CN112609764B - Dredging robot drainage - Google Patents

Dredging robot drainage Download PDF

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Publication number
CN112609764B
CN112609764B CN202011532203.7A CN202011532203A CN112609764B CN 112609764 B CN112609764 B CN 112609764B CN 202011532203 A CN202011532203 A CN 202011532203A CN 112609764 B CN112609764 B CN 112609764B
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Prior art keywords
plate
opening
valve body
pipe
mud
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CN202011532203.7A
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CN112609764A (en
Inventor
徐北灿
毛聪
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Changsha University of Science and Technology
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Changsha University of Science and Technology
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    • 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
    • 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
    • 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
    • E02F3/8858—Submerged units
    • E02F3/8866—Submerged units self propelled
    • 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
    • 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
    • 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
    • E02F5/282—Dredgers or soil-shifting machines for special purposes for cleaning watercourses or other ways with rotating cutting or digging tools
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F7/00—Equipment for conveying or separating excavated material
    • E02F7/04—Loading devices mounted on a dredger or an excavator hopper dredgers, also equipment for unloading the hopper
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F7/00—Equipment for conveying or separating excavated material
    • E02F7/10—Pipelines for conveying excavated materials
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/08—Superstructures; Supports for superstructures
    • E02F9/0858—Arrangement of component parts installed on superstructures not otherwise provided for, e.g. electric components, fenders, air-conditioning units
    • E02F9/0891—Lids or bonnets or doors or details thereof

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Treatment Of Sludge (AREA)

Abstract

A sewage system of a dredging robot comprises a casing of dredging equipment, a motor, an internal sewage pipe, an impeller pump, a sewage suction pipe, a hydraulic motor, a bucket, a packing auger, a butt valve and an external sewage pipe; the electric motor provides power for the impeller pump, the inner blow-off pipe is connected above the impeller pump, the right side of the impeller pump is connected with one end of the suction pipe, the other end of the suction pipe is connected with the bucket, the packing auger is arranged in the bucket, the hydraulic motor is arranged on the side wall of the bucket, the packing auger is driven by the hydraulic motor to rotate in the bucket, and an inlet channel is arranged in the inner blow-off pipe; the docking valve is arranged on the outer side of the dredging equipment shell and communicated with the inner blow-off pipe and the outer blow-off pipe.

