CN219586801U - All-directional mobile slide plate front water-absorbing underwater dredging robot and dredging system - Google Patents
All-directional mobile slide plate front water-absorbing underwater dredging robot and dredging system Download PDFInfo
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- CN219586801U CN219586801U CN202320448700.1U CN202320448700U CN219586801U CN 219586801 U CN219586801 U CN 219586801U CN 202320448700 U CN202320448700 U CN 202320448700U CN 219586801 U CN219586801 U CN 219586801U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A20/00—Water conservation; Efficient water supply; Efficient water use
- Y02A20/20—Controlling water pollution; Waste water treatment
- Y02A20/204—Keeping clear the surface of open water from oil spills
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Abstract
The utility model discloses a front underwater dredging robot of an omnidirectional mobile sliding plate and a dredging system, which belong to the technical field of dredging, and comprise a frame-type sliding shoe structure, a mud sucking mechanism and a propelling mechanism, wherein the mud sucking mechanism is arranged at the front end part of the bottom of the frame-type sliding shoe structure; the frame type sliding shoe structure comprises a box type buoyancy body and a sliding shoe, wherein the box type buoyancy body and the sliding shoe are arranged up and down, the sliding shoe comprises an upper mounting plate with a regular geometric shape, and the box type buoyancy body is fixedly arranged on the upper mounting plate; the translation vector thrusters are uniformly distributed on the outer edge of the upper surface of the upper mounting plate, and the lifting vector thrusters are mounted on the upper surface of the upper mounting plate. The utility model adopts the combination of the vector propeller and the frame-type sliding shoe structure to realize the omnidirectional free walking and rotation of the dredging robot in the three-dimensional space; the mud sucking mechanism is arranged at the front end part of the bottom of the frame-type sliding shoe structure, so that the installation stability of the mud sucking mechanism is improved, and the mud is more easily sucked away by the mud sucking mechanism in the propelling process of the robot.
Description
Technical Field
The utility model relates to the technical field of dredging, in particular to a dredging robot and a dredging system under water suction in front of an omni-directional moving slide plate.
Background
The dredging operation of the sewage pool belongs to limited space operation, accidents of the limited space operation are frequent, the risk is high, and meanwhile, when the dredging operation is carried out, the risk of the dredging operation of the sewage pool is extremely high due to the influence of factors such as narrow working face, environmental humidity and the like.
A large amount of poisonous and harmful gases, inflammable and explosive gases, generated by accumulation of sludge in the sewage tank, give off odor, and the random construction can cause accidents such as poisoning, explosion and the like, so that casualties are caused. The sewage pool is accumulated with water, and temporary electricity utilization facilities such as lighting equipment and the like in a humid environment can generate electricity leakage under high voltage, so that electric shock accidents can be caused. After an accident occurs, the working face of the sewage pool is narrow, so that the sewage pool is difficult to perceive in the first time, meanwhile, the rescue difficulty is high, timely and effective rescue is difficult to provide for victims in a short time, and irrecoverable loss is caused.
The dredging operation is carried out by using mechanization instead of manpower, which is a great trend under technical innovation, the robot enters a sewage pool to effectively ensure the life and property safety of people, meanwhile, the working efficiency of the robot is high, the long-time high-strength operation can be kept, the difficulty of safety management is reduced, and the safety risk is greatly reduced. At present, a walking mechanism of an underwater dredging robot generally adopts a crawler belt, has a complex structure, cannot realize underwater suspension, water surface walking and the like, and can only carry out dredging operation at the water bottom; and because the monitoring capability of the robot to the surrounding environment is weaker, the information collection of the surrounding environment of the robot is incomplete when an operator is dredging, and blind areas are easy to appear so as to cause accidents.
The utility model patent application with publication number of CN109577400A discloses a crawler chassis stirring-sucking type dredging robot, which can realize underwater harmless movement and rapid dredging. However, the adoption of the crawler chassis cannot realize the underwater suspension and the water surface walking of the dredging robot, the dredging operation can be only carried out at the water bottom, the centrifugal slurry pump is easy to block and even the impeller is blocked to break the coupling, and spare parts cannot be replaced underwater; the robot has no automatic navigation system, the vision system equipped with the robot in the dredging process cannot be used at all because the turbidity of water is too high, and the robot is operated by pure shoreside manual feeling or experience, so that the robot is inaccurate and unsafe.
