CN110844019A

CN110844019A - Underwater robot for cleaning and recycling garbage of ship body

Info

Publication number: CN110844019A
Application number: CN201911330411.6A
Authority: CN
Inventors: 董毅清; 阎震; 潘兆瑞; 于航
Original assignee: Qingdao Huaxing Underwater Robot Technology Service Co Ltd
Current assignee: Huayan Zhixing Qingdao Technology Co ltd
Priority date: 2019-12-20
Filing date: 2019-12-20
Publication date: 2020-02-28
Anticipated expiration: 2039-12-20
Also published as: CN110844019B

Abstract

The invention provides an underwater robot for cleaning and recovering garbage from ship hull garbage and an operation method, wherein the underwater robot comprises: switch board, control box setting are used for controlling cleaning robot at the hull top, and cleaning robot sets up the rubbish that is used for clean hull surface at the hull surface, the control box includes first power module, first control module, first processing module, first communication module, display module and umbilical cable, retrieves the subassembly and sets up at the hull top for retrieve the rubbish that filters clean hull surface and produce, it includes filter and grinder to retrieve the subassembly, thereby makes the staff can directly carry out the cleaning work to the hull at hull top control cleaning robot, retrieves the rubbish that the cleaning process produced when wasing the hull, has solved boats and ships and has had regularly to advance the dock and wash, has avoided the rubbish that the hull washing produced to cause the problem of pollution to the sea water.

Description

Underwater robot for cleaning and recycling garbage of ship body

Technical Field

The invention relates to the technical field of ship cleaning, in particular to an underwater robot for cleaning and recovering garbage from ship hull garbage.

Background

The ship sails in oceans with abundant aquatic species throughout the year, seawater has strong corrosivity, shellfish and seaweed which are difficult to remove are attached to the surface of a ship body due to more plankton in the seawater, and more rusty skins, rusty spots and the like are generated at the bottom of the ship body of the ship. The sailing speed and the oil consumption of the ship are seriously influenced, and the service life of the ship is further shortened. Like some marine drilling platforms (especially semi-submersible drilling platforms), the underwater parts of drilling platform brackets, marine buoys, offshore workstations and the like also have a large amount of strong attachments such as shellfish, seaweed, rusts and the like, which cause corrosion damage to the buildings and influence the normal working life. In order to prolong the service life of the ship and ensure the economical and safe operation of the ship, the ship must be periodically docked for cleaning. This adds to a large extent the cost of shipbuilding and causes a lot of extra work and pollution to the sea water because the garbage produced during the cleaning process without the garbage recycling device falls directly into the sea water.

Disclosure of Invention

The embodiment of the invention provides an underwater robot for cleaning and recovering garbage from hull garbage and an operation method thereof, and solves the problems that ships need to be docked regularly for cleaning and lifting cost and garbage pollutes seawater when a hull is cleaned by designing the robot for cleaning the hull garbage underwater.

In view of the above problems, the technical solution proposed by the present invention is:

an underwater robot for hull refuse clearing and refuse recovery for a hull, comprising:

a power distribution cabinet;

the control box is arranged at the top of the ship body and used for controlling the cleaning robot;

the cleaning robot is arranged on the surface of the ship body and used for cleaning garbage on the surface of the ship body;

the recycling assembly is arranged at the top of the ship body and used for recycling and filtering garbage generated on the surface of the ship body, and the recycling assembly comprises a filter and a pulverizer;

the filter comprises a filter cover plate, a filter port, a detection port, a first fixing plate, a pressure pipe, a pressure gauge, a filter shell, a second fixing plate, a filter screen, a water outlet and a water outlet pipe, wherein a first fixing hole is formed in the top of the first fixing plate, and a second fixing hole is formed in the surface of the second fixing plate;

the filter opening and the detection opening are sequentially formed in the top of the filter cover plate from left to right, one end of the pressure pipe is communicated with the detection opening, the other end of the pressure pipe is communicated with the pressure gauge, the first fixing plate is installed on one side of the filter cover plate, a first fixing hole is formed in the top of the first fixing plate, the second fixing plate is installed on one side of the filter shell, a second fixing hole is formed in the top of the second fixing plate, the filter screen is installed in the filter shell, the water outlet is formed in one side of the filter shell, and the water outlet pipe is communicated with the water outlet;

the grinder comprises a grinder shell, a motor, a transmission shaft, a bearing, a fixing plate, a grinding blade, a water outlet pipe, a connecting cover, a recovery pipe, a water pump and a sewage discharge pipe;

wherein the motor is connected with one side of the shredder housing in a penetrating way, one end of the transmission shaft is arranged at one side of the motor, the other end of the transmission shaft is arranged inside the fixed block through the bearing, the crushing blades are arranged on the surface of the transmission shaft, the fixing block is arranged on one side inside the shredder housing, one side of the connecting cover is arranged on the other side of the shredder housing, one end of the recovery pipe is communicated with the other side of the connecting cover, the other end of the recovery pipe is communicated with the recovery cabin cover, the water outlet is arranged at the bottom of one side of the pulverizer shell, one end of the water outlet pipe is communicated with the water outlet, the other end of the water outlet pipe is communicated with the water inlet of the water suction pump, one end of the sewage discharge pipe is communicated with the water outlet of the water suction pump, and the other end of the sewage discharge pipe is communicated with the filtering port.

