CN111561005A - Wringing suction head for cleaning sludge - Google Patents
Wringing suction head for cleaning sludge Download PDFInfo
- Publication number
- CN111561005A CN111561005A CN202010518815.4A CN202010518815A CN111561005A CN 111561005 A CN111561005 A CN 111561005A CN 202010518815 A CN202010518815 A CN 202010518815A CN 111561005 A CN111561005 A CN 111561005A
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- Prior art keywords
- crushing
- crushing roller
- cover
- roller
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- 239000010802 sludge Substances 0.000 title claims abstract description 31
- 238000004140 cleaning Methods 0.000 title claims abstract description 10
- 239000000463 material Substances 0.000 claims abstract description 30
- 230000007246 mechanism Effects 0.000 claims abstract description 17
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 11
- 239000013049 sediment Substances 0.000 claims description 2
- 238000011086 high cleaning Methods 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 239000000758 substrate Substances 0.000 description 3
- 238000005520 cutting process Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 241001113556 Elodea Species 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Images
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
- E02F3/90—Component parts, e.g. arrangement or adaptation of pumps
- E02F3/92—Digging elements, e.g. suction heads
- E02F3/9256—Active suction heads; Suction heads with cutting elements, i.e. the cutting elements are mounted within the housing of the suction head
-
- 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
- E02F3/9256—Active suction heads; Suction heads with cutting elements, i.e. the cutting elements are mounted within the housing of the suction head
- E02F3/9268—Active suction heads; Suction heads with cutting elements, i.e. the cutting elements are mounted within the housing of the suction head with rotating cutting elements
- E02F3/9281—Active suction heads; Suction heads with cutting elements, i.e. the cutting elements are mounted within the housing of the suction head with rotating cutting elements with axis of rotation in horizontal and transverse direction of the suction pipe
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F5/00—Dredgers or soil-shifting machines for special purposes
- E02F5/28—Dredgers or soil-shifting machines for special purposes for cleaning watercourses or other ways
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Treatment Of Sludge (AREA)
- Crushing And Pulverization Processes (AREA)
Abstract
The invention discloses a twisting suction head for cleaning sludge, which comprises a material collecting cover, a crushing roller and a rotary driving assembly, wherein the crushing roller is arranged in the material collecting cover, the rotary driving assembly is used for driving the crushing roller to rotate, the material collecting cover is provided with an opening for exposing the crushing roller and a discharge port for connecting with a suction device, the discharge port is positioned at the axial middle position of the crushing roller, and the crushing roller is provided with a material pushing mechanism which rotates along with the crushing roller to force the sludge positioned at the two axial ends of the crushing roller to move to the axial middle position of the crushing roller. The twisting suction head has high cleaning and collecting efficiency.
Description
Technical Field
The invention relates to the technical field of dredging equipment, in particular to a twisting suction head for cleaning sludge.
Background
Aiming at the siltation problems of rivers, lakes and the like, equipment such as a dredger or an underwater desilting robot is commonly used at present for discharging siltation under water onto a bank, and the equipment usually comprises a cutter suction head, a mud pump, a hose and the like. The dredging and sucking head crushes and drenches the sediment at the bottom, and the mud-water mixture near the dredging and sucking head is sucked into the hose through a mud pump and is conveyed to the shore.
The prior common twisting suction head has the defects of low working efficiency, small sludge discharge amount, weak crushing capability, low dredging efficiency caused by winding of sundries such as waterweeds, rope ends, plastics and the like in sludge and the like in the using process.
Disclosure of Invention
The invention aims to solve the technical problem of overcoming the defects in the prior art and provides a twisting suction head for cleaning sludge, which has high cleaning and collecting efficiency.
In order to solve the technical problems, the invention adopts the following technical scheme:
the utility model provides a hank suction head for deposit clearance, includes the cover that gathers materials, installs crushing roller in the cover that gathers materials and be used for the drive crushing roller pivoted rotary drive subassembly, the cover that gathers materials is equipped with the discharge port that is used for supplying the opening that crushing roller exposes and is used for linking to each other with suction device, the discharge port is located crushing roller axial middle part position department, crushing roller is equipped with and forces the pushing equipment who is located the deposit at crushing roller axial both ends to the motion of crushing roller axial middle part position department along with crushing roller rotation.
