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CN-120942525-B - Underwater robot and operation method thereof

CN120942525BCN 120942525 BCN120942525 BCN 120942525BCN-120942525-B

Abstract

An underwater robot and an operating method thereof. Relates to the technical field of river sediment restoration. The device comprises a moving platform, a medicament releasing device, a medicament storing device and a medicament discharging device, wherein the moving platform is driven by electric power, the medicament releasing device comprises a material belt and a conveying pipe, a plurality of medicament storing units are arranged on the material belt at intervals along the length direction, the conveying pipe is positioned above the material belt, the material belt is coiled and can be synchronously released along with the movement of the moving platform, the plurality of medicament storing units sequentially penetrate through the lower part of the conveying pipe, the material belt is released along the horizontal direction, the conveying pipe moves back and forth along the vertical direction, and the conveying pipe is used for pressing the medicament storing units into bottom mud. The application can send the medicament body into the deep position of the sediment without pumping the water body in the river channel, and has simple operation, high utilization rate of the medicament body and good repair effect on the sediment.

Inventors

  • CAO ANXI
  • HUO SHIQI
  • YUAN MAN

Assignees

  • 江苏领安机器人技术有限公司

Dates

Publication Date
20260512
Application Date
20250901

Claims (8)

  1. 1. An underwater robot, characterized by comprising a mobile platform (1), said mobile platform (1) being driven by electricity; The medicament release device (2), the medicament release device (2) comprises a material belt (21) and a feeding pipe (22), wherein a plurality of medicament storage units (23) are arranged on the material belt (21) at intervals along the length direction, the feeding pipe (22) is positioned above the material belt (21), the material belt (21) is coiled and can be synchronously released along with the movement of the moving platform (1), a plurality of medicament storage units (23) sequentially pass through the lower part of the feeding pipe (22), the material belt (21) is released along the horizontal direction, the feeding pipe (22) moves back and forth along the vertical direction, and the feeding pipe (22) is used for pressing the medicament storage units (23) into the bottom mud; the medicine release device (2) further comprises a pair of winding and unwinding wheels (24) and a pair of pressing rollers (25), wherein the pair of winding and unwinding wheels (24) and the pair of pressing rollers (25) are arranged at intervals along the length direction of the moving platform (1), the pair of pressing rollers (25) are positioned between the pair of winding and unwinding wheels (24) and below the pair of winding and unwinding wheels (24), one end of the material belt (21) is wound on one winding and unwinding wheel (24), and the other end of the material belt (21) sequentially passes through the lower part of the pair of pressing rollers (25) and is wound on the other winding and unwinding wheel (24), and the material conveying pipe (22) is positioned between the pair of pressing rollers (25) and is in a straight state between the pair of pressing rollers (25); The automatic feeding device is characterized in that a movable assembly table (12) and a fixed assembly table (13) are arranged in an assembly space (11), the fixed assembly table (13) is located above the movable assembly table (12), the fixed assembly table (13) is connected with the movable platform (1) through a support column (14), the movable assembly table (12) is connected with the fixed assembly table (13) through at least two second electric push rods (15), motors (26) are arranged on two sides of the top of the fixed assembly table (13), the motors (26) are used for driving a winding and unwinding wheel (24) to rotate, guide channel steel (16) is arranged on the movable assembly table (12), a pair of material belts (21) between the guide channel steel (25) are arranged on the guide channel steel (16) in a conveying mode, discharging holes (160) are formed in the middle of the guide channel steel (16), and feeding pipes (22) and the discharging holes (160) are coaxially arranged.
  2. 2. The underwater robot according to claim 1, wherein the top of the movable assembly table (12) is provided with rotary seats (120) the number of which is identical to that of the second electric push rods (15), one end of the second electric push rods (15) is connected with the bottom of the fixed assembly table (13), and the other end of the second electric push rods (15) is connected with the rotary seats (120); The outer sides of two ends of the guide channel steel (16) are respectively provided with a second electric push rod (15), and the second electric push rods (15) are used for adjusting the height and the inclination angle of the movable assembly table (12).