In order to better realize the technical scheme of the invention, the following technical measures are also adopted.

Furthermore, the control box comprises a first power supply module, a first control module, a first processing module, a first communication module, a display module and an umbilical cable;

the first power supply module is arranged inside the control box and used for providing electric energy required by the control box;

the first control module is arranged in the control box, is positioned below the first power supply module and is used for sending a control signal, and the signal output end of the first control module is in communication connection with the signal input end of the first processing module;

the first processing module is arranged in the control box, is positioned below the first control module and is used for receiving and processing signals sent by the communication module and the control module and sending the signals to the communication module and the display module, the signal output end of the first processing module is in communication connection with the signal input ends of the first communication module and the display module, and the signal input end of the first processing module is in communication connection with the signal output end of the first communication module;

the first communication module is arranged in the control box, is positioned at one side of the first power supply module and is used for sending and receiving signals;

the display module is arranged in the control box, is positioned below the first communication module and is used for displaying the signal sent by the processing module;

the umbilical cable is used for transmitting electric energy and signals in the control box to the cleaning robot, and the signal input end and the signal output end of the umbilical cable are in communication connection with the signal input end and the signal output end of the first communication module;

the input end of the first power supply module is electrically connected with the power distribution cabinet, and the power output end of the first power supply module is electrically connected with the power input ends of the first control module, the first processing module, the first communication module, the display module and the umbilical cable.

Further, the cleaning robot comprises a control box, a high-pressure water pump, a high-pressure water pipe, a cleaning robot body, a lighting lamp, a camera, a first gravity center adjusting pipe, a first propeller, a second propeller, a third propeller, a fourth propeller, a fifth propeller, a sixth propeller, a second gravity center adjusting pipe, a cleaning mechanism, a flow divider, a high-pressure flow dividing pipe, a recovery cabin cover and a sealing rubber;

the control box comprises a second power supply module, a second control module, a second processing module and a second communication module,

the second power supply module is arranged inside the control box and used for providing electric energy required by the cleaning robot, and a power supply input end of the second power supply module is electrically connected with a power supply output end of the umbilical cable;

the power supply input end of the high-pressure water pump is electrically connected with the power distribution cabinet, and the power distribution cabinet controls the high-pressure water pump to be turned on and off;

the second control module is arranged in the control box and is positioned below the second power supply module, the second control module is used for controlling the first propeller, the second propeller, the third propeller, the fourth propeller, the fifth propeller and the sixth propeller to be turned on and off, the second control module controls the illuminating lamp and the camera to be turned on and off, and a signal output end of the second control module is in communication connection with signal input ends of the first propeller, the second propeller, the third propeller, the fourth propeller, the fifth propeller, the sixth propeller, the illuminating lamp and the camera;

the second processing module is arranged in the control box and positioned at one side of the second power supply module, the second processing module is used for receiving and processing signals sent by a second communication module and the camera and sending the signals to the second control module and the second communication module, the signal output end of the second processing module is in communication connection with the signal input ends of the second control module and the second communication module, and the signal input end of the second processing module is in communication connection with the signal output end of the camera;

the second communication module is arranged in the control box and is positioned below the second processing module, the second communication module is used for receiving the second processing module and receiving signals sent by the first communication module through an umbilical cable, the second communication module sends signals to the second processing module and sends signals to the first communication module through the umbilical cable, the signal output end of the second communication module is in communication connection with the umbilical cable and the signal input end of the second processing module, and the signal input end of the second communication module is in communication connection with the umbilical cable and the signal output end of the second processing module;

the power output end of the second power module is electrically connected with the power input ends of the second control module, the second processing module, the second communication module, the illuminating lamp, the camera, the first propeller, the second propeller, the third propeller, the fourth propeller, the fifth propeller and the sixth propeller;

the first gravity center adjusting pipe comprises a U-shaped pipe, a counterweight ball and a connecting plate, the connecting plate is installed at the bottom of the U-shaped pipe, and the counterweight ball is arranged inside the U-shaped pipe;

the first propeller comprises a propeller frame, a driving motor, a guide plate and propeller blades, wherein the guide plate is arranged on one side of the propeller frame, the driving motor is arranged on one side of the guide plate, and the blades are arranged on the driving motor through a connecting shaft;

the bottom of cleaning machines people body is seted up flutedly, retrieve the cabin cover install in inside the recess, the stripper rubber install in retrieve the bottom of cabin cover, wiper mechanism installs in the inside of retrieving the cabin cover, first focus control tube first propeller the second propeller the fourth propeller the high pressure water pipe the control box the fifth propeller the third propeller the sixth propeller the second focus control tube is installed in proper order from a left side to the right side the top of cleaning machines people body, the light install in the four corners department of cleaning machines people body, the camera install in one side of cleaning machines people body.