Description

Dredging robot drainage
Technical Field
The invention relates to the field of urban pipeline dredging, in particular to a sewage discharge system of a dredging robot.
Background
The current application fields of dredging equipment are mainly distributed in dredging environments such as dam dredging, circulating water tank dredging, urban underground channel dredging, large-scale pipeline dredging, urban river channel dredging, culverts and the like, the main difficulty of the dredging work is that the operation environment is complex, divers cannot go deep into dangerous zones such as the bottom of the underground channel, and both manual exploration and manual dredging cause great reduction in the work efficiency. For dredging equipment in urban pipe network, due to the fact that municipal pipe network is lack of maintenance all the year round, sludge with the thickness of 0.1-0.7 m is easy to generate, and many old pipelines in urban areas adopt a rain and sewage confluence mode, when the rainfall is large, blockage is easy to cause, and water accumulation in cities is serious. Therefore, the dredging equipment adopting the multifunctional integration type becomes the best choice for completing the work.
More specifically, the disadvantages of the prior art dredging apparatus are as follows:
1. in the dredging equipment in the prior art, adsorbed sludge is transported to a downstream treatment process through a pipeline, however, the sludge pipeline has the requirement of on-off control, so that a valve needs to be arranged on the sludge pipeline, and the valve cannot be supported at all for a flexible pipe; the prior art is inside the valve setting at equipment casing to the solution of this problem, makes equipment casing inside more crowded like this, when having the demand such as change, maintain moreover, the inconvenient problem of dismantling the maintenance with the valve.
2. In the desilting pipeline in the prior art, dead angles exist in important components such as valves after work is finished, and sludge in the dead angles can be deposited and hardened and block the pipeline.
3. The dredging technology in the prior art comprises technologies of purging, cleaning and the like, however, the purging and the cleaning both need extra media, and a large amount of space is occupied by storage of cleaning liquid.
4. The dredging technology in the prior art can only finish single dredging, and the circulating dredging has higher cost and larger occupied space, such as a dredging assembly line.
5. Desilting pipeline under the prior art often is the right angle bending, and the optional slope spigot surface that is provided with, but the setting of spigot surface can not use standard mould, can additionally increase the processing mould cost.
6. For non-flow lines, it is difficult to collect the silt with a single small volume valve or the silt to be removed is placed everywhere.
Disclosure of Invention
In order to overcome the above problems, the present invention proposes a solution to solve the above problems simultaneously.
The technical scheme adopted by the invention for solving the technical problems is as follows: a sewage system of a dredging robot comprises a casing of dredging equipment, a motor, an internal sewage pipe, an impeller pump, a sewage suction pipe, a hydraulic motor, a bucket, a packing auger, a butt valve and an external sewage pipe; the electric motor provides power for the impeller pump, the inner blow-off pipe is connected above the impeller pump, the right side of the impeller pump is connected with one end of the suction pipe, the other end of the suction pipe is connected with the bucket, the packing auger is arranged in the bucket, the hydraulic motor is arranged on the side wall of the bucket, the packing auger is driven by the hydraulic motor to rotate in the bucket, and an inlet channel is arranged in the inner blow-off pipe; the docking valve is arranged on the outer side of the dredging equipment shell and is communicated with the inner sewage discharge pipe and the outer sewage discharge pipe;
the butt valve comprises a butt joint block, a bottom plate, a lower valve body, a partition plate, an upper valve body, an upper plate, a mud pushing cylinder, a mud pushing plate, a driving part, a vertical plate, a transverse plate, a mud discharging plate, an opening and closing cylinder, an opening and closing plate, a support rod, an inclined plate, a pin joint part and a mud stacking plate;
the butt joint block is arranged on the dredging equipment shell, the dredging equipment shell is obliquely arranged, the butt joint block is provided with an inclined surface, and the inclined surface is in contact with the dredging equipment shell; a sludge channel is arranged in the butt-joint block and is communicated with the inlet channel in the dredging equipment shell; the sludge channel is vertical to the inlet channel;
the bottom wall of the inlet channel is provided with the supporting rod, the top end of the supporting rod is connected with the inclined plate through the pivoting piece, the mud stacking plate is connected with the right end of the inclined plate, the mud stacking plate is connected with the inclined plate at an angle, and the distance between the left end of the inclined plate and the pivoting piece is smaller than the distance between the right end of the inclined plate and the pivoting piece; during sludge conveying, the sludge stacking plate is close to the bottom wall of the inlet channel;
the upper end of the butt joint block is a horizontal plane, the bottom plate is connected to the upper end of the butt joint block, the lower valve body is connected above the bottom plate, the partition plate is connected above the lower valve body, the upper valve body is connected above the partition plate, the upper plate is connected above the upper valve body, a bottom plate opening is formed in the bottom plate, a partition plate opening is formed in the partition plate, and the diameter of the partition plate opening is smaller than that of the bottom plate opening;