  3. 3. The underwater robot according to claim 1, wherein a fixed plate (27) is arranged above the fixed assembly table (13), the fixed plate (27) is connected with the movable assembly table (12) through a screw (270), a first electric push rod (28) is fixed on the fixed plate (27), the first electric push rod (28) is connected with the feeding pipe (22) through a flange plate (221), and the first electric push rod (28) is used for driving the feeding pipe (22) to reciprocate along the vertical direction; the screw (270) and the first electric push rod (28) penetrate through the fixed assembly table (13) and are separated from the fixed assembly table (13) support.
  4. 4. An underwater robot as claimed in claim 3, characterized in that the fixed assembly table (13) is provided with an air pump (29), the flange plate (221) is provided with an air pipe (290) in a penetrating manner, one end of the air pipe (290) is communicated with an air outlet end of the air pump (29), the other end of the air pipe (290) is communicated with the feeding pipe (22), the air pump (29) is used for conveying air into the feeding pipe (22), the air is used for blowing the medicine storage unit (23) downwards, and the air pipe (290) is a telescopic corrugated pipe.
  5. 5. The underwater robot as claimed in claim 4, wherein an upper inner diameter of the feed pipe (22) is smaller than a lower inner diameter of the feed pipe (22), and a rounded corner is formed at a joint of an upper portion of the feed pipe (22) and a lower portion of the feed pipe (22); the utility model discloses a feeding pipe, including conveying pipe (22), piston (223) is equipped with on inner wall upper portion of conveying pipe (22), the below of fixed ring (222) is equipped with piston (223), fixed ring (222) with connect through extension spring (224) between piston (223), trachea (290) with the intercommunication department of conveying pipe (22) is located the top of piston (223).
  6. 6. The underwater robot according to claim 5, wherein the medicine storage unit (23) includes a medicine body (231) and a cover film (232), the medicine body (231) is placed in the middle of the material belt (21), and the cover film (232) is covered on the outside of the medicine body (231) and adhered to the top of the material belt (21); An annular easy-tearing line (210) is arranged on the material belt (21) and positioned on the outer side of the covering film (232), the contact position of the material conveying pipe (22) and the material belt (21) is positioned between the outer side of the covering film (232) and the inner side of the easy-tearing line (210), and the covering film (232) is made of water-soluble materials.
  7. 7. The underwater robot according to any one of claims 1-5, wherein the mobile platform (1) is provided with a battery module (17) and a controller (18), the battery module (17) is used for providing electric energy for the mobile platform (1), the motor (26), the first electric push rod (28) and the second electric push rod (15), and the controller (18) is used for controlling the moving direction and speed of the mobile platform (1), controlling the rotating direction and speed of the motor (26) and controlling the expansion amount and expansion speed of the first electric push rod (28) and the second electric push rod (15).
  8. 8. A method of operating an underwater robot as claimed in claim 7, comprising the steps of: S1, one end of a material belt (21) is wound on a winding and unwinding wheel (24), and the other side of the material belt (21) sequentially passes through two compression rollers (25) and is wound on the other winding and unwinding wheel (24); S2, clicking two motors (26) to enable the material belt (21) to be in a tensioning state, enabling one medicament storage unit (23) on the material belt (21) to be located above the discharge hole (160), and clicking a first electric push rod (28) to enable the conveying pipe (22) to be located above the medicament storage unit (23) and close to the medicament storage unit (23); s3, placing the mobile platform (1) into a river channel, and clicking a second electric push rod (15) to enable the bottom of the movable assembly table (12) to be in contact with bottom mud in the river channel; S4, the mobile platform (1) moves in a river channel, the first electric push rod (28) presses the medicament storage unit (23) positioned above the discharge hole (160) into the inner side of the bottom mud, and the first electric push rod (28) resets after the pressing is finished; S5, the two motors (26) act reversely, so that the material belt (21) is released from one winding and unwinding wheel (24) to the other winding and unwinding wheel (24) and a new medicament storage unit (23) is moved to the position above the discharging hole (160); S6, repeating the step S4 and the step S5 until all the medicament storage units (23) on the material belt (21) are pressed into the inner side of the bottom mud, and withdrawing the movable platform (1).