Furthermore, the power input ends of the motor and the water suction pump are electrically connected with the power output end of the power distribution cabinet, and the power distribution cabinet controls the opening and closing of the motor.

Further, the side shape of connecting plate is right triangle, the U-shaped pipe install in on the inclined plane of connecting plate, just the both ends of U-shaped pipe highly be higher than the height of U-shaped pipe middle part, the inside of U-shaped pipe is full of oil, the shape, the structure and the size of first focus control tube with the shape, the structure and the size of second focus control tube are all unanimous, just first focus control tube with second focus control tube structure is the symmetry setting.

Furthermore, the first fixing hole formed in the surface of the first fixing plate is connected with the second fixing hole formed in the surface of the second fixing plate through a bolt.

Further, the shape, structure and size of the first propeller are consistent with those of the second propeller, the third propeller, the fourth propeller, the fifth propeller and the sixth propeller.

Furthermore, the precision of the filter screen is 200 microns, the end of the filter screen is closed, and the other end of the filter screen is communicated with the filter port.

Further, the first propeller, the second propeller and the third propeller are horizontally installed at the top of the cleaning robot body, and the fourth propeller, the fifth propeller and the sixth propeller are vertically installed at the top of the cleaning robot body.

The above embodiment of the invention provides an operation method of an underwater robot for cleaning and recovering garbage from ship hull, which comprises the following operation steps,

s1, the cleaning robot ascends in water, the first control module sends an ascending signal, the first processing module receives the signal and sends the signal to the first communication module after processing the signal, the first communication module receives the signal and then sends the signal to the second communication module after processing the signal, the second communication module receives the signal and then sends the signal to the second processing module, the second processing module receives the signal and then sends the signal to the second control module after processing the signal, the second control module receives the signal and controls the first propeller, the second propeller and the third propeller to rotate forward, and the first propeller, the second propeller and the third propeller push the cleaning robot to ascend.

S2, the cleaning robot descends in water, the first control module sends a descending signal, the first processing module receives the signal and sends the signal to the first communication module after processing the signal, the first communication module receives the signal and then sends the signal to the second communication module after processing the signal, the second communication module receives the signal and then sends the signal to the second processing module, the second processing module receives the signal and then sends the signal to the second control module after processing the signal, and the second control module receives the signal and controls the first propeller, the second propeller and the third propeller to reversely rotate, so that the cleaning robot descends.

S3, the cleaning robot turns left in water, the first control module sends a left turning signal, the first processing module receives the signal and sends the processed signal to the first communication module, the first communication module receives the signal and sends the processed signal to the second communication module, the second communication module receives the signal and sends the processed signal to the second processing module, the second processing module receives the signal and sends the processed signal to the second control module, the second control module receives the signal and controls the first propeller to rotate forward and the second propeller to rotate backward, and the first propeller and the second propeller push the cleaning robot to turn left.

S4, the cleaning robot turns right in water, the first control module sends a signal turning right, the first processing module receives the signal and sends the signal to the first communication module after processing the signal, the first communication module receives the signal and then sends the signal to the second communication module after processing the signal, the second processing module receives the signal and then sends the signal to the second processing module, the second processing module receives the signal and then sends the signal to the second control module after processing the signal, the second control module receives the signal and controls the reverse rotation of the first propeller and the forward rotation of the second propeller, and the first propeller and the second propeller push the cleaning robot to turn right.

S5, the cleaning robot turns forwards in water, the first control module sends a forward turning signal, the first processing module receives the signal and sends the processed signal to the first communication module, the first communication module receives the signal and sends the processed signal to the second communication module, the second communication module receives the signal and sends the processed signal to the second processing module, the second processing module receives the signal and sends the processed signal to the second control module, the second control module receives the signal and controls the first propeller and the second propeller to rotate reversely, the third propeller rotates forwards, and the first propeller, the second propeller and the third propeller push the cleaning robot to turn forwards.

S6, the cleaning robot turns backwards in water, the first control module sends a backward turning signal, the first processing module receives the signal and sends the processed signal to the first communication module, the first communication module receives the signal and sends the processed signal to the second communication module, the second communication module receives the signal and sends the processed signal to the second processing module, the second processing module receives the signal and sends the processed signal to the second control module, the second control module receives the signal and controls the first propeller and the second propeller to rotate forwards, the third propeller rotates backwards, and the first propeller, the second propeller and the third propeller push the cleaning robot to turn backwards.

