cooperate dredging robot.The front opening of cover 29, with
Collecting hood rear end is opposite in level-one collecting mechanism 16, and second level collecting mechanism passes through two groups of support rods 28 and telescopic oil cylinder 27 and platform
Frame 15 is connected, specifically: support rod 28 is bending structure, and one end is connected with cover 29, the other end be fixed on platform frame
Support base 26 on frame 15 is connected, and telescopic oil cylinder 27 is arranged below support rod 28, and cylinder body end and support base 26 are hinged, piston
Rod end and the trunnion of 28 lower surface of support rod are hinged.When normal work, telescopic oil cylinder 27 is in free extension state, by flexible
Oil cylinder 27 realizes free floating, can achieve the effect that vibration damping；When maintenance, by telescopic oil cylinder 27 by second level collecting mechanism branch
It rises, the auger 34 being conveniently replaceable in second level collecting mechanism.Sludge in order to prevent in dredging robot traveling process, in cover 29
It misses, 29 rear end of cover is provided with the soft cover 30 of bottom and ground face contact.
Second level collecting mechanism 17 can be used cooperatively with level-one collecting mechanism 16, also can be used alone (when exclusive use,
Direct level-one collecting mechanism 16 of dismantling).When second level collecting mechanism 17 is used alone, extend outwardly in the middle part of rubber wheel C31
Support on install anticollision rubber tire 33, the collision for preventing second level collecting mechanism 17 from directly avoiding with irrigation canals and ditches.
Pumping mechanism is mainly by submersible motor and soil pick-up pump group at for realizing mud under water to the pumping on ground.
The working principle of silt dredging mud mechanism 6 are as follows: the stone and when more branch in channel, level-one collecting mechanism 16 and second level
Collecting mechanism 17 is used in combination, the rubbish such as stone, branch, woven bag in mud that level-one collecting mechanism 16 is used to be collected by filtration
Rubbish enters short grained silt in second level collecting mechanism 17 by reticular structure, can prevent from twisting by level-one collecting mechanism 16
34 winding of dragon and pumping mechanism blocking.Second level collecting mechanism 17 realizes the collection of the mud under low flow velocity water flow, and second level is collected
The eddy flow that mechanism 17 is generated by the auger 34 built in it, allows silt all to focus on the middle circle mouth piece with negative pressure, pumps
Suction inlet is cross open type, in the soil pick-up pump for further preventing the stone of bulky grain to enter in pumping mechanism, effectively guarantees to inhale
The impeller of dirt pump is not damaged, and indirectly the service life of extended soil pick-up pump, reduces the maintenance frequency of equipment.Wherein auger 34 manufactures
It is wound and is designed using positive and negative rotation, intermediate mouth piece is focused on convenient for mud.The driving mechanism (i.e. motor B32) of auger 34 designs
In be additionally contemplates that stone blocks the situation of auger, if having the tendency that blocking (i.e. the rotation torque of a direction suddenly increases),
Its motor B32 drives auger 34 to invert immediately, stone is spued, thus, it is possible to protect auger not to be stuck well.
As shown in figure 8, dredging mechanism 7 includes: pedestal 43, rotating platform and mechanical arm 45；Wherein the setting of pedestal 43 is flat
15 front end middle position of table frame, pedestal 43 were tube bottom seat 43, i.e. the pipeline of pumping mechanism is passed through from pedestal 43；Mechanical arm 45
It for five shaft mechanical arms, is mounted on pedestal 43 by rotating platform, rotating platform uses oscillating oil cylinder 44 in this programme, is used for band
Dynamic mechanical arm 45 is rotated around vertical direction, realizes that mechanical arm 45 is operated in circumferential different location.Mechanical arm 45 is in control unit
The lower pickup for realizing underwater stone and branch of control, rotating platform is responsible for the rotation of entire mechanical arm 45, to pick up front
After stone and branch, it is rotated back to 4 the inside of collection basketry being arranged on platform framework 15, is finally taken back by dredging robot
To ground；For the stone of individual bad pickups, culvert can first be shifted by mechanical arm 45 and rotating platform joint operation
Bian Shang is convenient for the quick dredging of dredging robot.
