CN109760803B - Underwater cleaning robot - Google Patents
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- CN109760803B CN109760803B CN201811612361.6A CN201811612361A CN109760803B CN 109760803 B CN109760803 B CN 109760803B CN 201811612361 A CN201811612361 A CN 201811612361A CN 109760803 B CN109760803 B CN 109760803B
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Abstract
An underwater cleaning robot comprising: the device comprises a frame platform, a drive control unit, a circumferential cleaning unit and a guide unit, wherein the drive control unit, the circumferential cleaning unit and the guide unit are arranged on the frame platform; the driving control unit controls the whole robot to move and is positioned above the object to be cleaned; under the control of the drive control unit, the object to be cleaned is clamped through the guide unit, and the circumferential cleaning unit performs circumferential cleaning on the object to be cleaned in a cavitation jet mode; when the obstacle needs to be avoided, the guiding unit and the circumferential cleaning unit release the object to be cleaned, and the driving control unit controls the guiding unit and the circumferential cleaning unit to move upwards to avoid the obstacle. The cleaning device has strong obstacle crossing capability, can carry out circumferential cleaning in moving, has high cleaning efficiency and high cleanliness, and can meet the cleaning requirement of the circular conduit/cable with the obstacle.
Description
Technical Field
The invention relates to an underwater cleaning robot, and belongs to the field of mechanical engineering and the field of underwater robots.
Background
With the rise of ocean economy, underwater operation presents the situation of higher and higher technical requirements and larger workload. Seawater is corrosive, marine organisms have stubborn adhesive force, and a large amount of barnacles, algae marine organisms, rusty spots and the like are easily attached to the bottom of a ship, a marine drilling platform pipeline, a towing cable and the like after the ship, the marine drilling platform pipeline, the towing cable and the like work in water for a period of time, and usually a diver needs to clean the ship regularly. The problems brought by the method are that the personal safety of divers cannot be guaranteed, the working time is greatly influenced by sea conditions, the working efficiency is low and the like.
As early as the end of the last century, many research institutes have begun to design underwater cleaning robots with a wall-climbing function, which are mainly used for cleaning marine life on the bottom of ships and underwater pipelines of ocean platforms. The underwater pipes of the ship bottom and the ocean platform are fixedly cleaned, but the cleaning difficulty of the circular pipes/cables with obstacles is larger, such as towed cables for earthquake/resource exploration/military detection, non-metal and a large number of flying wing type compass birds for keeping the required posture.
In order to solve the above problems, the application date is 11/2/2009, and the 'underwater cleaning robot' of the patent application No. 200910154488.2 is used for cleaning an underwater plane or a surface with a certain curvature, the left and right wheel sets are used for adjusting the action speed and direction of the robot, and the flexible blades are used for cleaning the underwater plane or the surface with a certain curvature. The robot only cleans underwater planes such as the side surface of a swimming pool or the like or surfaces with certain curvature, has limited obstacle-crossing capability and cannot clean round pipes/cables with obstacles.
The application date is 2011, 10, 26 and the patent of application number 201110328312.1 relates to a robot for removing underwater ship attachment, which is used for performing remote control cleaning operation on ship hull attachments and removing marine organisms attached to the surface of a ship hull by using a cutting blade and a steel brush. The robot has no obstacle crossing capability, the surface of a hull can be damaged by a cleaning mode, and a round conduit/cable with an obstacle cannot be cleaned.
The application date is 2014 19 months 19 days, and what application number 201420330136.4's patent related to "a robot mechanism suitable for jacket marine organism clearance", the jacket stand is surroundd through the screw rod realization that drives the bridging to the formula jack catch that encircles of this robot, utilizes the high pressure water to clear up stand marine organism. However, the robot can only be used for cleaning the surface of a cylindrical structure, and has limited obstacle-crossing capability and larger limitation.