The utility model patent with publication number CN214784640U discloses a city deep sewage transmission tunnel detection and dredging robot, which comprises a tunnel structure detection device, a dredging operation device, a robot underwater positioning device, a robot underwater walking device and a robot communication control device; the tunnel structure detection device comprises a muddy water camera and a sonar; the dredging operation device comprises a sludge shovel which is carried on the front part of the robot body; the robot underwater positioning device comprises a gyroscope; the robot communication control device comprises an underwater cable and a controller, and the controller is connected with the ground control platform through the underwater cable. The crawler chassis is adopted, so that underwater suspension and water surface walking of the dredging robot cannot be realized, and dredging operation can be performed only at the water bottom.
Disclosure of Invention
In order to overcome the defects that the dredging robot in the prior art has a complex structure, can not realize underwater suspension and water surface walking, and can only perform dredging operation at the water bottom; the utility model provides an omnidirectional mobile slide plate front underwater dredging robot, which has weaker monitoring capability to the surrounding environment and is easy to cause problems such as accidents, and the like, and comprises a frame-type slide shoe structure, a mud sucking mechanism and a propelling mechanism, wherein the mud sucking mechanism is arranged at the front end part of the bottom of the frame-type slide shoe structure;
the propelling mechanism is a vector propeller, the vector propeller comprises a translation vector propeller and a lifting vector propeller, the frame-type sliding shoe structure comprises a box-type buoyancy body and a sliding shoe which are arranged up and down, the sliding shoe comprises an upper mounting plate with a regular geometric shape, and the box-type buoyancy body is fixedly mounted on the upper mounting plate; the three or more translation vector thrusters are uniformly distributed at the outer edge position of the upper surface of the upper mounting plate, the propelling direction is parallel to the plane where the upper mounting plate is located, and the two or more lifting vector thrusters are mounted on the upper surface of the upper mounting plate, and the propelling direction is perpendicular to the plane where the upper mounting plate is located.
The propulsion operation of the dredging robot is realized by adopting the cooperation of the vector propeller and the frame-type sliding shoe structure, and the dredging robot freely walks and rotates in the three-dimensional space in an omnidirectional manner through the combination of the translation vector propeller and the lifting vector propeller; because the dredging robot mainly moves forward in the dredging operation process, the mud sucking mechanism is arranged at the front end part of the bottom of the frame-type sliding shoe structure, the stability of the installation of the mud sucking mechanism is improved, the mud is more easily sucked away by the mud sucking mechanism in the propelling process of the robot, the propelling operation of the robot is not influenced, and the structure is reasonable.
Preferably, the middle of the box-type buoyancy body is concave upwards, the outer edge of the box-type buoyancy body is fixedly arranged on the upper surface of the upper mounting plate, and a first accommodating space is formed between the middle lower surface of the box-type buoyancy body and the upper surface of the upper mounting plate;
the shoe bottom front end portion is formed with a curled portion curled upward, and the suction mechanism is mounted at the curled portion position of the shoe.
Preferably, the slipper comprises a sole skateboard, the upper mounting plate and slipper connecting plates connected to the lower surface of the upper mounting plate and two sides of the upper surface of the sole skateboard, a second accommodating space is formed among the sole skateboard, the upper mounting plate and the two slipper connecting plates, and the curled part is arranged at the front end part of the sole skateboard;
the side edge of the box-type buoyancy body and the upper surface of the upper mounting plate are fixedly arranged to form the first accommodating space with the upper surface of the upper mounting plate; the translation vector propeller is mounted on the upper mounting plate.
Preferably, at least two straight lines of the advancing directions of the translation vector propeller intersect.
Preferably, the regular geometric shape is one of a circle, an ellipse, a square, a rectangle, and a regular polygon.