As shown in figure 9, visual unit includes: the preposition sonar 39 being mounted on platform framework 15, preposition illumination camera shooting list
Illumination/camera unit 42 after member 40, postposition front lit/camera unit 41 and postposition.Wherein preposition sonar 39 is arranged in platform frame
15 front center of frame, that 4 front end of basketry is collected on platform framework 15 is each side arranged a camera lens towards before front
Illumination camera unit 40 is set, postposition front lit/camera shooting list is respectively set in the middle position that 4 rear end of basketry is collected on platform framework 15
Illumination/camera unit 42 after member 41 and postposition, wherein postposition front lit/camera unit 41 camera lens is shone after postposition towards front
The camera lens of bright/camera unit 42 is towards rear.In visual unit it is used to that underwater image will to be acquired by illumination/camera unit
And the image outline obtained by sonar detection, ground is transferred to by the photoelectric compound cable of underwater desilting machine people's tail end
Host computer, be displayed on the screen by the multi-panel monitor displaying of host computer, convenient for ground staff according to image operation control host computer
Control stick and data processing system combine to slave computer (i.e. the control unit of dredging robot) issue instruct, instruct silt remover
The underwater executing agency of device people (silt dredging mud mechanism and dredging mechanism) work.
Control unit is the slave computer being arranged on platform framework, and the host computer on slave computer and ground cooperates, realization pair
The control of dredging robot, control unit include hydraulic control unit and electronic control unit, and hydraulic control unit is clear for controlling this
Hydraulic part in silt robot, in the present solution, the motor B32 in motor A13, second level collecting mechanism 17 in crawler body 1
It is hydraulic motor, five shaft mechanical arms also use hydraulic power supply, as a result, crawler body 1, auger 34, five shaft mechanical arms, flexible
Oil cylinder 27, oscillating oil cylinder 44 and pumping mechanism are controlled by hydraulic control unit；Electronic component on dredging robot is equal
It is controlled by electronic control unit.
Since the use environment people of underwater desilting machine people usually cannot be introduced into, for the peace for improving underwater desilting machine people
Full performance increases underwater autonomous rescue unit.
When underwater desilting machine people is used in open channel: rescue unit only includes hoist engine 54, directly that hoist engine 54 is fixed
On bank, the one ends wound of 10 tons of nylon rope can be carried on hoist engine 54, the other end and 50 phase of underwater desilting machine people
Even.Under normal circumstances, nylon rope floats on the water surface, not loaded；It is more than 1m/s when water flow in emergency case such as open channel occurs,
When influencing the work of underwater desilting machine people 50 or 50 failure of dredging robot, nylon rope is recycled by hoist engine 54, to pull
Dredging robot 50 has the towing of hoist engine 54 when dredging robot 50 especially being descended to retract bank from straight river, can be with
Skidding when preventing dredging robot 50 from falling back, more quick and convenient disembarkation of oneself creeping.
When underwater desilting machine people is used in the culvert of open channel: increasing as shown in Figure 10 and Figure 11 underwater autonomous
Rescue unit, rescue unit includes: the long-cylinder 52, two of hanging plate 51, two short oil cylinder 53, hoist engine 54,55 and of pontoon bridge at this time
Two chains 56.Rescue unit is mounted on by pontoon bridge 55, specifically: the full water of culvert opening is extracted into half water state first,
Pontoon bridge 55 is put down, since hole metope can not be destroyed, hanging plate 51 is placed on the metope perpendicular to hole, it is solid by hanging plate 51
Determine pontoon bridge 55.The pivoting support (totally six) for connecting oil cylinder and hinged chain 56 is welded on hanging plate 51, while in pontoon bridge 55
There are four pivoting supports for upper installation, are respectively used to two long-cylinders 52 of connection and two chains 56.It is one long-cylinder 52, one short
56 a set of bindiny mechanisms of oil cylinder 53 and a chain, wherein Liang Tao bindiny mechanism is symmetrically arranged, to guarantee pontoon bridge surface
It is horizontal；And on pontoon bridge 55 chain 56 connection position it is nearest from culvert opening, the connection position of long-cylinder 52 is farthest from culvert opening；It hangs
The connection position of chain 56 is located at bottom on plate 51, and the connection position of long-cylinder 52 is located at the top.The installation process of rescue unit
Are as follows: firstly, linking hanging plate 51 and pontoon bridge 55 with two chains 56；Then, hanging plate 51 and pontoon bridge 55 are connected with two long-cylinders 52,
And fix that (cylinder body end of long-cylinder 52 and the pivoting support on pontoon bridge 55 are hinged, the hinge on tailpiece of the piston rod and hanging plate 51 with bolt
It is hinged to connect support).Then hoist engine 54 is placed on pontoon bridge 55, can carry the one ends wound of 10 tons of nylon rope in hoist engine
On 54, the other end is connected with dredging robot 50.Hoist engine 54 is fixed on pontoon bridge 55 by pressing plate, and two hinges are installed on pressing plate
Support is connect, connects hanging plate 51 and pressing plate with two short oil cylinders 53, and fixed (in the cylinder body end and pressing plate of short oil cylinder 53 with bolt
Pivoting support is hinged, and the pivoting support on tailpiece of the piston rod and hanging plate 51 is hinged).Thus culvert opening be provided with one it is fixed
Floating bridge floor, and the pontoon bridge 55 is provided with U-shaped opening in the one end at opposite hole, returns back to hole convenient for dredging robot 50
When, facilitate lifting.