As a further improvement of the above technical solution:
the crushing roller comprises a roller part which is arranged in the aggregate cover and is connected with the rotary driving assembly; the pushing mechanism comprises a first spiral blade and a second spiral blade which are connected to the roller part, the first spiral blade extends to one axial end of the roller part from the axial middle position of the roller part, the second spiral blade extends to the other axial end of the roller part from the axial middle position of the roller part, and the rotating directions of the first spiral blade and the second spiral blade are opposite.
The crushing teeth are respectively arranged on the first helical blade and the second helical blade and are used for crushing sludge.
The crushing teeth are detachably mounted on the first helical blade and the second helical blade.
The collecting cover is also connected with a flow guide cover, the flow guide cover is provided with a flow guide channel, the inlet end of the flow guide channel is communicated with the discharge port, the outlet end of the flow guide channel is used for being connected with the suction device, and the cross section area of the flow guide channel is gradually reduced from the inlet end to the outlet end.
The water conservancy diversion passageway includes interconnect's rectangular cross section and circular cross section, the rectangular cross section with the discharge port intercommunication, just the rectangular cross section with the circular cross section meets through a changeover portion that has smooth inner wall, the inner wall of changeover portion and the equal smooth of inner wall of the inner wall of rectangular cross section and circular cross section meet.
The flow guide channel is internally provided with a plurality of streamline flow guide plates which are arranged at intervals, and the streamline flow guide plates extend from the inlet end to the outlet end of the flow guide channel.
And a connecting flange is arranged at the outlet end of the flow guide channel.
The cover that gathers materials includes two end plates and connects half bounding wall between two end plates, half bounding wall and two end plates enclose to be synthetic gather materials the area of cover open-ended inner chamber, the discharge port is located on half bounding wall, half bounding wall is connected with the adjustable adjustment mechanism of opening size.
The adjusting mechanism comprises two adjusting plates hinged to the edges of the two sides of the half enclosing plates respectively, the hinge axis of each adjusting plate extends along the axis direction of the crushing roller, and a telescopic driving piece used for adjusting the swing angle of each adjusting plate around the hinge axis is connected between each adjusting plate and the half enclosing plate.
Compared with the prior art, the invention has the advantages that:
according to the twisting suction head for cleaning the sludge, the crushing roller is provided with the material pushing mechanism, the material pushing mechanism can rotate along with the crushing roller to force the sludge at two axial ends of the crushing roller to move to the axial middle position of the crushing roller, so that the sludge is gathered to the axial middle position of the crushing roller (namely, the middle position corresponding to the material collecting cover), meanwhile, the discharge port of the material collecting cover is located at the axial middle position of the crushing roller, the sludge can rapidly move to the discharge port under the suction effect, and the cleaning and collecting efficiency of the sludge can be improved.
Drawings
FIG. 1 is a schematic structural view of a reamer head at a large opening angle of an adjusting plate on one side.
Fig. 2 is a main sectional structure view of the twisting head at a large opening angle of the adjusting plate at one side.
FIG. 3 is a side view of the twisting head with the adjustment plate on one side at a large opening angle.
FIG. 4 is a schematic side view of the twisting-suction head with the adjusting plates on both sides at a small opening angle.
FIG. 5 is a schematic view of the top view of the twisting-suction head with the adjusting plates at both sides at a small opening angle.
Fig. 6 is a front view of the circular cutter head mounted on the base.
Fig. 7 is a perspective view of the flat blade mounted on the base.
Illustration of the drawings:
1. a material collecting cover; 10. an opening; 11. an outlet port; 12. an end plate; 13. half coaming; 14. an adjusting plate; 15. a telescopic driving member; 2. a crushing roller; 21. a drum part; 22. a first helical blade; 23. a second helical blade; 24. crushing teeth; 241. a cutter head; 242. a base; 3. a pod; 31. a flow guide channel; 32. a streamlined flow deflector; 33. a connecting flange; 4. a hydraulic motor.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples.
