Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Punching and burying robot and control method
The invention provides a punching and burying robot and a control method, relates to the technical field of submarine cable burying robots, and aims at solving the problem that an existing punching and burying robot is low in operation efficiency. The punching and burying robot comprises a machine body frame, a ditching component, a backfilling mechanism and a propelling mechanism, the propelling mechanism comprises a horizontal advancing propeller and a horizontal lateral propeller, after a turning instruction is received, the horizontal advancing propeller is controlled to stop pushing force in the advancing direction, and the situation that the punching and burying robot continues to advance during turning, so that the ditching component cannot conduct continuous ditching is avoided; and the furrowing component is controlled to retract, so that the situation that the furrowing component is damaged due to the fact that soil has lateral force on the furrowing component during turning is avoided. When the punching and burying robot needs to turn, the symmetric line of the machine body frame can be directly pulled by starting the two horizontal lateral propellers, so that the symmetric line of the machine body frame is parallel to the extension direction of the submarine cable, the punching and burying robot does not need to repeatedly adjust the posture, and the working efficiency is improved.
本申请提供一种冲埋机器人及控制方法，涉及海缆埋设机器人技术领域，用于解决现有冲埋机器人作业效率低的问题。冲埋机器人包括机身框架、开沟部件、回填机构和推进机构，推进机构包括水平前进推进器以及水平侧向推进器，在接收到转弯指令后，控制水平前进推进器停止前进方向的推力，避免在转弯时冲埋机器人继续前进，使开沟部件无法连续开沟，并控制开沟部件收回，避免转弯时泥土对开沟部件有侧向力，对开沟部件造成损坏。在冲埋机器人需要转弯时，可以通过启动两个水平侧向推进器，直接拉动机身框架的对称线，使机身框架的对称线与海缆的延伸方向平行，冲埋机器人无需反复调整姿态，提高作业效率。
Punching and burying robot and control method
The invention provides a punching and burying robot and a control method, relates to the technical field of submarine cable burying robots, and aims at solving the problem that an existing punching and burying robot is low in operation efficiency. The punching and burying robot comprises a machine body frame, a ditching component, a backfilling mechanism and a propelling mechanism, the propelling mechanism comprises a horizontal advancing propeller and a horizontal lateral propeller, after a turning instruction is received, the horizontal advancing propeller is controlled to stop pushing force in the advancing direction, and the situation that the punching and burying robot continues to advance during turning, so that the ditching component cannot conduct continuous ditching is avoided; and the furrowing component is controlled to retract, so that the situation that the furrowing component is damaged due to the fact that soil has lateral force on the furrowing component during turning is avoided. When the punching and burying robot needs to turn, the symmetric line of the machine body frame can be directly pulled by starting the two horizontal lateral propellers, so that the symmetric line of the machine body frame is parallel to the extension direction of the submarine cable, the punching and burying robot does not need to repeatedly adjust the posture, and the working efficiency is improved.
本申请提供一种冲埋机器人及控制方法，涉及海缆埋设机器人技术领域，用于解决现有冲埋机器人作业效率低的问题。冲埋机器人包括机身框架、开沟部件、回填机构和推进机构，推进机构包括水平前进推进器以及水平侧向推进器，在接收到转弯指令后，控制水平前进推进器停止前进方向的推力，避免在转弯时冲埋机器人继续前进，使开沟部件无法连续开沟，并控制开沟部件收回，避免转弯时泥土对开沟部件有侧向力，对开沟部件造成损坏。在冲埋机器人需要转弯时，可以通过启动两个水平侧向推进器，直接拉动机身框架的对称线，使机身框架的对称线与海缆的延伸方向平行，冲埋机器人无需反复调整姿态，提高作业效率。
Punching and burying robot and control method
冲埋机器人及控制方法
DAI BINGJIE (Autor:in) / CHEN JIANGFENG (Autor:in) / JIANG WEI (Autor:in) / SUN WEI (Autor:in) / YANG ZHANGCHI (Autor:in) / JI ZHIJUN (Autor:in) / YANG WEIHUA (Autor:in) / LI ZHIWEI (Autor:in)
03.12.2024
Patent
Elektronische Ressource
Chinesisch
IPC:
E02F
Baggern
,
DREDGING
DRAINAGE PIPE BURYING DEVICE AND DRAINAGE PIPE BURYING METHOD
| Europäisches Patentamt | 2021