Embodiment 2:
As shown in figure 12, it to prevent underwater desilting machine people's vehicle from breaking the wall in culvert, is set on platform framework 15
It is equipped with anticollision guiding device, anticollision guiding device: the anticollision wheel group including being symmetricly set on 15 left and right sides of platform framework, every side
Rubber tire group include four in vertical plane be in distributed rectangular anticollision wheel 47, the axis of anticollision wheel 47 along the vertical direction, specifically
Mounting means are as follows: one end of support frame 46 is connected with platform framework 15, and the other end is connected by bearing with rotary shaft 48, anticollision wheel
47 by bearing holder (housing, cover) be mounted in outside rotary shaft.The main function of anticollision guiding device be when crawler body sideslip, can be to prevent
Dredging robot vehicle breaks the wall in culvert under sealing；Dredging robot can be close to contain when advancing simultaneously with side or two
Hole metope is travelled along wall side, realizes the cleaning of orbit determination road mud and the removing of obstacle.Such as it is directed to 3 meters of culvert, it is assumed that design
It is 1.5 meters of vehicle body wide, directly anticollision guiding device both sides respectively can be designed as 0.7 meter wide, underwater desilting machine people can be with as a result,
It directly moves ahead by each four rubber tires on both sides along culvert, realizes the cleaning of orbit determination road mud and the removing of obstacle.For big
It is less than or equal to 6 meters of culvert in 3 meters, four rubber tires on one side can be allowed to paste wall, travelled along wall side, complete the dredging of set a distance
Afterwards, then four rubber tires on other one side is allowed also to paste wall along wall side traveling, completes the dredging of the set a distance of other half.Thus lead to
After disengaging culvert twice, so that it may complete the set a distance dredging work of culvert.
Embodiment 3:
On the basis of above-described embodiment 1 and embodiment 2, in silt dredging mud mechanism 6, in intermediate collection cover 19 and collection port 24
Between be set side by side with two tension springs 23, one end of tension spring 23 is connected with the tension spring support on 19 inner bottom surface of intermediate collection cover, separately
One end is connected with the tension spring support on 24 surface of collection port, and silt dredging mud mechanism 6 is in collecting sludge process, and collection port 24 is in outer masterpiece
(applied downwards in this programme by the supporting plate that 24 left and right sides of collection port is arranged in 45 pairs of five shaft mechanical arm in dredging mechanism under
Active force) open, tension spring 23 is in elongated condition at this time；After 6 collection work of silt dredging mud mechanism, external force (five axis are removed
Mechanical arm 45 unclamps), the lower closure of 24 tension spring 23 of collection port effect can prevent the mud in collecting hood from leaking out.
Embodiment 4:
On the basis of embodiment 3 above-described embodiment 1-, increase cleaning system, the cleaning system include mechanical arm 45,
The giant that is strapped on mechanical arm 45 and the high pressure cleaning pump that ground is connected with giant by water pipe is set.