Preferably, the upper mounting plate is of a rectangular plate structure, four translation vector thrusters are uniformly distributed at four corners of the rectangular plate structure, and straight lines of the four translation vector thrusters in the propelling direction intersect to form a parallelogram.
Preferably, a plurality of smooth concave surfaces are formed on the outer edge of the box-type buoyancy body, and the extending height of the smooth concave surfaces from the middle of the box-type buoyancy body to the outer edge of the box-type buoyancy body is linearly or nonlinearly reduced.
Preferably, the upper mounting plate is provided with more than two first lifting propeller mounting holes, a second lifting propeller mounting hole corresponding to the first lifting propeller mounting hole is formed on the box-type buoyancy body at a position right above the first lifting propeller mounting hole, and the lifting vector propeller is mounted on the first lifting propeller mounting hole and the second lifting propeller mounting hole.
Preferably, the second lifting thruster mounting hole edge extends towards the direction of the corresponding first lifting thruster mounting hole to form a lifting thruster mounting cylinder, and the lifting vector thruster is mounted in the lifting thruster mounting cylinder.
The utility model also provides a dredging system, which comprises the omnidirectional mobile slide plate front underwater dredging robot.
The beneficial effects are that:
the technical scheme of the utility model has the following beneficial effects:
(1) The propulsion operation of the dredging robot is realized by adopting the cooperation of the vector propeller and the frame-type sliding shoe structure, and the dredging robot freely walks and rotates in the three-dimensional space in an omnidirectional manner through the combination of the translation vector propeller and the lifting vector propeller; because the dredging robot mainly moves forward in the dredging operation process, the mud sucking mechanism is arranged at the front end part of the bottom of the frame-type sliding shoe structure, the stability of the installation of the mud sucking mechanism is improved, the mud is more easily sucked away by the mud sucking mechanism in the propelling process of the robot, the propelling operation of the robot is not influenced, and the structure is reasonable.
(2) The frame-type sliding shoe structure formed by the box-type buoyancy body and the sliding shoe is used as a main body frame of the dredging robot, the box-type buoyancy body can generate a certain amount of buoyancy, partial power required by the dredging robot in the floating or floating process can be offset, and the sliding shoe design at the bottom of the box body can greatly reduce the resistance effect of the dredging robot in the horizontal moving process, so that the dredging robot cannot sink when the dredging robot floats underwater or walks on the water surface, the energy consumption of the dredging robot when the dredging robot moves in the three-dimensional space is reduced, and the underwater floating and water surface walking dredging of the dredging robot is realized.
(3) The vector propeller is matched with the sliding shoes to realize the walking of the dredging robot, compared with the traditional crawler-type walking mechanism, the crawler-type walking mechanism has simple structure and low energy consumption; moreover, the movement is not from rolling friction of the crawler belt and the water bottom surface, but the movement operation is not easily influenced by impurity winding in the silt during walking by utilizing the thrust action of the vector propeller, and the cooperation of the vector propeller and the sliding shoes realizes underwater suspension and water surface walking dredging operation, so that the dredging robot is upgraded from the traditional underwater bottom operation into three modes of underwater bottom operation, underwater suspension operation and water surface operation and a three-dimensional space operation mode during underwater suspension.
(4) In the walking process of the dredging robot, the mud suction roller passively rotates to enable mud to flow towards the inlet direction of the mud suction pipeline, and the mud at the inlet of the mud suction pipeline is sucked away along the pipeline direction under the action of suction force, so that the dredging purpose is achieved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some examples of the present utility model and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a perspective view of a preferred dredging robot of the present utility model;
FIG. 2 is a perspective view of a preferred suction mechanism of the present utility model;
FIG. 3 is a perspective view of a preferred box buoyancy body of the present utility model;
FIG. 4 is a schematic diagram of a dredging system according to the present utility model.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments. All other embodiments, based on the embodiments of the utility model, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the utility model. All other embodiments, based on the embodiments of the utility model, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the utility model.
