Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Three-degree-of-freedom underwater dredging robot structure and dredging method
The invention discloses a three-degree-of-freedom underwater dredging robot structure and a dredging method. The three-degree-of-freedom underwater dredging robot structure comprises a cutter suction type dredging mechanism, a connecting device and a crawler-type pressure-resistant power chassis. The cutter suction type dredging mechanism comprises a cutter suction dredging arm, a pump suction pipeline, a submersible slurry pump and a silt conveying pipe; the connecting device comprises a pluggable connecting plate and a pin shaft for fixing; the crawler-type pressure-resistant power chassis comprises a three-degree-of-freedom mechanical arm supporting frame, a crawler system and a chassis supporting frame. All-electric drive is adopted on the whole, few circuits and pipelines are adopted, and the robot is more convenient to carry and transport and more flexible to move while the structural compactness of the robot is guaranteed. The front end of a three-degree-of-freedom mechanical arm supporting frame provided by the crawler-type pressure-resistant power chassis can be connected with the desilting arm in a pluggable mode through a connecting device, disassembly and maintenance are convenient, and meanwhile the movement requirement in the desilting process is fully met through three degrees of freedom.
本发明公开了一种三自由度水下清淤机器人结构及清淤方法，结构包括绞吸式清淤机构、连接装置和履带式耐压动力底盘。绞吸式清淤机构包括：绞吸清淤臂、泵吸管路、潜水泥浆泵、泥沙输送管；连接装置包括：可插拔式连接板以及用于固定的销轴；履带式耐压动力底盘包括：三自由度机械臂支撑架、履带系统、底盘支撑架。本发明总体采用全电驱，较少的线路与管路，在保证机器人结构紧凑性的同时，使得机器人更便于携带运输，运动起来更加灵活。履带式耐压动力底盘所提供的三自由度机械臂支撑架的前端可通过连接装置与清淤臂以插拔式连接，方便拆卸维护的同时，三自由度充分满足清淤过程中的运动需求。
Three-degree-of-freedom underwater dredging robot structure and dredging method
The invention discloses a three-degree-of-freedom underwater dredging robot structure and a dredging method. The three-degree-of-freedom underwater dredging robot structure comprises a cutter suction type dredging mechanism, a connecting device and a crawler-type pressure-resistant power chassis. The cutter suction type dredging mechanism comprises a cutter suction dredging arm, a pump suction pipeline, a submersible slurry pump and a silt conveying pipe; the connecting device comprises a pluggable connecting plate and a pin shaft for fixing; the crawler-type pressure-resistant power chassis comprises a three-degree-of-freedom mechanical arm supporting frame, a crawler system and a chassis supporting frame. All-electric drive is adopted on the whole, few circuits and pipelines are adopted, and the robot is more convenient to carry and transport and more flexible to move while the structural compactness of the robot is guaranteed. The front end of a three-degree-of-freedom mechanical arm supporting frame provided by the crawler-type pressure-resistant power chassis can be connected with the desilting arm in a pluggable mode through a connecting device, disassembly and maintenance are convenient, and meanwhile the movement requirement in the desilting process is fully met through three degrees of freedom.
本发明公开了一种三自由度水下清淤机器人结构及清淤方法，结构包括绞吸式清淤机构、连接装置和履带式耐压动力底盘。绞吸式清淤机构包括：绞吸清淤臂、泵吸管路、潜水泥浆泵、泥沙输送管；连接装置包括：可插拔式连接板以及用于固定的销轴；履带式耐压动力底盘包括：三自由度机械臂支撑架、履带系统、底盘支撑架。本发明总体采用全电驱，较少的线路与管路，在保证机器人结构紧凑性的同时，使得机器人更便于携带运输，运动起来更加灵活。履带式耐压动力底盘所提供的三自由度机械臂支撑架的前端可通过连接装置与清淤臂以插拔式连接，方便拆卸维护的同时，三自由度充分满足清淤过程中的运动需求。
Three-degree-of-freedom underwater dredging robot structure and dredging method
一种三自由度水下清淤机器人结构及清淤方法
LIU ZENGHUI (Autor:in) / WANG LIJUN (Autor:in) / WEI CHANGYUN (Autor:in) / LYU RUI (Autor:in) / GUO YONGKANG (Autor:in) / LI SHOUQIAN (Autor:in) / ZHONG HUA (Autor:in)
03.03.2023
Patent
Elektronische Ressource
Chinesisch
IPC:
E02F
Baggern
,
DREDGING
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