The function of cleaning system is as follows:
(1) since existing culvert all has inner chamfer, dredging robot be difficult it is with dredging mechanism that it is completely clear clean, when
After completing the main dredging work of culvert, the bondage giant on five shaft mechanical arms 45 is realized and is fallen in culvert the right and left
The flushing cleaning of mud, is flushed to the center of culvert, then passes through the two of the silt dredging mud mechanism 6 of dredging robot again at angle
Grade is collected and pumping, by sludge pumping remaining in culvert into the mud and water separating equipment on ground.
(2) when culvert inner wall is attached with the testacean biochron, since adhesive force is not strong, culvert two sides and top can be with
After testacean attachment is directly rinsed cleaning in such a way that giant rinses, then by the silt dredging mud machine of dredging robot
Structure 6 carries out mud and the second level of shell is collected and pumped, and completes the dredging work in culvert.
(3) it since dredging robot is dual-use, i.e., uses in channel, is used in culvert again, therefore, when clear
Silt robot is in culvert after use, after carrying out bath cleaning to dredging robot by giant, then in open channel
Carry out the collection and pumping of mud.
Embodiment 5:
On the basis of embodiment 3 above-described embodiment 1-, since the culvert inner wall surrounding of current some areas is adhered to
Shell biology, adhesive force is not strong, and diameter is between 10-60 millimeters.For this special sediment, underwater desilting machine people spreads out
It bears shovel and scrapes system, specifically, the end installation shovel scraper plate of the five shaft mechanical arms 45 in dredging robot, passes through five shaft mechanical arms
Rotating platform rotation under 45, so that the side wall of the vertical culvert of five shaft mechanical arm 45, by being mounted on the shovel scraper plate of its front end, then
The shovel of the attachments such as the shell of culvert two sides inner wall is scraped by the extension realization of five shaft mechanical arms 45, finally by dredging machine
The silt dredging mud mechanism 6 of people carries out mud and the second level of shell is collected and pumped, and completes the dredging work in culvert.Culvert top
Shell biology still needs the flushing by 3 high-pressure gun of above-described embodiment, and shell aufwuch is rinsed, then passes through
Dredging robot cleaning.
Although above having used general explanation and specific embodiment, the present invention is described in detail, at this
On the basis of invention, it can be made some modifications or improvements, this will be apparent to those skilled in the art.Therefore,
These modifications or improvements without departing from theon the basis of the spirit of the present invention are fallen within the scope of the claimed invention.
Claims (10)
1. having from the crawler body of rescue function and twisting suction dredging robot, it is characterised in that: include: platform framework (15),
And crawler body (1), silt dredging mud mechanism (6), the dredging mechanism (7), pumping mechanism being arranged on the platform framework (15)
(5), rescue unit, control unit and visual unit；
Walking mechanism of the crawler body (1) as the dredging robot is arranged in the platform framework (15) bottom；Institute
Crawler body (1) is stated to walk under the control of described control unit；
Silt dredging mud mechanism (6) setting is received in the platform framework (15) front end, including level-one collecting mechanism (16) and second level
Collecting mechanism (17)；The level-one collecting mechanism (16) includes collecting hood, the collection port being arranged at collecting hood front opening (24)
And the roller group of collecting hood bottom is set；Described collection port (24) one end is connect with the collecting hood, other end Xiang Qianxiang
Under tilt to ground face contact；The collecting hood rear end face is reticular structure；
The second level collecting mechanism (17) is arranged in level-one collecting mechanism (16) rear end, comprising: cover (29) and auger
(34)；The auger (34) is transversely mounted on cover (29) inside, is driven by motor B (32)；Cover (29) open end with
Collecting hood rear end face docks in the level-one collecting mechanism (16), is provided in the middle part of cover (29) rear end face and is used for and pumps
The connected mouth piece of mechanism (5), the pumping for the mud that the pumping mechanism (5) is collected for realizing silt dredging mud mechanism (6)；
The second level collecting mechanism (17) is connected by support rod (28) with the platform framework (15)；The motor B (32) and pumping
Mechanism (5) is controlled by described control unit；
The dredging mechanism (7) includes: rotating platform and the mechanical arm (45) that is mounted on the rotating platform；The rotary flat
Platform is mounted on platform framework (15) by pedestal (43), and the rotating platform is for driving the mechanical arm (45) around the rotation
The axial direction for turning platform rotates within the scope of set angle, the mechanical arm (45) described control unit control in setting position
Picking action is completed, and is put into object is picked up in the collection basket (4) being arranged at the top of the platform framework (15)；The rotary flat
Platform and mechanical arm (45) are controlled by described control unit；
Image of the visual unit for environment where obtaining dredging robot in real time, and be transmitted to by photoelectric compound cable
The host computer on ground；Described control unit receives the instruction of the host computer, controls silt dredging mud mechanism (6) and dredging mechanism
(7) it works；
For the rescue unit for assisting the dredging robot to be retracted into bank under water, the rescue unit includes hoist engine
(54), on the hoist engine (54), the other end is connected the one ends wound of rescue rope with underwater desilting machine people (50).
