KR100508886B1 - Underwater robot for removing sludge - Google Patents

Abstract

The present invention relates to an underwater sludge removal robot for dredging sludge deposited on the underwater bottom while moving by remote control while submerged in a relatively large scale pond, lake or freshwater lake or river. In the sludge removal robot performing dredging underwater by remote control from floating bus,

A propulsion screw mounted to the rear of the robot body to move the robot body of the sludge removing robot in water; Driving hydraulic motors each independently operated while being fixed to the free end of each of the support legs rotatably attached to each of the front and rear sides of the robot body; Wheels connected to shafts of the driving hydraulic motors; A suction bucket installed at a front side of the robot body to suck sludge; The hydraulic pump is mounted to the rear end of the suction bucket to discharge the sludge sucked into the suction bucket to the sludge discharge hose.

Description

Underwater robot for removing sludge}

The present invention relates to an underwater sludge removal robot for dredging sludge deposited on the underwater bottom while moving by remote control in a submerged underwater such as a pond, a lake or a freshwater lake or a river of a relatively large scale.

As the equipment for dredging sludge deposited on the bottom of water such as pond or lake where the depth of water is relatively small, boom equipment is used to excavate the soil like an excavator. It is installed on the left and right side, and the bucket of the tip penetrates into the water, and the sludge which is deposited on the bottom of the water is pumped up to remove the dredging.

However, the sludge removal method using the boom equipment of the excavator as described above is possible in the water surface of the depth where the above-mentioned boom equipment can lift the sludge deposited on the underwater bottom, but the working length of the boom equipment equipped with the underwater bottom is mounted on the water hull. If it is deeper, sludge removal cannot be performed.

In addition, the process of moving the sludge dredged by the bucket of the boom equipment from the bottom of the water to the surface when the boom equipment mounted on the water hull penetrates into the water during dredging in thin water depths. This phenomenon is pointed out as a problem that the sludge is scattered in all directions due to water currents, and the sludge is scattered in all directions, thus polluting the entire pond or lake at the dredging site.

The dredging device proposed by Japanese Utility Model Publication No. 64-42360 is designed to suck dredged sewage by the suction power of a pump while the dredger submerged in the water travels on the bottom of the water and discharges it to the floating mothership. This is because the dredger's wheels are installed on the body, so when the sludge deposited on the water surface is piled up at a height smaller than the radius (radius) of the dredger, the wheels do not fall out and the driving is possible. When piled higher than the radius, the wheels are not only buried in the sludge, but also the bottom of the car body is buried in the sludge, making it impossible to drive.In addition, when the bottom surface is formed with a large uneven surface, the wheels are curved. It will fall out or come in contact with the car body, and you will not be able to drive.

The present invention has been proposed in view of the above-mentioned problems in the prior art, and the body of the sludge removal robot penetrated into water is moved forward in a state spaced at a predetermined height rather than the surface of the sludge deposited on the water surface. It aims to allow the sludge to be removed while the sludge is not dispersed while moving, and also dredge robot itself can be infiltrated into the water in a stable state or floated on the surface. It was invented for another purpose to reduce the volume to facilitate transport and storage on land.

The present invention as a means for achieving the above object,

In the sludge removal robot which performs the sludge removal operation underwater by remote control from the floating mother ship,

A propulsion screw mounted to the rear of the robot body to move the robot body of the sludge removing robot in water;

Driving hydraulic motors each independently operated while being fixed to the free end of each of the support legs rotatably attached to each of the front and rear sides of the robot body;

Wheels connected to shafts of the driving hydraulic motors;

A suction bucket installed at a front side of the robot body to suck sludge;

A hydraulic pump mounted to the rear end of the suction bucket to discharge the sludge sucked into the suction bucket to the sludge discharge hose;

It is characterized by consisting of,

In addition, the support legs are rotatably hinged to the lower end of each of the fixed legs fixedly attached to each of the front and rear sides of the robot body, and the cylinder body is rotatable to the upper side of the fixed legs It is attached to the upper end of each support leg rotatably connected to the front end of the piston rod by the body side hydraulic cylinder is configured to enable vertical installation in the downward and horizontal installation in the side and upright installation in the upward direction Will be

