Research on the function and the scheme of the roboticized pug-mill working under water-coal slurry

The scheme of a new type of industrial robots is given,which may be used in the anti-sediment of the water-coal slurry.The roboticized pug-mill has advantages, such as small volume,high efficiency of energy and low cost and so on.Its basic functions are analyzed and its basic components are discussed.It's mainly introduced that the path planning and the ultrasonic navigation and localization of the robot.