S7, the cleaning robot turns left in water, the first control module sends a left turning signal, the first processing module receives the signal and sends the processed signal to the first communication module, the first communication module receives the signal and sends the processed signal to the second communication module, the second communication module receives the signal and sends the processed signal to the second processing module, the second processing module receives the signal and sends the processed signal to the second control module, the second control module receives the signal and controls the fourth propeller and the fifth propeller to rotate forward, the sixth propeller rotates backward, and the fourth propeller, the fifth propeller and the sixth propeller push the cleaning robot to turn left.

S8, the cleaning robot turns right in water, the first control module sends a right turning signal, the first processing module receives the signal and sends the processed signal to the first communication module, the first communication module receives the signal and then sends the processed signal to the second communication module, the second communication module receives the signal and then sends the processed signal to the second processing module, the second processing module receives the signal and then sends the processed signal to the second control module, the second control module receives the signal and controls the fourth propeller and the fifth propeller to rotate reversely, the sixth propeller rotates positively, and the fifth propeller pushes the cleaning robot to turn right.

S9, the cleaning robot moves forward in water, the first control module sends forward signals, the first processing module receives the signals, processes the signals and sends the processed signals to the first communication module, the first communication module receives the signals, processes the signals and sends the processed signals to the second communication module, the second communication module receives the signals and sends the processed signals to the second processing module, the second processing module receives the signals and sends the processed signals to the second control module, the second control module receives the signals and controls the fifth propeller and the sixth propeller to rotate forward, and the fifth propeller and the sixth propeller push the cleaning robot to move forward.

S10, the cleaning robot moves backwards in water, the first control module sends a backward signal, the first processing module receives the signal and sends the processed signal to the first communication module, the first communication module receives the signal and sends the processed signal to the second communication module, the second communication module receives the signal and sends the processed signal to the second processing module, the second processing module receives the signal and sends the processed signal to the second control module, the second control module receives the signal and controls the fifth propeller and the sixth propeller to rotate reversely, and the fifth propeller and the sixth propeller push the cleaning robot to move backwards.

S11, the cleaning robot translates leftwards in water, the first control module sends a leftward translation signal, the first processing module receives the signal and sends the processed signal to the first communication module, the first communication module receives the signal and sends the processed signal to the second communication module, the second communication module receives the signal and sends the processed signal to the second processing module, the second processing module receives the signal and sends the processed signal to the second control module, the second control module receives the signal and controls the fourth propeller and the fifth propeller to rotate forwards, the sixth propeller rotates backwards, and the fourth propeller, the fifth propeller and the sixth propeller push the cleaning robot to translate leftwards.

S12, the cleaning robot translates rightwards in water, the first control module sends a signal translating rightwards, the first processing module receives the signal and then sends the signal to the first communication module, the first communication module receives the signal and then sends the signal to the second communication module, the second communication module receives the signal and then sends the signal to the second processing module, the second processing module receives the signal and then sends the signal to the second control module, the second control module receives the signal to control the fourth propeller and the sixth propeller to rotate reversely, the fifth propeller rotates positively, the fourth propeller, the fifth propeller and the sixth propeller push the cleaning robot to translate rightwards.

Compared with the prior art, the invention has the beneficial effects that: through setting up the control box, cleaning robot and recovery subassembly, the control box passes through umbilical cable and connects cleaning robot, cleaning robot sets up the control box and retrieves the cabin cover, control box control cleaning robot removes the hull and needs abluent position, retrieve the garbage collection that the cabin cover will cleaning robot washs and get off, it carries out recovery processing with rubbish to retrieve the subassembly, can realize that personnel need not get into under water, direct cleaning robot carries out the cleaning work to the hull at hull top control, retrieve the rubbish that the cleaning process produced when wasing the hull, it must regularly dock and wash to have solved boats and ships, the problem that the rubbish that has avoided the hull to wash the production led to the fact the pollution to the sea water.

The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.

Drawings

Fig. 1 is a schematic overall structure diagram of an underwater robot for cleaning hull garbage and recovering the garbage, disclosed by an embodiment of the invention;

FIG. 2 is a schematic diagram of an internal structure of a control box in the underwater robot for cleaning and recycling hull garbage, disclosed by the embodiment of the invention;

FIG. 3 is a schematic structural diagram of a cleaning robot in an underwater robot for cleaning and recycling hull garbage, which is disclosed by the embodiment of the invention;

FIG. 4 is a schematic diagram of an internal structure of a control box in the underwater robot for cleaning hull garbage and recovering garbage, disclosed by the embodiment of the invention;

FIG. 5 is a schematic cross-sectional view of a first thruster in an underwater robot for cleaning hull garbage and recovering garbage according to an embodiment of the present invention;