In addition, the suction bucket is installed to move up and down in front of the robot body by upper and lower connection links, and the cylinder body is rotatably attached to the front of the robot body and the piston rod at the rear end of the suction bucket. It is characterized in that it comprises a bucket-side hydraulic cylinder connected to the tip of the,

In addition, the suction bucket is installed in an inclined shape in front of the rotating shaft rotated by a rotating hydraulic motor, and a plurality of gourd wings attached to the lower end of the sludge deposited on the water bottom to induce suction into the suction bucket. It is characterized by including the configuration,

In addition, the inside of the robot body is formed with a space for containing air and water, the upper side forms a pneumatic inlet that is connected to the pneumatic hose for supplying the pneumatic pressure from the mother wire, while the lower water to suck water into the interior It is characterized in that it is configured to adjust the buoyancy of the robot body by adjusting the amount of water injection into the internal space of the robot body by forming a suction port and a water discharge port for discharging water,

In addition, the fixing body of the frame structure is fixed to the upper portion of the robot body, characterized in that it comprises a buoyancy adjustment tube which is expanded by the pneumatic pressure supplied from the bus bar inside the restraint fence.

Embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Figure 1 is a conceptual diagram for explaining the present invention, Figure 2 is a schematic diagram of a remote control system of the bus bar for remotely controlling the sludge removal robot of the present invention, Figure 3 and Figure 4 is a sludge removal robot of the present invention is a sludge removal operation. 5 is a cross-sectional view taken along line AA of Figure 3, Figure 6 is a plan view of the sludge removal robot of the present invention when performing the sludge removal operation underwater, Figures 7 and 8 are the sludge of the present invention Side view and back view when the removal robot is dropped or floated in water, and FIGS. 9 and 10 show the side view and the back view when the sludge removal robot of the present invention is transported on land.

Reference numeral 1a denotes a bus bar and 2 denotes a sludge removing robot.

As illustrated in FIG. 1, the sludge removal robot 1b penetrated into the water is remotely controlled on the surface of the pond or lake to dredge the sludge deposited on the underwater bottom while the mothership 1a is floating. .

First, there is a cab and a machine room in the bus (1a) floating in the water, and the cab is equipped with a monitor (11) for observing the underwater situation and one or more operating levers (12) for operating and adjusting the sludge removal robot (1b). In the machine room, the engine 13, which is the power source, is provided with a mechanical device such as a pump 14, a hydraulic controller 15, a hydraulic tank 16, and the like operated by the engine. The hydraulic controller 15 is a driver. Is configured to selectively supply and retrieve hydraulic pressure to each of the hydraulic devices mounted on the sludge removal robot 1b as the operation lever 12 is operated.

In addition, a compressor 17 for supplying air pressure to the sludge removing robot 1b is provided in the machine room of the bus bar 1a.

The sludge removal robot (1b) is a robot body (2) formed with a space (S) for containing air and water therein, a screw (3) means for moving the sludge removal robot in water, and underwater Means of wheels (4) capable of traveling on the floor, suction buckets (5) means for suctioning and discharging sludge deposited on the bottom, and rotary shaft (6) means for discharging sludge (including soil) deposited on the bottom. And a buoyancy adjustment tube 7 means for floating the sludge removal robot 1b itself to the surface.

The propulsion screw 3 is configured to rotate by receiving a rotational force from a screw hydraulic motor 31 mounted on the rear side of the robot body 2, this propulsion screw (3) is applied to the existing ship In the same principle, the robot body 2 is configured to move forward as well as to change direction.

The wheels 4 are rotated by hydraulic motors 42 for driving, which are mounted at each free end of the support legs 41 rotatably attached to the lower ends of both sides of the robot body 2. It is configured to do so. Therefore, the wheels 4 are positioned at a distance from the robot body 2 by the support legs 41.

Each of the support legs 41 are rotatably connected by lower hinges 44 formed on the lower sides of the fixed legs 43 fixedly attached to each of the front and rear sides of the robot body 2, respectively. In addition, each of the support legs 41 are configured to rotate up and down by using the lower side 44 as a starting point by the body-side hydraulic cylinders 45 installed on each of the fixed legs 43.

The cylinder body of the body-side hydraulic cylinders 45 are rotatably attached to the upper hinge 46 formed on the upper side of each fixed leg 43, the front end of the piston rod is the lower end of each support leg 41 It is rotatably connected to an operating hinge 47 formed on the side of the connecting end adjacent to the hinge 44.