2. having as described in claim 1 from the crawler body of rescue function and twisting suction dredging robot, it is characterised in that: when
When the dredging robot (50) is used in open channel, the hoist engine (54) is fixed on bank；
When the dredging robot (50) are used in across the culvert of open channel, on the hoist engine (54) fixed pontoon bridge (55), institute
Pontoon bridge (55) are stated to be connected by Liang Tao bindiny mechanism with the hanging plate (51) hung up on the metope perpendicular to culvert opening；Two sets of companies
Connection mechanism is symmetrically arranged, and every set bindiny mechanism includes long-cylinder (52), short oil cylinder (53) and chain (56), the chain
(56) one end and corresponding pivoting support on the pontoon bridge (55) are hinged, and the other end is corresponding on the hanging plate (51) hinged
Support is hinged；The cylinder body end of the long-cylinder (52) and corresponding pivoting support on pontoon bridge (55) are hinged, tailpiece of the piston rod and hanging plate
(51) corresponding pivoting support is hinged on；The hoist engine (54) is fixed on the pontoon bridge (55) by pressing plate, the short oil
Pivoting support in the cylinder body end and pressing plate of cylinder (53) is hinged, and tailpiece of the piston rod and corresponding pivoting support on hanging plate (51) are hinged；
One end on the pontoon bridge (55) with respect to hole is provided with U-shaped opening.
3. having as described in claim 1 from the crawler body of rescue function and twisting suction dredging robot, it is characterised in that: also
Including anticollision guiding device, the anticollision guiding device includes the anticollision being symmetricly set at left and right sides of the platform framework (15)
Wheel group, the anticollision wheel group of every side include four or more the anticollision wheels (47) being located in same vertical plane, the anticollision wheel (47)
Axis is along the vertical direction.
4. the crawler body strand suction dredging robot as claimed in claim 1,2 or 3 having from rescue function, feature exist
In: the visual unit includes: preposition sonar (39), preposition illumination camera unit (40), postposition front lit/camera unit (41)
With illumination/camera unit (42) after postposition；Wherein the preposition sonar (39) is arranged in platform framework (15) front center, in institute
Each side setting preposition illumination/camera unit (40) of one camera lens towards front of front end on platform framework (15) is stated,
Postposition front lit/camera unit (41) of the camera lens towards front is respectively set in the middle position of the platform framework (15) rear end
With camera lens towards illumination/camera unit (42) after the postposition at rear.
5. the crawler body strand suction dredging robot as claimed in claim 1,2 or 3 having from rescue function, feature exist
In: the crawler body (1) includes: crawler belt wheel hub (11), crawler belt (12) and motor A (13)；Platform framework (15) bottom
A crawler belt wheel hub (11) is respectively arranged in both ends, rubber belt track (12) is arranged on crawler belt wheel hub (11), each crawler belt wheel hub
(11) a corresponding motor A (13) is used as power unit.
6. the crawler body strand suction dredging robot as claimed in claim 1,2 or 3 having from rescue function, feature exist
In: in the second level collecting mechanism, the cover (29) is made of by one group or more support rod (28) and telescopic oil cylinder (27)
Bindiny mechanism be connected with platform framework (15), specifically: the support rod (28) is bending structure, one end and cover (29)
It is connected, the other end is connected with the support base (26) being fixed on platform framework (15), and telescopic oil cylinder (27) setting is supporting
Below bar (28), cylinder body end and the support base (26) hingedly, the trunnion of tailpiece of the piston rod and the support rod (28) lower surface
Hingedly；When silt dredging mud mechanism (6) works normally, the telescopic oil cylinder (27) is in free extension state；Need replacing institute
When stating auger (34), the second level collecting mechanism (17) is propped in telescopic oil cylinder (27) elongation.