the opening and closing cylinder is arranged on the outer wall of the lower valve body and drives the opening and closing plate penetrating through the outer wall of the lower valve body to open and close the opening of the bottom plate, the mud pushing cylinder is arranged on the outer wall of the upper valve body, a first opening is formed in the left side of the wall of the upper valve body, and a second opening is formed in the right side of the wall of the upper valve body; the driving part is arranged above the upper plate and drives the vertical plate to move up and down, the lower end of the vertical plate is connected with one end of the transverse plate, and the transverse plate can seal the opening of the partition plate;
the vertical plate is provided with a mud pushing opening, and the mud pushing cylinder can drive the mud pushing plate to sequentially penetrate through the first opening, the mud pushing opening and the second opening; the mud discharging plate is connected to the partition plate below the second opening and extends downwards obliquely to the dredging equipment shell.
Further, the driving part is a cylinder type driving part.
Furthermore, the opening and closing cylinder is positioned on the right side of the outer wall of the lower valve body.
Furthermore, the distance between the left end of the inclined plate and the pivot piece is less than half of the distance between the right end of the inclined plate and the pivot piece.
Further, the height dimension of the lower valve body is larger than that of the upper valve body.
Further, silt flows out from the opening on the left side of the lower valve body, and the opening on the left side is externally connected with the external sewage discharge pipe.
Further, the length dimension of the sloping plate is smaller than the diameter dimension of the sludge channel.
Further, the length of the transverse plate is smaller than that of the inclined plate.
Further, the height of the strut is less than one-half of the height of the inlet channel.
Further, the silt passageway includes the axis, branch is located the left side of axis.
The invention has the beneficial effects that:
1. to background art's 1 st point, set the shell body of desilting robot into the inclined plane, the inclined plane cooperatees with the inclined plane of butt joint piece, and the upper surface of butt joint piece is the horizontally and is used for bearing the control valve to supportable, detachable, easy to maintain have set up the control valve.
2. To background art's 2 nd point, set up the desilting module in the butt joint piece to clear up the silt of siltation, the open-ended diameter of baffle is less than the open-ended diameter of bottom plate, is less than the diameter of silt passageway with the diameter of guaranteeing the diaphragm.
3. To background's 3 rd point, adopt L shaped plate and desilting module cooperation for the silt that the desilting module bore gets rid of on the L shaped plate, thereby collects silt, need not additionally to use cleaning medium, and the distance of swash plate left end and pin joint piece is less than the distance of swash plate right-hand member and pin joint piece, thereby guarantees the focus at pin joint piece right-hand member.
4. To the 4 th point of the background art, the L-shaped plate is provided with the through hole, and the push rod of the air cylinder can penetrate through the through hole to push out the sludge, so that the structure is more compact, and more functions are realized.
5. To background art's 5 th point, the desilting module includes the swash plate, and silt passageway includes the axis, and branch is located the left side of axis, can additionally design alone and guide the flow, has avoided the demand of non-standardized direction pipeline to extra non-standard mould.
6. Aiming at the 6 th point of the background technology, a collecting tank formed by overlapping a sludge outlet plate, a dredging equipment shell and double inclined planes is adopted, and when automatic equipment operates, sludge is not thrown everywhere under the urban environment.
Note: the foregoing designs are not sequential, each of which provides a distinct and significant advance in the present invention over the prior art.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a structural diagram of a pipeline control device arranged outside a dredging robot.
Fig. 2 is a schematic diagram of the invention for cleaning sludge.
Fig. 3 is a diagram of the working condition of the invention for cleaning sludge.
FIG. 4 is an external view of the dredging robot
FIG. 5 is an internal view of the dredging robot
In the figures, the reference numerals are as follows:
1. the dredging device comprises a dredging equipment shell 2, a butt joint block 3, a bottom plate 4, a lower valve body 5, a partition plate 6, an upper plate 7, a partition plate opening 8, a mud pushing cylinder 9, a mud pushing plate 10, a driving part 11, a vertical plate 12, a transverse plate 13, a mud discharging plate 14, an opening and closing cylinder 15, an opening and closing plate 16, a bottom plate opening 17, an upper valve body 18, an inlet channel 19, a support rod 20, an inclined plate 21, a pivot joint part 22, a mud stacking plate 23, a camera 24, a mud channel 25, a motor 26, a body support plate 27, an internal drainage pipe 28, an impeller pump 29, a hydraulic reversing valve 30, a sewage suction pipe 31, a hydraulic station 32, an oil cylinder 33, an oil pipe 34, a baffle plate 35, a crawler chassis 36, a hydraulic motor 37, a bucket 38, an auger 39, a suction system 40, an external drainage pipe 40, a hydraulic motor 37, a hydraulic reversing valve 30, a hydraulic reversing valve, a hydraulic pressure pump, a hydraulic pressure pump, a hydraulic pressure, a
Detailed Description