The suction bucket 5 is connected to the front side of the robot body 2 by upper and lower connection links 51 and 52 and is also formed between the robot body 2 and the suction bucket 5. Bucket-side hydraulic cylinders 53 which are symmetrically installed on both sides of the space are installed to be movable up and down.

The upper and lower connection links 51 and 52 are provided on brackets 54 and 55 formed at both ends of the upper and lower surfaces of the suction bucket 5, respectively, and on the upper and lower sides of the robot body 2, respectively. The bucket-side hydraulic cylinders 53 are rotatably connected, and their cylinder bodies are rotatably connected to the front upper side of the robot body 2, and the tip of their piston rod is connected to the suction bucket 5. It is rotatably connected to the bottom side.

Meanwhile, a hydraulic pump 56 is installed on the rear surface of the suction bucket 5, and the suction port 561 of the hydraulic pump 56 is connected to a hole (not shown) formed in the center of the rear surface of the suction bucket 5. It is installed to generate a suction force inside the suction bucket (5), and the discharge hose 562 connected to the outlet of the hydraulic pump 56 is the front, rear to the center of the bottom of the robot body (2) It is installed in a concealed state through the indentation passage (21) formed toward the long end is extended long to the sludge bottom outside the water surface (see Fig. 1).

In addition, the inner surface 5a of the suction bucket is a suction port so that the sludge sucked into the suction bucket 5 by the pumping operation of the hydraulic pump 56 can be easily sucked into the suction port 561 of the hydraulic pump 56. It is inclined toward 561. That is, the upper side of the inner surface 5a is inclined downward toward the suction port, the lower side is inclined upward toward the suction port, and the left and right sides are inclined toward the suction port.

The rotary shaft 6 is rotatably inserted into the fixed tube 61 installed inclined by the plurality of support bars 57 fixedly attached to the upper portion of the suction bucket 5, the upper end of which is fixed to the fixed tube 61. Directly connected to the output shaft of the rotary hydraulic motor 62 installed on the top is configured to rotate together during the rotation operation of the rotary hydraulic motor, and the lower end of the rotary shaft 6 is exposed in the lower end of the fixed tube 61 The exposure bucket is exposed to a position slightly lower than the bottom of the suction bucket 5. At the bottom of the rotary shaft 6, a plurality of gourd blades 63 for discharging sludge (more specifically, earth and sand) deposited on the bottom of the water is attached at an isometric angle.

The gourd blades 63 can rotate on the front side of the suction bucket 5 during the rotation operation of the rotary shaft 6 to pump up sludge deposited on the bottom of the water and push it toward the simultaneous suction bucket 5. It is configured to have a structure. Therefore, the sludge pumped by the gourd blades 63 performs dredging operation by rotating the gourd blades 63 while allowing suction to be made well by the suction force of the suction bucket 5 by the hydraulic pump 56. On the way, the sludge can be minimized in all directions.

On the other hand, the sludge removal operation using the gourd blade 63 is selectively performed according to the type of sludge deposited on the bottom of the water. For example, when the sludge is not compacted but is softly deposited and is capable of being sucked by the suction force of the suction bucket 5, the sludge removal robot 1b is moved forward while the stop blade 63 is stopped. On the other hand, when the sludge is bound in a lump state, and it is difficult to inhale by the suction force of the suction bucket 5, the sludge blades 63 are rotated and operated to raise the sludge to the front of the suction bucket 5. The removal will be performed.

The buoyancy adjustment tube 7 is installed so as not to be separated from the inside of the restraint fence 22 installed in a frame structure on the upper end of the robot body 2, the buoyancy adjustment tube 7 is installed on the bus bar (1a) A pneumatic supply hose 71 for supplying pneumatic pressure from the compressor 17 is connected.

When the buoyancy adjustment tube 7 as described above penetrates the sludge removing robot 1b itself in water, the robot body 2 does not fall into the sludge deposited on the bottom of the water, and performs dredging in a stopped state at an appropriate depth. It is responsible for adjusting the buoyancy so as to be able to, and also responsible for causing the sludge removal robot 1b to float to the surface after the sludge removal work is completed.

And the sludge removal robot 1b can adjust the buoyancy itself without depending on the buoyancy action of the buoyancy adjustment tube (7).