The application date is 2016 6 month 8 days, and "steel structure surface marine organism clearance robot under water" that application number 201610408757.3's patent relates to washs the operation to boats and ships bottom, ocean drilling platform pipe, adopts the steel structure surface that steering wheel mechanism can different curvatures under water to crawl, and this robot can only be used for steel structure surface marine organism to clear up, can not clear up the circular pipe/cable that has the barrier.
The patent of application number 201610782211.4 relates to an underwater cleaning robot which is used for cleaning underwater platform guide pipes and is provided with an upper clamping device, a lower clamping device and a rotating device, and the underwater guide pipes are circumferentially cleaned by high-pressure water. The robot can replace manual work to clean the underwater platform guide pipe, has limited obstacle crossing capability and cannot clean the circular guide pipe/cable with obstacles.
The application date is 2017, 11 and 8, and the patent of application number 201711092817.6 relates to an energy-saving and environment-friendly underwater cleaning robot which is used for cleaning the outer shell of a ship and is provided with a propeller and a permanent magnet crawler and a mechanical arm for cleaning the ship shell. The robot has limited obstacle-crossing capability and cannot clean a circular conduit/cable with obstacles.
The application date is 5 and 10 in 2018, and the patent of application number 201810445027.X relates to an underwater cleaning robot system facing marine attachments, and aims at cleaning the outer surface of a ship, and a propeller and a spoke type crawling wheel are adopted to advance on the surface of a ship body. The robot only aims at the hull shell, has limited obstacle crossing capability and cannot clean a circular conduit/cable with obstacles.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the underwater cleaning robot overcomes the defects of the prior art, and provides the underwater cleaning robot to solve the problems of poor obstacle crossing capability, difficulty in circumferential cleaning, low cleaning efficiency and incapability of cleaning a round conduit/cable with an obstacle.
The technical solution of the invention is as follows: an underwater cleaning robot comprising: the device comprises a frame platform, a drive control unit, a circumferential cleaning unit and a guide unit, wherein the drive control unit, the circumferential cleaning unit and the guide unit are arranged on the frame platform;
the driving control unit controls the whole robot to move and is positioned above the object to be cleaned; under the control of the drive control unit, the object to be cleaned is clamped through the guide unit, and the circumferential cleaning unit performs circumferential cleaning on the object to be cleaned in a cavitation jet mode; when the obstacle needs to be avoided, the guiding unit and the circumferential cleaning unit release the object to be cleaned, and the driving control unit controls the guiding unit and the circumferential cleaning unit to move upwards to avoid the obstacle.
The circumferential cleaning unit of the driving control unit comprises two symmetrical cleaning bottom plates, a conversion shaft is arranged on each cleaning bottom plate through a rolling bearing, a pinion is arranged on the conversion shaft, an arc-shaped gear ring is arranged on each cleaning bottom plate, the arc-shaped gear ring is an internal gear and is meshed with the pinion, a driving motor for rotation is arranged on a supporting plate, an output shaft of the motor is fixed with the conversion shaft, and a nozzle is arranged on the supporting plate; the arc-shaped gear rings on the two cleaning bottom plates are positioned on the same circumference, and the outlet of the nozzle always faces to the surface of the object to be cleaned positioned in the middle of the cleaning bottom plates.
The cross section of the cleaning bottom plate of the driving control unit is L-shaped, a groove is formed in the bottom surface of the L-shaped cleaning bottom plate and used for installing a rolling bearing, the rolling bearing adopts a composite rolling bearing, the roughness of the matching surface of the groove and the bearing is at least 1.6, and the radius of the fillet of the groove is at least 5 mm.
The two symmetrical cleaning bottom plates of the driving control unit are combined to form a closed circular ring or an incompletely closed circular ring, and the opening angle of the incompletely closed circular ring is smaller than the expansion angle of the jet pipe cavitation jet by 20 degrees.