As shown in fig. 1 to 5, the winching head for cleaning sludge of the present embodiment comprises a material collecting cover 1, a crushing roller 2 installed in the material collecting cover 1, and a rotary driving assembly for driving the crushing roller 2 to rotate, wherein the rotary driving assembly preferably adopts a hydraulic motor 4 installed in the material collecting cover 1, the material collecting cover 1 is provided with an opening 10 for exposing the crushing roller 2 and a discharge port 11 for connecting with a suction device, the discharge port 11 is located at the axial middle position of the crushing roller 2, and the crushing roller 2 is provided with a material pushing mechanism which forces the sludge located at the two axial ends of the crushing roller 2 to move to the axial middle position of the crushing roller 2 along with the rotation of the crushing roller 2. This hank suction head sets up pushing equipment at crushing roller 2, pushing equipment can rotate along with crushing roller 2 and force the deposit that is located 2 axial both ends of crushing roller to 2 axial middle position departments of crushing roller and move, make the deposit to 2 axial middle position departments of crushing roller (also correspond the middle position department of cover 1 that gathers materials) gathering, the discharge port 11 of cover 1 that gathers materials simultaneously is located 2 axial middle position departments of crushing roller, the deposit can be quick under the suction effect move to discharge port 11, can improve the clearance and the collection efficiency of deposit.
In this embodiment, the crushing drum 2 comprises a drum portion 21 mounted within the aggregate cage 1 and connected to a rotary drive assembly; the pusher mechanism includes a first helical blade 22 and a second helical blade 23 connected to the drum portion 21, the first helical blade 22 extends from the axial middle position of the drum portion 21 to one axial end of the drum portion 21, the second helical blade 23 extends from the axial middle position of the drum portion 21 to the other axial end of the drum portion 21, and the first helical blade 22 and the second helical blade 23 rotate in opposite directions. The rotary drive assembly drives the drum part 21 to rotate, and the first helical blade 22 and the second helical blade 23 rotate along with the drum part 21, so that the sludge at the two axial ends of the drum part 21 is pushed to the axial middle position of the drum part 21 respectively. The material pushing mechanism has the advantages of simple structure, low cost, easy manufacture and assembly and stable and reliable work. Meanwhile, the first helical blade 22 and the second helical blade 23 also have certain crushing and scattering effects on the sludge and impurities in the sludge, so that the sludge is easier to suck out, and the winding phenomenon can be reduced. Preferably, the first helical blade 22 and the second helical blade 23 are symmetrically arranged relative to the section passing through the midpoint of the crushing roller 2, which is beneficial to ensuring the working smoothness.
In this embodiment, the plurality of crushing teeth 24 are respectively provided on the first helical blade 22 and the second helical blade 23, and a plurality of crushing teeth 24 for crushing sludge are provided thereon. Broken tooth 24 can further carry out the breakage to the deposit, improves crushing capacity, satisfies the clearance requirement of stereoplasm deposit bottom material.
In this embodiment, the crushing teeth 24 are detachably mounted on the first helical blade 22 and the second helical blade 23, so that the crushing teeth 24 with different shapes and sizes can be replaced to adapt to sludge substrates with different hardness degrees, and the adaptability is high. For example, a circular cutter head may be used when the sludge substrate is hard (see fig. 6). A flat cutter head may be used when the sludge substrate is soft (see fig. 7). Preferably, the crushing teeth 24 include a cutting head 241 and a base 242, the base 242 is fixedly connected to the first helical blade 22 and the second helical blade 23, and the cutting head 241 is detachably connected to the base 242 by a screw connection or a bayonet connection.
In this embodiment, the collecting cover 1 is further connected with a flow guiding cover 3, the flow guiding cover 3 is provided with a flow guiding channel 31, an inlet end of the flow guiding channel 31 is communicated with the discharge port 11, two ends of the flow guiding channel 31 are respectively an outlet end and an inlet end, the outlet end of the flow guiding channel 31 is used for being connected with a suction device, and the cross-sectional area of the flow guiding channel 31 is gradually reduced from the inlet end to the outlet end. The diversion cover 3 can increase the cutter suction flow rate, which is beneficial to the sludge to be sucked out quickly.
In this embodiment, the flow guide passage 31 includes a rectangular section and a circular section which are connected to each other, the rectangular section is communicated with the discharge port 11, the rectangular section and the circular section are connected by a transition section having a smooth inner wall, and the inner wall of the transition section is smoothly connected to both the inner wall of the rectangular section and the inner wall of the circular section. The flow guide channel 31 in the structure is beneficial to the entering and passing of the sludge, the rapid sucking of the sludge and the blockage prevention.
In this embodiment, a plurality of streamline baffles 32 are arranged in the diversion channel 31 at intervals, and the streamline baffles 32 extend from the inlet end to the outlet end of the diversion channel 31, so as to facilitate the mixture of sludge and water to form a large negative pressure under the suction of the suction device, and to be discharged from the collecting cover 1 quickly.