That is, the compressor of the bus bar 1a is inserted into the pneumatic inlet 23 through which the pneumatic air can be injected into the space S inside of the robot body 2 of the sludge removing robot 2. Pneumatic hose 24 for supplying the pneumatic pressure from 17) can be connected to inject pneumatic air into the above-mentioned space (S), and also to suck water into the bottom side of the robot body 2 (both rear side in the drawing) The buoyancy of the robot body 2 itself can be adjusted by means of adjusting the amount of water filled in the internal space S of the robot body 2 by forming a suction port 25 and a water discharge port 26 for discharging water. It is configured to.

The water suction port 25 and the water discharge port 26 are equipped with a hydraulic valve (not shown), respectively, and the sensor (not shown) for detecting the injection amount of water in the internal space (S) of the robot body 2 is provided. It is established.

On the other hand, the sludge removal robot 1b is provided with a plurality of cameras 8 for photographing underwater situations and transmitting them to the monitor 11 of the bus bar 1a and an illuminator 81 for brightly illuminating the water. The towing ring 9 formed on the upper four corners of the robot body 2 is connected to the towing wire 91 wound on the winch 18 of the bus bar 1a to safely infiltrate the sludge removing robot 1b into the water. It is configured to be able to be lifted to the surface safely after completion of the sludge removal work.

The operation of the sludge removal operation with the present invention configured as described above will be described.

First, in order to penetrate the sludge removing robot 1a of the present invention in water, each support leg 41 is operated by operating the body side hydraulic cylinders 45 installed on both sides of the robot body 2 before and after. And as shown in Figure 7 when the horizontal state in the unfolded state, each wheel (4) on the free end side of each support leg 41 serves to maintain the balance of the robot body (2) in the water. Therefore, it is possible to infiltrate the sludge removal robot 1b into a stable state in the water by releasing the traction wire 91. At this time, the buoyancy adjustment tube 7 is in a contracted state in which pneumatic pressure is lost, and also the robot body ( 2) It penetrates into the water in the state in which a proper amount of water is injected into its internal space (S).

As described above, when the sludge removal robot 1b penetrating into the water with each support leg 41 in a horizontal state reaches a position close to the bottom of the water, the body-side hydraulic cylinders 45 are operated again. The piston rod is fully advanced (appears) to operate so that each support leg 41 is installed in a vertical state perpendicular to the bottom of the robot body 2, as shown in Figures 3 and 4, accordingly Each of the wheels 4 is also installed in the vertical direction straight.

When the wheels 4 are installed straight as above, the sludge removal robot 1b itself is lowered back toward the bottom of the water. At this time, the sludge layer deposited on the bottom of the water is thick and the sludge layer is soft. Even if) falls into the sludge layer, the wheels 4 are separated from the bottom of the robot body 2 by a plurality of support legs 41 so that the robot body 2 does not fall into the sludge layer. .

As shown in FIG. 3, when the wheels 4 are in the sludge layer and the surface of the sludge layer is adjacent to the bottom of the robot body 2, the suction bucket 5 is horizontal with the robot body 2. Dredging operation is performed in the state of being present, and when the surface of the sludge layer is lower than the bottom of the robot body 2 as shown in FIG. 4, the sludge removing operation is performed while the suction bucket 5 is moved downward. In this case, the suction bucket 5 has an installation position determined by an operation of moving the piston rod of the bucket-side hydraulic cylinder 53 forward and backward, and also as the suction bucket 5 moves up and down. The rotating shaft 6 is also moved together.

As described above, the suction bucket 5 is leveled with the robot body 2 (see FIG. 3) or the suction bucket 5 is moved to a lower position than the robot body 2 (see FIG. 4). Dredging sludge works the same. Therefore, in the present invention, the dredging operation of the sludge removal robot 1b is collectively performed regardless of the installation position of the suction bucket 5 in order to avoid the redundant description of the same dredging operation according to the installation position of the suction bucket 5. This will be described as an example.

First, when the sludge layer deposited on the bottom of the water can be sucked by the suction force of the hydraulic pump 56, the rotary hydraulic motor 62 starts dredging operation in a non-operating state.