FIG. 6 is a schematic side view of a first thruster in an underwater robot for cleaning hull garbage and recovering garbage according to an embodiment of the present invention;

FIG. 7 is a schematic structural view of a first gravity center adjusting pipe in the underwater robot for cleaning hull garbage and recycling garbage, which is disclosed by the embodiment of the invention;

FIG. 8 is a schematic bottom structure view of a cleaning robot in an underwater robot for cleaning hull garbage and recycling garbage according to an embodiment of the present invention;

FIG. 9 is a schematic cross-sectional structural view of a cleaning robot in an underwater robot for cleaning hull garbage and recycling garbage, which is disclosed by an embodiment of the invention;

FIG. 10 is a schematic diagram of an internal structure of a cleaning robot in an underwater robot for cleaning hull garbage and recycling garbage, according to an embodiment of the present invention;

fig. 11 is a schematic cross-sectional structural view of a recycling group in an underwater robot for cleaning hull waste and recycling the waste according to an embodiment of the present invention;

FIG. 12 is a schematic cross-sectional structural view of a filter in an underwater robot for cleaning hull garbage and recycling garbage according to an embodiment of the present invention;

FIG. 13 is a schematic structural view of a filter cover plate in an underwater robot for cleaning hull garbage and recycling garbage, which is disclosed by an embodiment of the invention;

fig. 14 is a schematic top view of a filter housing of an underwater robot for cleaning hull garbage and recycling garbage according to an embodiment of the present invention;

FIG. 15 is a schematic cross-sectional view of a crusher in an underwater robot for cleaning hull garbage and recovering garbage according to an embodiment of the present invention;

FIG. 16 is a schematic side view of a crusher in an underwater robot for cleaning hull garbage and recovering garbage according to an embodiment of the present invention;

FIG. 17 is an enlarged view of the structure at A in FIG. 17;

fig. 18 is a communication flow diagram of an operation method of an underwater robot for cleaning hull garbage and recycling garbage according to an embodiment of the present invention.

Reference numerals:

1-power distribution cabinet, 2-control box, 201-first power module, 202-first control module, 203-first processing module, 204-first communication module, 205-display module, 206-umbilical cable, 3-cleaning robot, 301-control box, 3011-second power module, 3012-second control module, 3013-second processing module, 3014-second communication module, 302-high pressure water pump, 303-high pressure water pipe, 304-cleaning robot body, 305-lighting lamp, 306-camera, 307-first gravity center adjusting pipe, 3071-U-shaped pipe, 3072-counterweight ball, 3073-connecting plate, 308-first thruster, 3081-thruster frame, 3082-driving motor, 3083-deflector, 3084-propeller blades, 309-second propeller, 310-third propeller, 311-fourth propeller, 312-fifth propeller, 313-sixth propeller, 314-second gravity center adjusting pipe, 315-cleaning mechanism, 316-diverter, 317-high pressure diverter, 318-groove, 319-recovery cage, 4-recovery module, 401-filter, 4011-filter cover plate, 4012-filter opening, 4013-detection opening, 4014-first fixing plate, 4015-first fixing hole, 4016-pressure pipe, 4017-pressure gauge, 4018-filter housing, 4019-second fixing plate, 40110-second fixing hole, 40111-filter screen, 40112-water outlet, 40113-water outlet pipe, 402-pulverizer, 4021-pulverizer housing, 4022-motor, 4023-drive shaft, 4024-bearing, 4025-fixing plate, 4026-crushing blade, 4027-water outlet, 4028-water outlet pipe, 4029-connecting cover, 40210-recovery pipe.

DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

Referring to fig. 1-4, an underwater robot for cleaning hull debris and recycling debris according to an embodiment of the present invention includes a power distribution cabinet 1, a control box 2 disposed on a top of a hull for controlling a cleaning robot 3, the cleaning robot 3 disposed on a surface of the hull for cleaning debris on the surface of the hull, a recycling assembly 4 disposed on the top of the hull for recycling debris generated by filtering and cleaning the surface of the hull, the control box 2 controlling the underwater robot to operate on the surface of the hull for cleaning debris on the surface of the hull, the recycling assembly 4 recycling debris cleaned by the underwater robot, the recycling assembly 4 including a filter 401 and a shredder, the filter 401 including a filter cover plate 4011, a filter opening 4012, a detection opening 4013, a first fixing plate 4014, a pressure pipe 4016, a pressure gauge 4017, a filter housing 4018, a second fixing plate 4019, a filter 4016, and a shredder, A filter screen 40111, a water outlet 40112 and a water outlet 40113, wherein a pressure gauge 4017 is used for detecting the internal pressure of the filter 401, the amount of garbage in the filter screen 40111 is estimated according to the pressure, a first fixing hole 4015 is formed in the top of the first fixing plate 4014, a second fixing hole 40110 is formed in the surface of the second fixing plate 4019, the filter port 4012 and the detection port 4013 are sequentially formed in the top of the filter cover plate 4011 from left to right, one end of the pressure pipe 4016 is communicated with the detection port 4013, the other end of the pressure pipe 4016 is communicated with the pressure gauge 4017, the first fixing plate 4014 is installed on one side of the filter cover plate 4011, the first fixing hole 4015 is formed in the top of the first fixing plate 4014, the second fixing plate 4019 is installed on one side of the filter housing 4018, a second fixing hole 40110 is formed in the top of the second fixing plate 4019, and the filter screen 40111 is installed inside the filter housing 4018, the water outlet 40112 is arranged on one side of the filter housing 4018, the water outlet 40113 is communicated with the water outlet 40112, the pulverizer comprises a pulverizer housing 4021, a motor 4022, a transmission shaft 4023, a bearing 4024, a fixing plate 4025, pulverizing blades 4026, a water outlet 4027, a water outlet pipe 4028, a connecting cover 4029 and a recovery pipe 40210, the motor 4022 is connected to one side of the pulverizer housing 4021 in a penetrating manner, one end of the transmission shaft 4023 is installed on one side of the motor 4022, the other end of the transmission shaft 4023 is installed in the fixing block through the bearing 4024, the pulverizing blades 4026 are installed on the surface of the transmission shaft 4023, the fixing block is installed on one side of the inside of the pulverizer housing 4021, one side of the connecting cover 4029 is installed on the other side of the pulverizer housing 4021, one end of the recovery pipe 40210 is communicated with the other side of the connecting cover 4029, and the other end of the recovery pipe 40210 is communicated with the recovery, the water outlet 4027 is formed in the bottom of one side of the pulverizer housing 4021, one end of the water outlet pipe 4028 is communicated with the water outlet 4027, the other end of the water outlet pipe 4028 is communicated with the water inlet of the water suction pump 40211, one end of the sewage discharge pipe 40212 is communicated with the water outlet of the water suction pump 40211, and the other end of the sewage discharge pipe 40212 is communicated with the filter port 4012;

as a preferred embodiment of the present invention, the number of the pulverizing blades 4026 is plural, the pulverizing blades 4026 are welded on the surface of the transmission shaft 4023 at uniform intervals in a horizontal direction in sequence from left to right, the pulverizing blades 4026 are used for conveying water with garbage in the recovery nacelle 319 to the filter 401, and the pulverizing blades 4026 are in contact with the garbage to pulverize the garbage by mechanical action.

Referring to fig. 1-3, the control box 2 of the embodiment of the present invention includes a first power module 201, a first control module 202, a first processing module 203, a first communication module 204, a display module 205 and an umbilical 206;

the first power module 201 is arranged inside the control box 2 and used for providing electric energy required by the control box 2;

the first control module 202 is arranged inside the control box 2, is located below the first power module 201, and is configured to send a control signal, and a signal output end of the first control module 202 is in communication connection with a signal input end of the first processing module 203;

the first processing module 203 is arranged inside the control box 2, is located below the first control module 202, and is configured to receive and process signals sent by the communication module and the control module and send the signals to the communication module and the display module 205, a signal output end of the first processing module 203 is in communication connection with signal input ends of the first communication module 204 and the display module 205, and a signal input end of the first processing module 203 is in communication connection with a signal output end of the first communication module 204;

the first communication module 204 is arranged inside the control box 2, is positioned at one side of the first power supply module 201, and is used for sending and receiving signals;

the display module 205 is arranged inside the control box 2, is positioned below the first communication module 204, and is used for displaying the signal sent by the processing module;

the umbilical cable 206 is used for transmitting the electric energy and signals inside the control box 2 to the cleaning robot 3, and the signal input end and the signal output end of the umbilical cable 206 are in communication connection with the signal input end and the signal output end of the first communication module 204;

the input end of the first power module 201 is electrically connected to the power distribution cabinet 1, and the power output end of the first power module 201 is electrically connected to the power input ends of the first control module 202, the first processing module 203, the first communication module 204, the display module 205 and the umbilical cable 206.