In this embodiment, the outlet end of the flow guide channel 31 is provided with a connecting flange 33 for connecting with a suction device. In this embodiment, the suction device includes a mud pump and a hose.
In this embodiment, the aggregate cover 1 includes two end plates 12 and a half surrounding plate 13 connected between the two end plates 12, the half surrounding plate 13 and the two end plates 12 surround the inner cavity with the opening 10 of the aggregate cover 1, the discharge port 11 is arranged on the half surrounding plate 13, and the half surrounding plate 13 is connected with an adjusting mechanism capable of adjusting the size of the opening 10. The size of the opening 10 is adjusted through the adjusting mechanism, the water inflow can be adjusted to control the dredging flow, the disturbance of the water around the pair-twisting suction head is reduced through adjustment, the twisting suction effect is improved, and the blocking condition is reduced.
In this embodiment, the adjusting mechanism includes two adjusting plates 14 respectively hinged to the two side edges of the half enclosing plate 13, the hinge axis of the adjusting plate 14 extends along the axis direction of the crushing roller 2, and a telescopic driving member 15 for adjusting the swing angle of the adjusting plate 14 around the hinge axis is connected between each adjusting plate 14 and the half enclosing plate 13. The size of the opening 10 can be changed by adjusting the swing angle of the adjustment plate 14 through the telescopic movement of the telescopic driving member 15. The adjusting mechanism has the advantages of simple and compact structure, low cost, easy manufacture, stable and reliable work and simple and convenient adjustment. The telescopic driving member 15 is a telescopic cylinder.
The cutter suction head for cleaning the sludge can be used on a dredger in rivers and lakes or other dredging equipment, and efficient dredging is achieved.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-described embodiments. Modifications and variations that may occur to those skilled in the art without departing from the spirit and scope of the invention are to be considered as within the scope of the invention.
Claims (10)
1. A hank suction head for sludge cleaning, includes the cover that gathers materials (1), install crushing cylinder (2) in the cover that gathers materials (1) and be used for the drive crushing cylinder (2) pivoted rotary drive subassembly, the cover that gathers materials (1) is equipped with opening (10) that are used for supplying crushing cylinder (2) to expose and is used for discharge port (11) continuous with suction device, its characterized in that: the discharge port (11) is located at the axial middle position of the crushing roller (2), and the crushing roller (2) is provided with a material pushing mechanism which rotates along with the crushing roller (2) to force the sediments at the two axial ends of the crushing roller (2) to move towards the axial middle position of the crushing roller (2).
2. The twisting head of claim 1 wherein: the crushing roller (2) comprises a roller part (21) which is arranged in the aggregate cover (1) and is connected with the rotary driving component; the pushing mechanism comprises a first spiral blade (22) and a second spiral blade (23) which are connected to the roller part (21), the first spiral blade (22) extends from the axial middle position of the roller part (21) to one axial end of the roller part (21), the second spiral blade (23) extends from the axial middle position of the roller part (21) to the other axial end of the roller part (21), and the rotating directions of the first spiral blade (22) and the second spiral blade (23) are opposite.
3. The twisting head of claim 2 wherein: the crushing teeth (24) are respectively arranged on the first helical blade (22) and the second helical blade (23) and are provided with a plurality of crushing teeth (24) for crushing sludge.
4. The twisting head of claim 3 wherein: the crushing teeth (24) are detachably mounted on the first helical blade (22) and the second helical blade (23).
5. The twisting head of claim 1 wherein: still be connected with kuppe (3) on the cover that gathers materials (1), kuppe (3) have water conservancy diversion passageway (31), the entrance point of water conservancy diversion passageway (31) with discharge port (11) intercommunication, the exit end of water conservancy diversion passageway (31) be used for with suction device links to each other, the cross-sectional area of water conservancy diversion passageway (31) certainly entrance point to exit end direction reduce gradually.
6. The twisting head of claim 5 wherein: the water conservancy diversion passageway (31) includes interconnect's rectangular cross section and circular cross section, the rectangular cross section with discharge port (11) intercommunication, just the rectangular cross section with the circular cross section meets through a changeover portion that has smooth inner wall, the inner wall of changeover portion and the equal smooth of inner wall of the inner wall of rectangular cross section and circular cross section meet.
7. The twisting head of claim 5 wherein: a plurality of streamline guide plates (32) are arranged in the flow guide channel (31) at intervals, and the streamline guide plates (32) extend from the inlet end to the outlet end of the flow guide channel (31).