7. the crawler body as claimed in claim 1,2 or 3 for having self-rescue function twists suction dredging robot, feature exists
In: giant is connected on the mechanical arm (45), the giant is connected by water pipe with the high pressure cleaning pump on ground,
Cleaning system is formed, is cleared up for the flushing to mud and the progress of metope attachment.
8. the track drive strand suction dredging robot as claimed in claim 1,2 or 3 having from rescue function, feature exist
In: it in the end of the mechanical arm (45) installation shovel scraper plate, forms shovel and scrapes system, scrape side wall attachment for shoveling.
9. the crawler body strand suction dredging robot as claimed in claim 1,2 or 3 having from rescue function, feature exist
In: in silt dredging mud mechanism (6), the collection port (24) is connected by hinge with the collecting hood, while in the collection
One or more tension spring (23), one end of the tension spring (23) and collecting hood inner bottom surface are set side by side between cover and collection port (24)
On tension spring support be connected, the other end is connected with the tension spring support on collection port (24) surface；Silt dredging mud mechanism (6) is being collected
In sludge process, the collection port (24) is in the open state under external force, and tension spring (23) is in elongated condition at this time；Institute
After stating silt dredging mud mechanism (6) work, external force is removed, the collection port (24) is closed under the effect of the tension spring (23) restoring force
It closes, closes the collecting hood front opening.
10. the crawler body of the autonomous rescue function of tool as claimed in claim 1,2 or 3 twists suction dredging robot, feature
Be: the second level collecting mechanism (17) can be used cooperatively with level-one collecting mechanism (16), also can be used alone；When described
When second level collecting mechanism (17) is used alone, the level-one collecting mechanism (16) of dismantling, and installed at the cover (12) both ends
Idler wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811457194.2A CN109667305B (en) | 2018-11-30 | 2018-11-30 | Track chassis cutter suction type dredging robot with self-rescue function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811457194.2A CN109667305B (en) | 2018-11-30 | 2018-11-30 | Track chassis cutter suction type dredging robot with self-rescue function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109667305A true CN109667305A (en) | 2019-04-23 |
| CN109667305B CN109667305B (en) | 2021-05-07 |
Family
ID=66143486
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811457194.2A Expired - Fee Related CN109667305B (en) | 2018-11-30 | 2018-11-30 | Track chassis cutter suction type dredging robot with self-rescue function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109667305B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110258689A (en) * | 2019-07-18 | 2019-09-20 | 山东未来机器人有限公司 | A kind of planer-type strand suction machine |
| CN110905027A (en) * | 2019-11-28 | 2020-03-24 | 哈尔滨工程大学 | Dredging robot for underwater dredging operation |
| CN112937811A (en) * | 2021-04-06 | 2021-06-11 | 上海交通大学 | Crawler-type cleans intelligent robot of discarded object under water |
| CN114211469A (en) * | 2021-12-16 | 2022-03-22 | 上海交通大学三亚崖州湾深海科技研究院 | Seabed cleaning robot |
| CN116657690A (en) * | 2023-07-21 | 2023-08-29 | 深之蓝海洋科技股份有限公司 | Underwater adsorbate cleaning device and robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4793275A (en) * | 1983-11-07 | 1988-12-27 | David Usher | Marine hazardous off-loading system |
| CN202379065U (en) * | 2011-12-28 | 2012-08-15 | 中国科学院沈阳自动化研究所 | Draft gear for recovering underwater robot |
| CN203583652U (en) * | 2013-12-06 | 2014-05-07 | 河北联合大学 | Detachable mud sucking device of automatic dredging robot |
| CN206070458U (en) * | 2016-09-21 | 2017-04-05 | 西南交通大学 | A kind of subway tunnel garbage cleaning vehicle with secondary settlement structure |
| CN108425395A (en) * | 2018-05-16 | 2018-08-21 | 河北工业大学 | A kind of underwater desilting machine people and its system |
-
2018