The two cleaning bottom plates of the driving control unit are arranged on the obstacle crossing unit through a lead screw nut assembly and are connected with the frame platform through the obstacle crossing unit; the obstacle crossing unit can drive the cleaning bottom plate to move up and down.
The guide unit of the driving control unit is composed of two symmetrical clamping plates, and the two symmetrical clamping plates form an incompletely-closed circular ring; one side of the clamping plate is arranged on the obstacle crossing unit through a lead screw nut assembly and is connected with the frame platform through the obstacle crossing unit; the obstacle crossing unit can drive the guide unit to move up and down.
The drive control unit fixes a rubber strip on the inner side of the clamping plate.
Preferably, the obstacle crossing unit comprises a mounting plate, a guide rail and an underwater electric push rod;
a screw nut assembly is installed on the installation plate, the output end of the underwater electric push rod is fixedly connected with the installation plate, the guide rail is fixed on the frame platform, and the sliding block of the guide rail is fixedly connected with the installation plate; the mounting plate is driven to move up and down along the guide rail by the underwater electric push rod.
Preferably, the lead screw nut component is a trapezoidal lead screw nut component.
Preferably, the driving control unit comprises a lateral propeller, a main propeller, a control equipment cabin, a cleaning power unit and an energy system;
the energy system supplies power to the whole robot; the cleaning power unit provides cavitation jet power for the circumferential cleaning unit; the main thruster provides advancing main power for the whole robot, and the lateral thruster is used for changing the posture of the robot; the control equipment cabin stores the circuit board for the whole cleaning control in a sealing way.
Preferably, the driving control unit further comprises a buoyancy material, and the center of gravity and the center of buoyancy of the whole robot are adjusted to be on the same plumb line through the buoyancy material.
The underwater cleaning robot is suitable for underwater cables or pipes with obstacles.
Compared with the prior art, the invention has the beneficial effects that:
(1) the invention adopts an integrated underwater electric push rod to drive the guide device and the cleaning device to move up and down, has small occupied space, simple installation and large vertical displacement (the maximum stroke reaches 400 mm), and has strong capability of crossing obstacles by matching with the main propeller and the lateral propeller.
(2) The underwater motor is adopted to drive the trapezoidal screw rod to transmit, and the left-handed nut and the right-handed nut on the trapezoidal screw rod are driven to do linear feeding motion, so that the two arc-shaped guide clamping plates are driven to realize opening and closing actions; the rubber strip is arranged on the inner side of the guide clamping plate, so that expensive wearing parts such as cables can be prevented from being damaged while the circular guide pipe/cable is clamped, the service range is wide, the self-locking is reliable, and the advancing guide of the robot can be conveniently and quickly realized.
(3) The invention adopts the fixed arc-shaped gear ring and the pinion which is directly driven by the underwater motor to move in a meshing way to drive the two symmetrically arranged nozzles to move, the rotation center of the nozzles is superposed with the central line of the circular conduit/cable, the movement range of each nozzle is +/-75 degrees, and the 360-degree full circumferential cleaning of the circular conduit/cable can be realized by matching with the self spray cleaning range of the nozzles, so that the cleaning degree is high, and the cleaning efficiency is high.
(4) The invention adopts two symmetrically arranged nozzles to clean in a cavitation water jet mode, has high cleaning efficiency and can effectively reduce the impact brought by the cleaning work; the guide rail (left side cleaning bottom plate, groove on the right side cleaning bottom plate) using the composite rolling bearing and precise grinding, the roughness of the groove and the bearing matching surface is at least 1.6, the radius of a root fillet is not less than 5 mm, so that the nozzle can rotate around the central line of the circular conduit/cable, and meanwhile, the groove processing which only has the roughness requirement and the fillet requirement is convenient, the whole rotating mechanism is small in size, the bearing capacity is large, the high axial load and the radial load generated in the cleaning motion process can be borne, and the cleaning requirement of the circular conduit/cable with the barrier is met.