As shown in fig. 1 to 4, the omni-directional mobile slide plate front underwater dredging robot 100 comprises a frame-type slide shoe structure 1, a mud suction mechanism 2 and a propelling mechanism 3, wherein the mud suction mechanism 2 is arranged at the front end part of the bottom of the frame-type slide shoe structure 1;
the propulsion mechanism 3 is a vector propeller, the vector propeller comprises a translation vector propeller 31 and a lifting vector propeller 32, the frame-type sliding shoe structure 1 comprises a box-type buoyancy body 11 and a sliding shoe 12 which are arranged up and down, the sliding shoe 12 comprises an upper mounting plate 15 with a regular geometric shape, and the box-type buoyancy body 11 is fixedly mounted on the upper mounting plate 15; the three or more translation vector thrusters 31 are uniformly distributed at the outer edge position of the upper surface of the upper mounting plate 15, the thrust direction is parallel to the plane where the upper mounting plate 15 is located, and the two or more lifting vector thrusters 32 are mounted on the upper surface of the upper mounting plate 15, and the thrust direction is perpendicular to the plane where the upper mounting plate 15 is located. Here, the regular geometric shape is one of a circle, an ellipse, a square, a rectangle, and a regular polygon.
The middle of the box-type buoyancy body 11 is concave upwards, the outer edge of the box-type buoyancy body is fixedly arranged on the upper surface of the upper mounting plate 15, and a first accommodating space is formed between the lower surface of the middle of the box-type buoyancy body 11 and the upper surface of the upper mounting plate 15;
the bottom front end portion of the shoe 12 is formed with a curled portion 141 curled upward, and the suction mechanism 2 is mounted at the curled portion 141 position of the shoe 12.
The slipper 12 comprises a sole skateboard 14, an upper mounting plate 15 and slipper connecting plates 16 connected to the lower surface of the upper mounting plate 15 and two sides of the upper surface of the sole skateboard 14, a second accommodating space is formed among the sole skateboard 14, the upper mounting plate 15 and two slipper connecting plates 16, and the curled portion 141 is arranged at the front end of the sole skateboard 14; the shoe link plate 16 has a link plate side hole 161 formed therein.
The side of the box-type buoyancy body 11 and the upper surface of the upper mounting plate 15 are fixedly arranged to form the first accommodating space with the upper surface of the upper mounting plate 15; the translation vector mover 31 is mounted on the upper mounting plate 15.
At least two straight lines of the advancing directions of the translation vector advancing units 31 intersect.
The upper mounting plate 15 is a rectangular plate structure, four translation vector thrusters 31 are uniformly distributed at four corners of the rectangular plate structure, and straight lines of the four translation vector thrusters 31 in the propelling direction intersect to form a parallelogram.
The outer edge of the box-type buoyancy body 11 is provided with a plurality of smooth concave surfaces 112, and the height of the smooth concave surfaces 112 extending from the middle of the box-type buoyancy body 11 to the outer edge thereof is linearly or nonlinearly reduced. The outer edge of the box-type buoyancy body 11 is downwardly extended with an extension edge (not shown), and the lower surface of the extension edge is fixedly mounted on the outer edge of the upper surface of the sliding shoe 12.
A translational pusher mount (not shown) is formed between the smooth recessed surface 112 and the extended edge, and a pusher mount hole is formed in the translational pusher mount. The outer edge of the slipper 12 extends downwards to form a guard 13 which has the same contour as the extending edge.
The upper mounting plate 15 is provided with more than two first lifting thruster mounting holes, a second lifting thruster mounting hole corresponding to the first lifting thruster mounting hole is formed on the box-type buoyancy body at a position right above the first lifting thruster mounting hole, and the lifting vector thruster 32 is mounted on the first lifting thruster mounting hole and the second lifting thruster mounting hole.
The second lift-thruster mounting hole edge extends in the direction of the first lift-thruster mounting hole corresponding to the second lift-thruster mounting hole edge to form a lift-thruster mounting cylinder 118, and the lift-vector thruster 32 is mounted in the lift-thruster mounting cylinder. Here preferably 4 first lift thruster mounting holes are located just around the four corners of the first plane 117 of the buoyancy body.