Referring to fig. 4 to 10, in the embodiment of the present invention, the cleaning robot 3 includes a control box 301, a high pressure water pump 302, a high pressure water pipe 303, a cleaning robot body 304, a lighting lamp 305, a camera 306, a first center of gravity adjusting pipe 307, a first propeller 308, a second propeller 309, a third propeller 310, a fourth propeller 311, a fifth propeller 312, a sixth propeller 313, a second center of gravity adjusting pipe 314, a cleaning mechanism 315, a flow divider 316, a high pressure flow dividing pipe 317, and a recovery nacelle 319;

the control box 301 includes a second power module 3011, a second control module 3012, a second processing module 3013, and a second communication module 3014, wherein,

the second power module 3011 is disposed inside the control box 301 and configured to provide electric energy required by the cleaning robot 3, and a power input end of the second power module 3011 is electrically connected to a power output end of the umbilical cable 206;

the power supply input end of the high-pressure water pump 302 is electrically connected with the power distribution cabinet 1, and the power distribution cabinet 1 controls the high-pressure water pump 302 to be opened and closed;

the second control module 3012 is disposed inside the control box 301 and located below the second power module 3011, the second control module 3012 is configured to control on and off of the first pusher 308, the second pusher 309, the third pusher 310, the fourth pusher 311, the fifth pusher 312, and the sixth pusher 313, the second control module 3012 controls on and off of the illumination lamp 305 and the camera 306, and a signal output end of the second control module 3012 is communicatively connected to signal input ends of the first pusher 308, the second pusher 309, the third pusher 310, the fourth pusher 311, the fifth pusher 312, the sixth pusher 313, the illumination lamp 305, and the camera 306;

the second processing module 3013 is disposed inside the control box 301 and located on one side of the second power module 3011, the second processing module 3013 is configured to receive and process signals sent by the second communication module 3014 and the camera 306 and send the signals to the second control module 3012 and the second communication module 3014, a signal output end of the second processing module 3013 is in communication connection with signal input ends of the second control module 3012 and the second communication module 3014, and a signal input end of the second processing module 3013 is in communication connection with a signal output end of the camera 306;

the second communication module 3014 is disposed inside the control box 301 and located below the second processing module 3013, the second communication module 3014 is configured to receive the second processing module 3013 and receive a signal sent by the first communication module 204 through the umbilical cable 206, the second communication module 3014 sends a signal to the second processing module 3013 and sends a signal to the first communication module 204 through the umbilical cable 206, a signal output end of the second communication module 3014 is communicatively connected to the umbilical cable 206 and a signal input end of the second processing module 3013, and a signal input end of the second communication module 3014 is communicatively connected to the umbilical cable 206 and a signal output end of the second processing module 3013;

a power output end of the second power module 3011 is electrically connected to power input ends of the second control module 3012, the second processing module 3013, the second communication module 3014, the lighting lamp 305, the camera 306, the first propeller 308, the second propeller 309, the third propeller 310, the fourth propeller 311, the fifth propeller 312, and the sixth propeller 313;

the first gravity center adjusting pipe 307 comprises a U-shaped pipe 3071, a counterweight ball 3072 and a connecting plate 3073, the connecting plate 3073 is mounted at the bottom of the U-shaped pipe 3071, and the counterweight ball 3072 is arranged inside the U-shaped pipe 3071;

the first propeller 308 comprises a propeller frame 3081, a driving motor 3082, a guide plate 3083 and propeller blades 3084, the guide plate 3083 is mounted on one side of the propeller frame 3081, the driving motor 3082 is mounted on one side of the guide plate 3083, and the driving motor 3082 is mounted on the blades through a connecting shaft;

a groove 318 is formed in the bottom of the cleaning robot body 304, the recovery cabin cover 319 is installed inside the groove 318, the sealing rubber 3110 is installed at the bottom of the recovery cabin cover 319, the cleaning mechanism 315 is installed inside the recovery cabin cover 319, the first center-of-gravity adjusting pipe 307, the first propeller 308, the second propeller 309, the fourth propeller 311, the high-pressure water pipe 303, the control box 301, the fifth propeller 312, the third propeller 310, the sixth propeller 313, and the second center-of-gravity adjusting pipe 314 are sequentially installed at the top of the cleaning robot body 304 from left to right, the illuminating lamps 305 are installed at four corners of the cleaning robot body 304, and the camera 306 is installed at one side of the cleaning robot body 304.

Referring to fig. 1 and 11, in this embodiment, a power input end of the motor 4022 is electrically connected to a power output end of the power distribution cabinet 1, and the power distribution cabinet 1 controls the motor 4022 to be turned on or off.

Referring to fig. 3 and 9, the connecting plate 3073 has a right triangle side, the U-shaped tube 3071 is mounted on the inclined surface of the connecting plate 3073, the heights of the two ends of the U-shaped tube 3071 are higher than the height of the middle portion of the U-shaped tube 3071, the U-shaped tube 3071 is filled with oil, the oil is used for lubricating the surface of the counterweight ball 3072, the counterweight ball 3072 is prevented from being clamped inside the U-shaped tube 3071, the shape, the structure and the size of the first gravity center adjusting tube 307 are identical to those of the second gravity center adjusting tube 314, and the first gravity center adjusting tube 307 and the second gravity center adjusting tube 314 are symmetrically arranged.