Drawings
FIG. 1 is a schematic view of an underwater cleaning robot according to the present invention;
FIG. 2 is a cross-sectional view A-A of the underwater cleaning robot of the present invention;
FIG. 3 is a cross-sectional view of an underwater cleaning robot B-B of the present invention;
FIG. 4 is a cross-sectional view of an underwater cleaning robot of the present invention at C-C;
FIG. 5 is a cross-sectional view of an underwater cleaning robot of the present invention taken along line D-D;
FIG. 6 is a cross-sectional view of an underwater cleaning robot E-E of the present invention;
fig. 7 is a cross-sectional view of an underwater cleaning robot F-F according to the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and examples.
The present invention provides an underwater cleaning robot, as shown in fig. 1 to 7, comprising: the device comprises a detection/lighting device 1, a robot frame platform 2, a buoyancy material 3, a control device cabin 4, a cleaning power unit 5, a side propeller 6, an energy system 7, a main propeller 8, a guide device base plate 9, a cleaning device base plate 10, an underwater electric push rod I11, an underwater electric push rod II12, a mounting plate I13, a guide rail I14, a mounting plate II15, a guide rail II16, a left cleaning bottom plate 17, a right cleaning bottom plate 18, a left guide clamping plate 19, a left rubber strip 20, a right rubber strip 21, a right guide clamping plate 22, an arc-shaped gear ring I23, a rotating drive motor 24, a cleaning mounting support plate 25, a nozzle 26, a composite rolling bearing 27, a conversion shaft 28, an expansion sleeve 29, a pinion 30, an arc-shaped gear ring II31, an underwater linear drive system I32, a mounting I33, a coupling I34, a bearing pressure plate I35, a stop ring I36, a bearing I37, a bearing pedestal, The device comprises a trapezoidal lead screw I39, a supporting bearing seat I40, an underwater linear driving system II41, an installation supporting table II42, a coupling II43, a bearing pressing plate II44, a stop ring II45, a bearing II46, a bearing seat II47, a trapezoidal lead screw II48 and a supporting bearing seat II 49;
the mounting plate II15 and the underwater electric push rod II12 are connected together through threads at the head of the underwater electric push rod II 12. And then the underwater electric push rod II12 and the guide rail II16 are arranged on the base plate 10 of the cleaning device through screws. And then the mounting plate II15 is tightly connected with the slide block on the guide rail II16 by using a screw.
A pair of bearings I37 are arranged at two ends of the trapezoidal lead screw I39 and are installed between the bearing seat I38 and the supporting bearing seat I40 through a bearing pressure plate I35 and a stop ring I36, so that the bearings I37, the bearing seat I38, the trapezoidal lead screw I39 and the supporting bearing seat I40 are tightly connected. And a bearing pressure plate I35 is arranged on the left side of the left end bearing and is matched with the stop ring I36 to axially press the bearing I37. The bearing seat I38 and the supporting bearing seat I40 are installed on the mounting plate II15 by using screws.
The underwater linear driving system I32 is connected with the mounting support table I33 through screws and then is mounted on the mounting plate II15 through screws. An output shaft of an underwater linear driving system I32 is connected with an input shaft at the left end of a trapezoidal lead screw I39 through a coupling I34 to transmit power.
The arc-shaped ring gear I23 is mounted on the elevated surface of the left side washing bottom plate 17 by screws. One end of the switching shaft 28 is tightly connected with the boss of the head of the composite rolling bearing 27 by using a thermal installation mode. The inner ring of the pinion 30 and the outer ring of the expansion sleeve 29 are fitted together, the connected expansion sleeve 29 is then inserted from the other end of the switching shaft 28, and the composite rolling bearing 27, the switching shaft 28, the expansion sleeve 29, and the pinion 30 are tightly connected by tightening the screw of the expansion sleeve 29.