As shown in fig. 2, the suction mechanism 2 comprises a suction roll 21, a roll mounting seat 22 and a suction pipe 23, wherein two ends of the suction roll 21 are mounted on the curled portion 141 of the sole slide plate 14 through the roll mounting seat 22, an inlet of the suction pipe 23 is positioned near the upper surface of the suction roll 21, and the suction pipe 23 is led out from the upper surface of the box-type buoyancy body 11. The middle of the box-type buoyancy body 11 is concaved upwards to form a buoyancy body first plane 117, and the mud suction pipeline 23 is led out from the middle of the buoyancy body first plane 117. The upper surface of the front end portion of the box-type buoyancy body 11 is formed with a monitor mounting position 119.
A first suction pipe mounting hole is formed in the middle of the upper mounting plate 15, and a second suction pipe mounting hole is formed in the box-type buoyancy body 11 at a position right above the first suction pipe mounting hole; the suction mechanism 2 is installed on the first suction pipe installation hole and the second suction pipe installation hole. The edge of the second suction pipe mounting hole extends to the first suction pipe mounting hole to form a suction pipe mounting cylinder 120, and the suction pipe 23 is sleeved in the suction pipe mounting cylinder 120.
The middle of the box-type buoyancy body 11 is concave upwards, the outer edge of the box-type buoyancy body is fixedly arranged on the upper surface of the upper mounting plate 15, and a first accommodating space is formed between the lower surface of the middle of the box-type buoyancy body 11 and the upper surface of the upper mounting plate 15; a second accommodating space is formed among the sole sliding plate 14, the upper mounting plate 15 and the two sliding shoe connecting plates 16; the mud suction pipe 23 passes through the second accommodating space and the first accommodating space and is led out from the upper surface of the box-type buoyancy body 11.
A mud suction box body 25 is formed between the inlet of the mud suction pipe 23 and the mud suction roller 21, the mud suction box body 25 has a width equal to the length of the mud suction roller 21 in the length direction of the mud suction roller 21, and mud suction openings 251 are uniformly distributed on one side surface of the mud suction box body 25, which is close to the mud suction roller 21; the suction box 25 is located in the second accommodating space, and one end of the suction box, which is far away from the suction roller 21, is communicated with the inlet of the suction pipe 23.
The suction protrusions 211 are uniformly distributed on the surface of the suction roll 21.
The utility model also provides a dredging system, which comprises the omnidirectional mobile slide plate front underwater dredging robot 100, a control center 200, a centrifugal pump 300, a mud-water separation system 400 and a control terminal 500, wherein the control center 200 is in bidirectional connection with the dredging robot 200 and the control terminal 500, and the input ends of the centrifugal pump 300 and the mud-water separation system 400 are connected with the output end of the control center 200. The operator uses the control terminal 500 to operate, controls the propulsion mechanism 3 on the dredging robot 100 to move in a three-dimensional space through the control center 200, controls the centrifugal pump 300 to suck sludge from the sludge suction pipeline 23, and then sends the sludge to the sludge-water separation system 400 for sludge-water separation; in addition, the control center 200 receives data of the monitoring mechanism 4 on the dredging robot 100, thereby monitoring the surrounding environment of the dredging robot in real time, and the monitoring mechanism 4 is installed on the monitoring installation site 119.
The above description is only of the preferred embodiments of the present utility model and is not intended to limit the present utility model, and various modifications and variations may be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.
Claims (10)
1. The underwater dredging robot capable of omnidirectionally moving the front of the sliding plate is characterized by comprising a frame-type sliding shoe structure, a mud sucking mechanism and a propelling mechanism, wherein the mud sucking mechanism is arranged at the front end part of the bottom of the frame-type sliding shoe structure;
the propelling mechanism is a vector propeller, the vector propeller comprises a translation vector propeller and a lifting vector propeller, the frame-type sliding shoe structure comprises a box-type buoyancy body and a sliding shoe which are arranged up and down, the sliding shoe comprises an upper mounting plate with a regular geometric shape, and the box-type buoyancy body is fixedly mounted on the upper mounting plate; the three translation vector thrusters are uniformly distributed at the outer edge position of the upper surface of the sliding shoe, the propelling direction is parallel to the plane where the upper mounting plate is located, and the two lifting vector thrusters are mounted on the upper surface of the upper mounting plate, and the propelling direction is perpendicular to the plane where the upper mounting plate is located.