8. The twisting head of claim 5 wherein: and a connecting flange (33) is arranged at the outlet end of the flow guide channel (31).
9. The twisting head according to any one of claims 1 to 8, wherein: gather materials cover (1) and include two end plates (12) and connect half bounding wall (13) between two end plates (12), it is synthetic that half bounding wall (13) and two end plates (12) enclose gather materials the area of cover (1) the inner chamber of opening (10), discharge port (11) are located on half bounding wall (13), half bounding wall (13) are connected with the adjustable adjustment mechanism of opening (10) size.
10. The twisting head of claim 9 wherein: the adjusting mechanism comprises two adjusting plates (14) hinged to the edges of the two sides of the half enclosing plates (13) respectively, the hinge axis of each adjusting plate (14) extends along the axis direction of the crushing roller (2), and a telescopic driving piece (15) used for adjusting the swing angle of the adjusting plate (14) around the hinge axis is connected between each adjusting plate (14) and the half enclosing plates (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010518815.4A CN111561005A (en) | 2020-06-09 | 2020-06-09 | Wringing suction head for cleaning sludge |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010518815.4A CN111561005A (en) | 2020-06-09 | 2020-06-09 | Wringing suction head for cleaning sludge |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111561005A true CN111561005A (en) | 2020-08-21 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010518815.4A Pending CN111561005A (en) | 2020-06-09 | 2020-06-09 | Wringing suction head for cleaning sludge |
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| Country | Link |
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| CN (1) | CN111561005A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113216304A (en) * | 2021-05-13 | 2021-08-06 | 张谯园 | Dredging device for reducing stone damage by water utilization |
| CN113417329A (en) * | 2021-05-24 | 2021-09-21 | 张海峰 | Dredging head with moving and soil crushing functions |
| CN114770525A (en) * | 2022-06-20 | 2022-07-22 | 长沙矿冶研究院有限责任公司 | Surface cleaning robot control system and control method thereof |
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| CN105804047A (en) * | 2016-04-06 | 2016-07-27 | 浙江水利水电学院 | Water drainage device and method for increasing water drainage and consolidation speed of filled sludge |
| CN207260221U (en) * | 2017-06-30 | 2018-04-20 | 杭州同美水处理技术有限公司 | A kind of double helix static state silt dredging mud machine |
| CN108249684A (en) * | 2018-01-31 | 2018-07-06 | 许玉蕊 | Electromagnetism sewage filter device |
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| CN110644555A (en) * | 2019-09-25 | 2020-01-03 | 长沙矿冶研究院有限责任公司 | Operating system for underwater deep hole dredging |
| CN210621804U (en) * | 2019-09-17 | 2020-05-26 | 湖南百舸水利建设股份有限公司 | Novel sludge diffusion preventing environment-friendly dredging head device |
| CN212561666U (en) * | 2020-06-09 | 2021-02-19 | 长沙矿冶研究院有限责任公司 | Wringing suction head for cleaning sludge |
-
2020
- 2020-06-09 CN CN202010518815.4A patent/CN111561005A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105804047A (en) * | 2016-04-06 | 2016-07-27 | 浙江水利水电学院 | Water drainage device and method for increasing water drainage and consolidation speed of filled sludge |
| CN207260221U (en) * | 2017-06-30 | 2018-04-20 | 杭州同美水处理技术有限公司 | A kind of double helix static state silt dredging mud machine |
| CN108249684A (en) * | 2018-01-31 | 2018-07-06 | 许玉蕊 | Electromagnetism sewage filter device |
| CN109208675A (en) * | 2018-09-11 | 2019-01-15 | 中交广州航道局有限公司 | Dredger and its drag head structure |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113216304A (en) * | 2021-05-13 | 2021-08-06 | 张谯园 | Dredging device for reducing stone damage by water utilization |
| CN113216304B (en) * | 2021-05-13 | 2022-12-06 | 中建三局绿色产业投资有限公司 | Dredging device for reducing stone damage by water utilization |
| CN113417329A (en) * | 2021-05-24 | 2021-09-21 | 张海峰 | Dredging head with moving and soil crushing functions |
| CN114770525A (en) * | 2022-06-20 | 2022-07-22 | 长沙矿冶研究院有限责任公司 | Surface cleaning robot control system and control method thereof |
| CN114770525B (en) * | 2022-06-20 | 2022-09-27 | 长沙矿冶研究院有限责任公司 | Surface cleaning robot control system and control method thereof |
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