The output end of the rotation driving motor 24 is extended out of the circular groove of the cleaning installation support plate 25, and the both are fixed together with a screw. The nozzle 26 is mounted on the vertical section of the wash mounting support plate 25 using screws.
The output shaft of the connected rotation driving motor 24 is tightly connected to the connected switching shaft 28 by a key.
The connected composite rolling bearing 27 is arranged in a groove on the left cleaning bottom plate 17. The pinion 30 is meshed with the arcuate ring gear I23 to form a gear train for transmission such that the nozzle 26 is capable of rotational movement about the circular conduit/cable centerline within a range of ± 75 °. The nozzle 26 center of rotation always coincides with the circular conduit/cable centerline. The nozzle outlet always faces to the surface of the object to be cleaned in the middle of the cleaning bottom plate, and the distance between the nozzle outlet and the surface of the object to be cleaned is 50 mm.
The set of devices is also symmetrically installed in the groove of the right cleaning bottom plate 18. The arc-shaped gear ring II31 and the right cleaning bottom plate 18 are tightly connected together through screws. Similarly, the pinion gear meshes with the arcuate ring gear II31 to form a gear train for driving the nozzle symmetrically mounted on the right side cleaning bottom plate 18 to make + -75 deg. of rotational movement about the center line of the circular conduit/cable. The nozzle outlet always faces to the surface of the object to be cleaned in the middle of the cleaning bottom plate, and the distance between the nozzle outlet and the surface of the object to be cleaned is 50 mm.
The arcuate ring gears I23, 31 are internal gears and are fixed to the elevations of the left cleaning floor 17 and the right cleaning floor 18, respectively. The rotation driving motor 24 drives the pinion 30 to mesh with the arc-shaped gear ring I23 to form a gear set, and the compound rolling bearing 27 is driven by the switching shaft 28 to rotate at +/-75 degrees around the center line of the circular conduit/cable in the arc-shaped groove on the left side cleaning bottom plate 17.
The left cleaning bottom plate 17 and the right cleaning bottom plate 18 connected to each other are connected to a left-handed nut and a right-handed nut on a trapezoidal lead screw I39 by screws through holes in the upper portions of the left cleaning bottom plate 17 and the right cleaning bottom plate 18.
The above-described connection constitutes a cleaning apparatus of an underwater cleaning robot mounted on the cleaning apparatus base plate 10. The cleaning device substrate 10 after the connection is tightly connected to the robot frame platform 2 by screws.
The mounting plate I13 is connected with the underwater electric push rod I11 through threads at the head of the underwater electric push rod I11. And then the underwater electric push rod I11 and the guide rail I14 are arranged on the guide device base plate 9 through screws. The mounting plate I13 is then tightly connected with the slider of the guide rail I14 using screws. An underwater electric push rod I11 linearly pushes a mounting plate I13 to move on a guide rail I14, and drives a guide device consisting of a left guide clamping plate 19, a left rubber strip 20, a right rubber strip 21, a right guide clamping plate 22, an underwater linear driving system II41, a mounting support table II42, a coupling II43, a bearing press plate II44, a stop ring II45, a bearing II46, a bearing seat II47, a trapezoidal screw rod II48 and a support bearing seat II49 to move in the vertical direction.
An underwater electric push rod II12 linearly pushes a mounting plate II15 to move on a guide rail II16, and drives a cleaning device consisting of a left cleaning bottom plate 17, a right cleaning bottom plate 18, an arc-shaped gear ring I23, a driving motor 24 for rotation, a cleaning mounting support plate 25, a nozzle 26, a composite rolling bearing 27, a conversion shaft 28, an expansion sleeve 29, a pinion 30, an arc-shaped gear ring II31, an underwater linear driving system I32, a mounting support table I33, a coupling I34, a bearing pressure plate I35, a stop ring I36, a bearing I37, a bearing seat I38, a trapezoidal screw rod I39 and a support bearing seat I40 to move in the vertical direction.