2. The omni-directional mobile slide plate front water-absorbing dredging robot according to claim 1, wherein the middle of the box-type buoyancy body is concave upwards, the outer edge of the box-type buoyancy body is fixedly arranged on the upper surface of the upper mounting plate, and a first accommodating space is formed between the middle lower surface of the box-type buoyancy body and the upper surface of the upper mounting plate;
the shoe bottom front end portion is formed with a curled portion curled upward, and the suction mechanism is mounted at the curled portion position of the shoe.
3. The omni-directional mobile slide plate front underwater dredging robot according to claim 2, wherein the slide shoe comprises a shoe bottom slide plate, the upper mounting plate and slide shoe connecting plates connected to the lower surface of the upper mounting plate and two sides of the upper surface of the shoe bottom slide plate, a second accommodating space is formed among the shoe bottom slide plate, the upper mounting plate and the two slide shoe connecting plates, and the curled part is arranged at the front end part of the shoe bottom slide plate;
the side edge of the box-type buoyancy body and the upper surface of the upper mounting plate are fixedly arranged to form the first accommodating space with the upper surface of the upper mounting plate; the translation vector propeller is mounted on the upper mounting plate.
4. The omni-directional mobile slide front suction dredging robot of claim 1, wherein at least two straight lines of the translational vector thrusters intersect.
5. The omni-directional mobile slide front suction dredging robot of claim 3, wherein the regular geometric shape is one of a circle, an ellipse, a square, a rectangle, and a regular polygon.
6. The omni-directional mobile slide plate front underwater dredging robot according to claim 3, wherein the upper mounting plate is of a rectangular plate-shaped structure, four translation vector thrusters are uniformly distributed at four corners of the rectangular plate-shaped structure, and straight lines of the four translation vector thrusters in the propelling directions intersect to form a parallelogram.
7. The omni-directional mobile slide plate front underwater dredging robot according to claim 6, wherein a plurality of smooth concave surfaces are formed on the outer edge of the box-type buoyancy body, and the height of the smooth concave surfaces extending from the middle of the box-type buoyancy body to the outer edge of the box-type buoyancy body is linearly or non-linearly reduced.
8. The omni-directional mobile slide front suction dredging robot of claim 7, wherein the upper mounting plate is formed with more than two first lifting thruster mounting holes, the box-type buoyancy body is formed with a second lifting thruster mounting hole corresponding to the first lifting thruster mounting hole at a position right above the first lifting thruster mounting hole, and the lifting vector thrusters are mounted on the first lifting thruster mounting hole and the second lifting thruster mounting hole.
9. The omni-directional mobile slide front suction dredging robot of claim 8, wherein the second lifting thruster mounting hole edge extends towards the corresponding first lifting thruster mounting hole direction to form a lifting thruster mounting cylinder, and the lifting vector thruster is mounted in the lifting thruster mounting cylinder.
10. A dredging system, characterized by comprising the omnidirectional mobile slide front underwater dredging robot as claimed in any one of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320448700.1U CN219586801U (en) | 2023-03-10 | 2023-03-10 | All-directional mobile slide plate front water-absorbing underwater dredging robot and dredging system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320448700.1U CN219586801U (en) | 2023-03-10 | 2023-03-10 | All-directional mobile slide plate front water-absorbing underwater dredging robot and dredging system |
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| CN219586801U true CN219586801U (en) | 2023-08-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202320448700.1U Active CN219586801U (en) | 2023-03-10 | 2023-03-10 | All-directional mobile slide plate front water-absorbing underwater dredging robot and dredging system |
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| Country | Link |
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| CN (1) | CN219586801U (en) |
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2023
- 2023-03-10 CN CN202320448700.1U patent/CN219586801U/en active Active
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