As shown in the figure: a sewage system of a dredging robot comprises a casing of dredging equipment, a motor, an internal sewage pipe, an impeller pump, a sewage suction pipe, a hydraulic motor, a bucket, a packing auger, a butt valve and an external sewage pipe; the electric motor provides power for the impeller pump, the inner blow-off pipe is connected above the impeller pump, the right side of the impeller pump is connected with one end of the suction pipe, the other end of the suction pipe is connected with the bucket, the packing auger is arranged in the bucket, the hydraulic motor is arranged on the side wall of the bucket, the packing auger is driven by the hydraulic motor to rotate in the bucket, and an inlet channel is arranged in the inner blow-off pipe; the docking valve is arranged on the outer side of the dredging equipment shell and is communicated with the inner sewage discharge pipe and the outer sewage discharge pipe;
the butt valve comprises a butt joint block, a bottom plate, a lower valve body, a partition plate, an upper valve body, an upper plate, a mud pushing cylinder, a mud pushing plate, a driving part, a vertical plate, a transverse plate, a mud discharging plate, an opening and closing cylinder, an opening and closing plate, a support rod, an inclined plate, a pin joint part and a mud stacking plate;
the butt joint block is arranged on the dredging equipment shell, the dredging equipment shell is obliquely arranged, the butt joint block is provided with an inclined surface, and the inclined surface is in contact with the dredging equipment shell; a sludge channel is arranged in the butt-joint block and is communicated with the inlet channel in the dredging equipment shell; the sludge channel is vertical to the inlet channel;
the bottom wall of the inlet channel is provided with the supporting rod, the top end of the supporting rod is connected with the inclined plate through the pivoting piece, the mud stacking plate is connected with the right end of the inclined plate, the mud stacking plate is connected with the inclined plate at an angle, and the distance between the left end of the inclined plate and the pivoting piece is smaller than the distance between the right end of the inclined plate and the pivoting piece; during sludge conveying, the sludge stacking plate is close to the bottom wall of the inlet channel;
as shown in the figure: the upper end of the butt joint block is a horizontal plane, the bottom plate is connected to the upper end of the butt joint block, the lower valve body is connected above the bottom plate, the partition plate is connected above the lower valve body, the upper valve body is connected above the partition plate, the upper plate is connected above the upper valve body, a bottom plate opening is formed in the bottom plate, a partition plate opening is formed in the partition plate, and the diameter of the partition plate opening is smaller than that of the bottom plate opening;
the opening and closing cylinder is arranged on the outer wall of the lower valve body and drives the opening and closing plate penetrating through the outer wall of the lower valve body to open and close the opening of the bottom plate, the mud pushing cylinder is arranged on the outer wall of the upper valve body, a first opening is formed in the left side of the wall of the upper valve body, and a second opening is formed in the right side of the wall of the upper valve body; the driving part is arranged above the upper plate and drives the vertical plate to move up and down, the lower end of the vertical plate is connected with one end of the transverse plate, and the transverse plate can seal the opening of the partition plate;
the vertical plate is provided with a mud pushing opening, and the mud pushing cylinder can drive the mud pushing plate to sequentially penetrate through the first opening, the mud pushing opening and the second opening; the mud discharging plate is connected to the partition plate below the second opening and extends downwards obliquely to the dredging equipment shell.
As shown in the figure: the driving part is a cylinder type driving part. The opening and closing cylinder is positioned on the right side of the outer wall of the lower valve body. The distance between the left end of the inclined plate and the pivoting piece is less than half of the distance between the right end of the inclined plate and the pivoting piece. The height dimension of the lower valve body is larger than that of the upper valve body. The silt flows out from the opening on the left side of the lower valve body, and the opening on the left side is externally connected with the external sewage discharge pipe. The length dimension of the sloping plate is smaller than the diameter dimension of the sludge channel. The length of diaphragm is less than the length of swash plate. The height of the strut is less than one-half of the height of the inlet channel. The silt passageway includes the axis, branch is located the left side of axis.
The cleaning principle is as follows:
stopping dredging, enabling the opening and closing plate to be away from the opening of the bottom plate, enabling the transverse plate to move downwards to abut against the inclined plate so as to drive the inclined plate to rotate, enabling the sludge stacking plate to throw accumulated sludge onto the transverse plate when the inclined plate rotates to a horizontal position, and enabling the transverse plate to move upwards to the opening of the partition plate after the transverse plate stops for 10 seconds; the mud pushing plate sequentially penetrates through the first opening, the mud pushing opening and the second opening to push mud in the transverse plate out of the upper valve body, and the mud is guided and discharged through the mud discharging plate.
The above detailed description is specific to possible embodiments of the present invention, and the embodiments are not intended to limit the scope of the present invention, and all equivalent implementations or modifications that do not depart from the scope of the present invention are intended to be included within the scope of the present invention.