A pair of bearings II46 are arranged at two ends of the trapezoidal lead screw II48 and are installed between the bearing seat II47 and the supporting bearing seat II49 through a bearing pressing plate II44 and a stop ring II45, so that the bearings II46, the bearing seat II47, the trapezoidal lead screw II48 and the supporting bearing seat II49 are tightly connected. And a bearing pressure plate II44 is arranged on the left side of the left end bearing and is matched with a stop ring II45 to axially press the bearing II 46. And the bearing seat II47 and the supporting bearing seat II49 are installed on the mounting plate I13 by using screws.
The underwater linear driving system II41 is connected with the mounting support table II42 through screws and then is mounted on the mounting plate I13 through screws. An output shaft of the underwater linear driving system II41 is connected with a left input shaft of the trapezoidal lead screw II48 through a coupling II43, and power is transmitted.
The left guide clamping plate 19, the left rubber strip 20, the right rubber strip 21 and the right guide clamping plate 22 are connected together by using screws, and the left rubber strip 20 and the right rubber strip 21 are respectively arranged on the inner sides of the left guide clamping plate 19 and the right guide clamping plate 22. And then the left guide clamping plate 19 and the right guide clamping plate 22 are respectively connected with a left-handed nut and a right-handed nut on the trapezoidal lead screw II47 by screws through holes at the upper parts of the left guide clamping plate 19 and the right guide clamping plate 22.
The above-mentioned connections constitute the guides of the underwater cleaning robot mounted on the guide base plate 9, which are respectively mounted in the front and rear of the robot frame platform 2. The guide device base plate 9 after the connection is tightly connected with the robot frame platform 2 through screws.
The detection/illumination device 1, the buoyancy material 3, the control device cabin 4, the cleaning power unit 5, the lateral thruster 6, the energy system 7 and the main thruster 8 are sequentially installed on the robot frame platform 2 from left to right through screws. Wherein, the lateral thruster 6 has four, and two a set of symmetry is adorned in the outside of robot frame platform 2 both sides, and two main thrusters 8 symmetry are installed in the outside of robot frame platform 2 right side.
The pinion is meshed with the arc-shaped gear ring I to form a gear set for transmission, so that the nozzle can rotate around the center line of the circular conduit/cable within a rotating range of +/-75 degrees.
Through project test tests, the embodiment of the invention meets the requirement of an underwater cleaning robot on cleaning a round pipe/cable with obstacles, has strong obstacle-crossing capability, can carry out circumferential cleaning in the process of traveling, and has high cleaning efficiency and high cleanliness.
The invention has not been described in detail in part of the common general knowledge of those skilled in the art.
Claims (11)
1. An underwater cleaning robot, characterized by comprising: the device comprises a frame platform, a drive control unit, a circumferential cleaning unit and a guide unit, wherein the drive control unit, the circumferential cleaning unit and the guide unit are arranged on the frame platform;
the driving control unit controls the whole robot to move and is positioned above the object to be cleaned; under the control of the drive control unit, the object to be cleaned is clamped through the guide unit, and the circumferential cleaning unit performs circumferential cleaning on the object to be cleaned in a cavitation jet mode; when the obstacle needs to be avoided, the guiding unit and the circumferential cleaning unit release the object to be cleaned, and the driving control unit controls the guiding unit and the circumferential cleaning unit to move upwards to avoid the obstacle;
the circumferential cleaning unit comprises two symmetrical cleaning bottom plates, a conversion shaft is arranged on each cleaning bottom plate through a rolling bearing, a pinion is arranged on the conversion shaft, an arc-shaped gear ring is arranged on each cleaning bottom plate, the arc-shaped gear ring is an internal gear and is meshed with the pinion, a driving motor for rotation is arranged on a supporting plate, an output shaft of the motor is fixed with the conversion shaft, and a nozzle is arranged on the supporting plate; the arc-shaped gear rings on the two cleaning bottom plates are positioned on the same circumference, and the outlet of the nozzle always faces to the surface of the object to be cleaned positioned in the middle of the cleaning bottom plates.