The dredging operation of the sludge removing robot 1b is driven by the hydraulic controller 15 by manipulating the driving lever 12 while watching the underwater screen transmitted by the camera 8 to the monitor 11 by the camera 8a. Hydraulic pressure to the screw hydraulic motor 31 for driving the screw 3 for driving, the hydraulic motor 42 for driving the wheels 4, and the hydraulic pump 56 mounted to the suction bucket 5, respectively. When the motor is supplied to each of the motors and pumps, the robot body 2 is moved forward by the rotational driving force of the propulsion screw (3) and the driving force of each wheel (4) and the simultaneous hydraulic pump ( The sludge is sucked into the suction bucket 5 by the suction force of the pump 56, and the sludge sucked into the suction bucket 5 is sucked through the suction port 561 and then discharged to the discharge port of the hydraulic pump 56 ( 562). Therefore, as the sludge removal robot 1b moves forward from the underwater bottom, the sludge deposited is sucked into the suction bucket 5 and the discharged through the simultaneous discharge hose 562 is continuously made, and the sludge is discharged. The discharge hose 562 to be discharged to the sewage collection station preselected outside the water system (here, the water system refers to a pond or a lake where dredging is in progress) as shown in FIG. 1.

When the sludge removal robot 1b is moved forward in a linear direction and then changed in direction, the direction of the sludge removal robot 1b is changed by means of adjusting the propulsion screw 3 to the left or the right as in the existing vessel, or both sides. One of the wheels 4 of the can be redirected by means of driving only one of the wheels, the direction change using the wheels 4 as described above, the driving hydraulic motor 42 for driving each wheel (4) They are possible because they are installed to drive individually. For example, when the sludge removal robot 1b is turned to the left, the wheel on the left side is stopped and only the wheels on the right side are driven. When the sludge removal robot 1b is turned to the right, the right wheel is turned. Is a means to stop and drive only the left wheel to redirect the sludge removal robot in the desired direction.

As described above, the sludge removal robot 1b is moved forward and reversibly, while sucking the sludge into the suction bucket 5 by the suction force of the hydraulic pump 56 and simultaneously discharging the sludge into the discharge hose 562. This is to remove the sludge layer from the bottom of the water.

And, when the sludge layer deposited on the bottom of the water is a soil layer that is not easily sucked by the suction force of the hydraulic pump 56, the rotary blade motor 63 is driven to drive the rotating hydraulic motor 62, so The sludge (soil), which is pumped up by the ripper blade 6, is easily sucked into the suction bucket 5 together with water while being pushed toward the suction bucket 5 while spreading the soil. Therefore, when the rotary shaft 6 is rotated while the sludge removal robot 1b is moved forward, the sludge (soil) pumped up by the needle blade 63 is transferred to the suction bucket 5 by the suction force of the hydraulic pump 56. As it is sucked and discharged through the simultaneous discharge hose 562, the removal of sludge (soil) deposited on the bottom of the water is made smoothly.

On the other hand, the sludge layer deposited in the water is formed so thick that the wheels 4 of the sludge removal robot 1b do not close to the bottom of the water so that the robot body 2 itself is buried. As a means of filling the space (S) with more air pressure than water, the robot body (2) itself has a buoyancy and at the same time as a means for filling the appropriate amount of air pressure in the buoyancy control tube (7) Sludge removal robot (1b) The self-floating on the surface of the sludge layer and then driving the propulsion screw (3), the wheels (4) and the hydraulic pump 56 as described above, the robot body (2) is a sludge Dredging can be carried out while moving forward while floating on the floor surface.

When the sludge removal robot 1b is to be floated to the surface after the dredging operation of the sludge deposited on the bottom by the dredging operation as described above, as before, the robot body 2 before Afterwards, the support legs 41 on both sides are operated in a horizontally extended state, and all the water is discharged into the internal space S of the robot body 2 so that only pneumatic pressure exists so that buoyancy acts on the robot body 2. In addition, when the expansion of the buoyancy control tube (7) by filling the pneumatic pressure, the sludge removal robot (1b) itself has a larger flotation force, so the sludge removal robot (1b) to the winch (18) of the mother ship (1a) ), The operation of lifting the sludge to the surface becomes easier, and in this state, the sludge removal robot 1b is raised to the surface, and then the driving screw 3 and the respective wheels 4 are driven to the sludge removal robot 1b. ) Injured in sleep While it is possible to move forward itself to move to the desired location.