- 2018-11-30 CN CN201811457194.2A patent/CN109667305B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4793275A (en) * | 1983-11-07 | 1988-12-27 | David Usher | Marine hazardous off-loading system |
| CN202379065U (en) * | 2011-12-28 | 2012-08-15 | 中国科学院沈阳自动化研究所 | Draft gear for recovering underwater robot |
| CN203583652U (en) * | 2013-12-06 | 2014-05-07 | 河北联合大学 | Detachable mud sucking device of automatic dredging robot |
| CN206070458U (en) * | 2016-09-21 | 2017-04-05 | 西南交通大学 | A kind of subway tunnel garbage cleaning vehicle with secondary settlement structure |
| CN108425395A (en) * | 2018-05-16 | 2018-08-21 | 河北工业大学 | A kind of underwater desilting machine people and its system |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110258689A (en) * | 2019-07-18 | 2019-09-20 | 山东未来机器人有限公司 | A kind of planer-type strand suction machine |
| CN110258689B (en) * | 2019-07-18 | 2024-04-30 | 山东未来机器人有限公司 | Gantry type cutter suction machine |
| CN110905027A (en) * | 2019-11-28 | 2020-03-24 | 哈尔滨工程大学 | Dredging robot for underwater dredging operation |
| CN112937811A (en) * | 2021-04-06 | 2021-06-11 | 上海交通大学 | Crawler-type cleans intelligent robot of discarded object under water |
| CN112937811B (en) * | 2021-04-06 | 2023-02-03 | 上海交通大学 | Crawler-type cleans intelligent robot of discarded object under water |
| CN114211469A (en) * | 2021-12-16 | 2022-03-22 | 上海交通大学三亚崖州湾深海科技研究院 | Seabed cleaning robot |
| CN116657690A (en) * | 2023-07-21 | 2023-08-29 | 深之蓝海洋科技股份有限公司 | Underwater adsorbate cleaning device and robot |
| CN116657690B (en) * | 2023-07-21 | 2023-10-31 | 深之蓝海洋科技股份有限公司 | Underwater adsorbate cleaning device and robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109667305B (en) | 2021-05-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109667305A (en) | Have from the crawler body of rescue function and twists suction dredging robot | |
| CN109577396B (en) | Cutter-suction type dredging robot driven by propeller to swing left and right | |
| CN109577401B (en) | Propeller-driven left-right swinging cutter-suction type dredging robot with self-deviation correction function | |
| CN109577402A (en) | Crawler body front end, which swings, twists suction dredging robot | |
| CN110512683B (en) | Underwater grab type grid auger dredging robot | |
| CN109577398B (en) | Track chassis left-right swinging cutter-suction type dredging robot with track correction function | |
| CN109577397A (en) | The crawler body for having self correction function, which swings, twists suction dredging robot | |
| CN108930328A (en) | A kind of robot clearing up storm sewer mud | |
| CN109577404B (en) | Propeller-driven left-right swinging cutter-suction type desilting robot with track correction function | |
| CN109577399A (en) | Have to swing from the crawler body of rescue function and twists suction dredging robot | |
| CN109610539A (en) | The crawler body for having self correction function twists suction dredging robot | |
| CN109577400A (en) | Crawler body twists suction dredging robot | |
| KR102005683B1 (en) | A dredging machine for a drain pipeline | |
| CN209779733U (en) | cutter-suction type dredging robot driven by propeller to swing left and right | |
| CN113089752A (en) | Underwater dredging robot | |
| US20210381183A1 (en) | Multifunctional recovery apparatus of shore adhesion oils | |
| CN209760330U (en) | Cutter-suction type dredging robot with crawler chassis | |
| CN114351778A (en) | Underwater dredging robot | |
| CN109763532B (en) | Dam flood discharge tunnel underwater dredging system | |
| CN109577403B (en) | Propeller-driven left-right swinging cutter suction type dredging robot with rescue function | |
| CN218060687U (en) | Pipeline dredging robot | |
| CN208219738U (en) | A kind of high-efficient dredging machine that building building water conservancy construction uses | |
| CN211849684U (en) | Underwater environment treatment operation robot | |
| CN109577395B (en) | Track chassis cutter suction type dredging robot with track correcting function | |
| CN109267602A (en) | A kind of hydraulic engineering dredging robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210507 |