Description

Underwater robot and operation method thereof Technical Field The application relates to the technical field of river sediment repair, in particular to an underwater robot, and in addition, relates to an operation method of the underwater robot. Background Due to long-term exogenous input and deposition of aquatic organism residues, the urban river sediment is enriched with a large amount of pollutants, such as heavy metals, N, P and other nutrients and refractory organic matters, and becomes an important secondary pollution source for water pollution. At present, the repair of the sediment mainly comprises two major types of ex-situ treatment technology and in-situ treatment technology, wherein the ex-situ treatment technology is to remove the polluted sediment from the water body, namely, the sediment is treated in a dredging way. The in-situ treatment technology is to leave the polluted substrate sludge in situ, take measures to prevent the substrate sludge pollutants from being released into the water body and cut off the pollution path of the internal pollution source, for example, an oxygen release agent can be put into the substrate sludge, so that the oxidation/reduction conditions of the substrate sludge and the water body are changed, the dissolved oxygen level is improved, and then the organic matters and other blackening and odor-causing substances in the substrate sludge are effectively removed. In the prior art, the bottom mud can be stirred through equipment such as a coulter and the like, and the medicament is put into the bottom mud in the stirring process, so that the reliable mixing of the bottom mud and the medicament can be realized, the release depth of the medicament in the bottom mud is improved, but the water body in a river channel is required to be pumped out in such a way, the workload is large, the treatment cost is high, meanwhile, the problem that part of the medicament is stirred to the upper part of the bottom mud is brought in the stirring mode of the bottom mud when the release depth is improved, and the medicament is dispersed into the water body after the water of the river channel is caused, so that the medicament waste is caused. Therefore, designing a device capable of performing deep drug delivery under water is a technical problem to be solved by those skilled in the art. Disclosure of Invention The application provides an underwater robot and an operation method thereof, and aims to solve the problems that in the prior art, medicine can be put only after water pumping and the medicine waste amount is large after the medicine is put. In a first aspect, the application provides an underwater robot, which is realized by adopting the following technical scheme: The underwater robot comprises a moving platform, a medicament releasing device and a medicament discharging device, wherein the moving platform is driven by electricity, the medicament releasing device comprises a material belt and a feeding pipe, a plurality of medicament storage units are arranged on the material belt at intervals along the length direction, the feeding pipe is positioned above the material belt, the material belt is coiled and can be synchronously released along with the movement of the moving platform, a plurality of medicament storage units sequentially penetrate through the lower part of the feeding pipe, the material belt is released along the horizontal direction, the feeding pipe moves back and forth along the vertical direction, and the feeding pipe is used for pressing the medicament storage units into bottom mud. The medicine releasing device comprises a movable platform, a medicine releasing device, a pair of winding and unwinding wheels, a pair of pressing rollers, a pair of material belts, a feeding pipe and a feeding pipe, wherein the movable platform is arranged in the middle of the movable platform, the movable platform is provided with an assembling space which penetrates through the movable platform in the vertical direction, the medicine releasing device is arranged in the assembling space, the medicine releasing device further comprises a pair of winding and unwinding wheels and a pair of pressing rollers which are arranged at intervals along the length direction of the movable platform, the pair of pressing rollers are positioned between the pair of winding and unwinding wheels and below the pair of winding and unwinding wheels, one end of each material belt is wound on one winding and unwinding wheel, the other end of each material belt sequentially penetrates through the lower part of the pair of pressing rollers and is wound on the other winding and unwinding wheel, and the feeding pipe is positioned between the pair of pressing rollers and is in a straight state between the pair of pressing rollers. Optionally, a movable assembly table and a fixed assembly table are arranged in the assembly space, the fixed assembly table is located above the movable assembly table, t