And when moving the sludge removal robot (1b) to the land, as shown in Figure 8, each of the support legs 41 to the upright operation to reduce the volume while being easy to store and transport.

According to the present invention as described above, when the sludge removal robot is penetrated into the water in order to dredge the sludge deposited in the underwater bottom of the water, such as a large-scale pond or lake, the robot body is not buried in the sludge layer on the surface of the sludge layer. It is effective in dredging the sludge layer so that the sludge layer can be dredged efficiently, and it is removed when the sludge removal robot is penetrated into water or injured after the dredging work is completed. It is expected that the robot itself can be expected to dive and float in a stable state, and on the ground, the invention provides an effect of reducing the volume to facilitate storage and transportation.

1 is a conceptual diagram for explaining the present invention.

2 is a remote control system of the bus bar to remotely control the sludge removal robot of the present invention.

       schematic.

3 and 4 is a sludge removal robot of the present invention when performing the sludge removal operation

       Side view.

5 is a cross-sectional view taken along the line A-A of 3. FIG.

6 is a sludge removal robot of the present invention when performing the sludge removal operation underwater

       Floor plan.

7 and 8 when dropping or floating the sludge removal robot of the present invention in water

       Side view and back view of a woman.

9 and 10 are the side when the sludge removal robot of the present invention carried on land

       Shaving and back view.

※ Explanation of code for main part of drawing

1a: Mothership 1b: Sludge removal robot

2: robot body 3: screw for propulsion

4 wheel 5 suction bucket

6: axis of rotation 7: buoyancy adjustment tube

8: camera 11: monitor

13: engine 14: pump

15: hydraulic controller 17: compressor

21: Inlet passage 22: Restraint fence

23: pneumatic inlet 24: pneumatic hose

31: screw hydraulic motor 41: support leg

42: hydraulic motor for driving 43: fixed leg

44: lower hinge 45: body side hydraulic cylinder

46: upper hinge 47: operating hinge

51,52: Upper and lower connection link 53: Bucket side hydraulic cylinder

54,55 Bracket 56: Hydraulic pump

57: support section 61: fixed tube

62: rotating hydraulic motor 63: gourd wings

71: pneumatic supply hose 81: lighting

91: towing wire

Claims (6)

In the sludge removal robot performing dredging underwater by remote control from the floating ship, A propulsion screw mounted to the rear of the robot body to move the robot body of the sludge removing robot in water; Driving hydraulic motors each independently operated while being fixed to the free end of each of the support legs rotatably attached to each of the front and rear sides of the robot body; Wheels connected to shafts of the driving hydraulic motors; A suction bucket installed at a front side of the robot body to suck sludge; A hydraulic pump mounted to the rear end of the suction bucket to discharge the sludge sucked into the suction bucket to the sludge discharge hose; Underwater sludge removal robot, characterized in that consisting of. The method of claim 1, The supporting legs are rotatably hinged to the lower end of each of the fixing legs fixedly attached to each of the front and rear sides of the robot body, and the cylinder body is rotatably attached to the upper end of the fixing legs. Underwater characterized in that it is configured to enable the vertical installation in the downward direction, the horizontal installation in the side and the upright installation in the up by the body side hydraulic cylinder rotatably connected to the upper end side of each support leg of the piston rod Sludge removal robot. The method of claim 1, The suction bucket is installed to be moved up and down in front of the robot body by upper and lower connection links, and the cylinder body is rotatably attached to the front of the robot body and is connected to the rear end of the suction bucket. Underwater sludge removal robot, characterized in that it comprises a bucket-side hydraulic cylinder connected to the tip. The method of claim 1, The suction bucket is provided in the inclined shape in front of the rotating shaft rotates by a rotating hydraulic motor, and attached to the lower end of the sludge is attached to the bottom of the submerged on the bottom of the bottom to guide the suction into the suction bucket Underwater sludge removal robot, characterized in that configured by. The method of claim 1, The interior of the robot body is formed with a space for containing air and water, the upper side forms a pneumatic inlet that is connected to the pneumatic hose for supplying the pneumatic pressure from the bus bar, while the water inlet for sucking water into the lower portion And forming a water discharge port for discharging water to remove the water sludge robot, characterized in that configured to adjust the buoyancy of the robot body by adjusting the amount of water injected into the interior space of the robot body. delete