2. An underwater cleaning robot as recited in claim 1, wherein: the cross section of the cleaning bottom plate is L-shaped, a groove is formed in the bottom surface of the L-shaped cleaning bottom plate and used for installing a rolling bearing, the rolling bearing adopts a composite rolling bearing, the roughness of the matching surface of the groove and the bearing is at least 1.6, and the radius of a fillet of the groove is at least 5 mm.
3. An underwater cleaning robot as recited in claim 1, wherein: the two symmetrical cleaning bottom plates are combined to form a closed circular ring or an incompletely closed circular ring, and the opening angle of the incompletely closed circular ring is smaller than the expansion angle of the jet pipe cavitation jet flow by 20 degrees.
4. An underwater cleaning robot as recited in claim 1, wherein: the two cleaning bottom plates are arranged on the obstacle crossing unit through a lead screw nut assembly and are connected with the frame platform through the obstacle crossing unit; the obstacle crossing unit can drive the cleaning bottom plate to move up and down.
5. An underwater cleaning robot as recited in claim 1, wherein: the guide unit is composed of two symmetrical clamping plates, and the two symmetrical clamping plates form an incompletely-closed circular ring; one side of the clamping plate is arranged on the obstacle crossing unit through a lead screw nut assembly and is connected with the frame platform through the obstacle crossing unit; the obstacle crossing unit can drive the guide unit to move up and down.
6. An underwater cleaning robot as recited in claim 5, wherein: and a rubber strip is fixed on the inner side of the clamping plate.
7. An underwater cleaning robot as claimed in claim 4 or 5, wherein: the obstacle crossing unit comprises a mounting plate, a guide rail and an underwater electric push rod;
a screw nut assembly is installed on the installation plate, the output end of the underwater electric push rod is fixedly connected with the installation plate, the guide rail is fixed on the frame platform, and the sliding block of the guide rail is fixedly connected with the installation plate; the mounting plate is driven to move up and down along the guide rail by the underwater electric push rod.
8. An underwater cleaning robot as claimed in claim 4 or 5, wherein: the lead screw nut component adopts a trapezoidal lead screw nut component.
9. An underwater cleaning robot as recited in claim 1, wherein: the driving control unit comprises a lateral propeller, a main propeller, a control equipment cabin, a cleaning power unit and an energy system;
the energy system supplies power to the whole robot; the cleaning power unit provides cavitation jet power for the circumferential cleaning unit; the main thruster provides advancing main power for the whole robot, and the lateral thruster is used for changing the posture of the robot; the control equipment cabin stores the circuit board for the whole cleaning control in a sealing way.
10. An underwater cleaning robot as recited in claim 9, wherein: the robot further comprises a buoyancy material, and the gravity center and the floating center of the whole robot are adjusted to be on the same plumb line through the buoyancy material.
11. The underwater cleaning robot as claimed in one of claims 1 to 10 is adapted to an underwater cable or pipe with an obstacle.
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| CN201811612361.6A CN109760803B (en) | 2018-12-27 | 2018-12-27 | Underwater cleaning robot |
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| CN201811612361.6A CN109760803B (en) | 2018-12-27 | 2018-12-27 | Underwater cleaning robot |
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| CN115089057B (en) * | 2022-07-11 | 2024-04-05 | 浙江省农业科学院 | Self-adaptive obstacle avoidance double-arm cleaning robot for livestock and poultry houses and operation method |
| CN115401013B (en) * | 2022-10-08 | 2023-07-28 | 烟台杰瑞石油装备技术有限公司 | Underwater rotary cleaning assembly, underwater cleaning device and underwater cleaning equipment |
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| CN109760803A (en) | 2019-05-17 |
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