Claims (10)

1. The utility model provides a desilting robot drainage which characterized in that: comprises a dredging equipment shell, a motor, an internal blow-off pipe, an impeller pump, a sewage suction pipe, a hydraulic motor, a bucket, an auger, a butt valve and an external blow-off pipe; the electric motor provides power for the impeller pump, the inner blow-off pipe is connected above the impeller pump, the right side of the impeller pump is connected with one end of the suction pipe, the other end of the suction pipe is connected with the bucket, the packing auger is arranged in the bucket, the hydraulic motor is arranged on the side wall of the bucket, the packing auger is driven by the hydraulic motor to rotate in the bucket, and an inlet channel is arranged in the inner blow-off pipe; the docking valve is arranged on the outer side of the dredging equipment shell and is communicated with the inner sewage discharge pipe and the outer sewage discharge pipe;
the butt valve comprises a butt joint block, a bottom plate, a lower valve body, a partition plate, an upper valve body, an upper plate, a mud pushing cylinder, a mud pushing plate, a driving part, a vertical plate, a transverse plate, a mud discharging plate, an opening and closing cylinder, an opening and closing plate, a support rod, an inclined plate, a pin joint part and a mud stacking plate;
the butt joint block is arranged on the dredging equipment shell, the dredging equipment shell is obliquely arranged, the butt joint block is provided with an inclined surface, and the inclined surface is in contact with the dredging equipment shell; a sludge channel is arranged in the butt-joint block and is communicated with the inlet channel in the dredging equipment shell; the sludge channel is vertical to the inlet channel;
the bottom wall of the inlet channel is provided with the supporting rod, the top end of the supporting rod is connected with the inclined plate through the pivoting piece, the mud stacking plate is connected with the right end of the inclined plate, the mud stacking plate is connected with the inclined plate at an angle, and the distance between the left end of the inclined plate and the pivoting piece is smaller than the distance between the right end of the inclined plate and the pivoting piece; during sludge conveying, the sludge stacking plate is close to the bottom wall of the inlet channel;
the upper end of the butt joint block is a horizontal plane, the bottom plate is connected to the upper end of the butt joint block, the lower valve body is connected above the bottom plate, the partition plate is connected above the lower valve body, the upper valve body is connected above the partition plate, the upper plate is connected above the upper valve body, a bottom plate opening is formed in the bottom plate, a partition plate opening is formed in the partition plate, and the diameter of the partition plate opening is smaller than that of the bottom plate opening;
the opening and closing cylinder is arranged on the outer wall of the lower valve body and drives the opening and closing plate penetrating through the outer wall of the lower valve body to open and close the opening of the bottom plate, the mud pushing cylinder is arranged on the outer wall of the upper valve body, a first opening is formed in the left side of the wall of the upper valve body, and a second opening is formed in the right side of the wall of the upper valve body; the driving part is arranged above the upper plate and drives the vertical plate to move up and down, the lower end of the vertical plate is connected with one end of the transverse plate, and the transverse plate can seal the opening of the partition plate;
the vertical plate is provided with a mud pushing opening, and the mud pushing cylinder can drive the mud pushing plate to sequentially penetrate through the first opening, the mud pushing opening and the second opening; the mud discharging plate is connected to the partition plate below the second opening and extends downwards obliquely to the dredging equipment shell.
2. The soil release system of a desilting robot as recited in claim 1, wherein: the driving part is a cylinder type driving part.
3. The soil release system of a desilting robot as recited in claim 1, wherein: the opening and closing cylinder is positioned on the right side of the outer wall of the lower valve body.
4. The soil release system of a desilting robot as recited in claim 1, wherein: the distance between the left end of the inclined plate and the pivoting piece is less than half of the distance between the right end of the inclined plate and the pivoting piece.
5. The soil release system of a desilting robot as recited in claim 1, wherein: the height dimension of the lower valve body is larger than that of the upper valve body.
6. The soil release system of a desilting robot as recited in claim 1, wherein: the silt flows out from the opening on the left side of the lower valve body, and the opening on the left side is externally connected with the external sewage discharge pipe.
7. The soil release system of a desilting robot as recited in claim 1, wherein: the length dimension of the sloping plate is smaller than the diameter dimension of the sludge channel.
8. The soil release system of a desilting robot as recited in claim 7, wherein: the length of diaphragm is less than the length of swash plate.
9. The soil release system of a desilting robot as recited in claim 1, wherein: the height of the strut is less than one-half of the height of the inlet channel.
10. The soil release system of a desilting robot as recited in claim 1, wherein: the silt passageway includes the axis, branch is located the left side of axis.
CN202011532203.7A 2020-12-23 2020-12-23 Dredging robot drainage Active CN112609764B (en)

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CN112609764B true CN112609764B (en) 2022-01-28

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