In a preferred embodiment of the present invention, when the cleaning robot 3 is tilted forward, the weight balls 3072 in the first gravity center adjusting pipe 307 are converged toward both ends, and the weight balls 3072 in the second gravity center adjusting pipe 314 are converged toward the middle portion, so that the gravity center of the cleaning robot 3 is lowered, when the cleaning robot 3 is turned backward, the weight balls 3072 in the first gravity center adjusting pipe 307 are converged toward the center, the weight balls 3072 in the second gravity center adjusting pipe 314 are converged toward both end portions, the gravity center of the cleaning robot 3 is lowered, when the cleaning robot 3 is reversed to the left and right, the weight balls 3072 in the first gravity center adjusting pipe 307 are converged toward one end, the weight balls 3072 in the second gravity center adjusting pipe 314 are converged toward the same one end, the gravity center of the cleaning robot 3 is lowered, when the cleaning robot 3 moves in parallel, the weight balls 3072 in the first gravity center adjustment pipe 307 converge toward the middle, and the weight balls 3072 in the second gravity center adjustment pipe 314 converge toward the middle, thereby lowering the gravity center of the cleaning robot 3.

Referring to fig. 11 to 14, the first fixing holes 4015 formed on the surface of the first fixing plate 4014 are connected to the second fixing holes 40110 formed on the surface of the second fixing plate 4019 by bolts.

Referring to fig. 3, 5 and 6, the shape, configuration and size of first impeller 308 corresponds to the shape, configuration and size of second impeller 309, third impeller 310, fourth impeller 311, fifth impeller 312 and sixth impeller 313.

Referring to fig. 12 and 14, the precision of the filter screen 40111 is 200 micrometers, the end of the filter screen 40111 is closed, and the other end of the filter screen is communicated with the filter port 4012, so that the crushed garbage can be completely recycled, and the seawater pollution is avoided.

Referring to fig. 3, 5 and 6, the first thruster 308, the second thruster 309 and the third thruster 310 are horizontally installed at the top of the washing robot body 304 for propelling the washing robot 3 to ascend and turn back and forth, and the fourth thruster 311, the fifth thruster 312 and the sixth thruster 313 are vertically installed at the top of the washing robot body 304 for propelling the washing robot 3 to turn left and right.

Referring to FIG. 18, a method of operation according to an embodiment of the present invention is shown;

s1, the cleaning robot 3 ascends in water, the first control module 202 sends an ascending signal, the first processing module 203 receives the signal and then processes the signal and sends the signal to the first communication module 204, the first communication module 204 receives the signal and then processes the signal and sends the signal to the second communication module 3014, the second communication module 3014 receives the signal and then sends the signal to the second processing module 3013, the second processing module 3013 receives the signal and then processes the signal and sends the signal to the second control module 3012, the second control module 3012 receives the signal and controls the first propeller 308, the second propeller 309 and the third propeller 310 to rotate forward, and the first propeller 308, the second propeller 309 and the third propeller 310 push the cleaning robot 3 to ascend.

S2, the cleaning robot 3 descends in water, the first control module 202 sends a descending signal, the first processing module 203 receives the signal and then processes the signal and sends the signal to the first communication module 204, the first communication module 204 receives the signal and then processes the signal and sends the signal to the second communication module 3014, the second communication module 3014 receives the signal and then sends the signal to the second processing module 3013, the second processing module 3013 receives the signal and then processes the signal and sends the signal to the second control module 3012, the second control module 3012 receives the signal and controls the first propeller 308, the second propeller 309 and the third propeller 310 to reverse, and the cleaning robot 3 descends.

S3, the cleaning robot 3 turns left in water, the first control module 202 sends a left-turning signal, the first processing module 203 receives the signal and then processes the signal and sends the processed signal to the first communication module 204, the first communication module 204 receives the signal and then processes the signal and sends the processed signal to the second communication module 3014, the second communication module 3014 receives the signal and then sends the processed signal to the second processing module 3013, the second processing module 3013 receives the signal and then processes the signal and sends the processed signal to the second control module 3012, the second control module 3012 receives the signal and controls the first propeller 308 to rotate forward and the second propeller 309 to rotate backward, and the first propeller 308 and the second propeller 309 push the cleaning robot 3 to turn left.

S4, the cleaning robot 3 turns right in water, the first control module 202 sends a signal turning right, the first processing module 203 receives the signal and then processes the signal and sends the processed signal to the first communication module 204, the first communication module 204 receives the signal and then processes the signal and sends the processed signal to the second communication module 3014, the second processing module 3013 receives the signal and then sends the processed signal to the second processing module 3013, the second processing module 3013 receives the signal and then processes the signal and sends the processed signal to the second control module 3012, the second control module 3012 receives the signal and controls the first propeller 308 to rotate reversely and the second propeller 309 to rotate forwardly, and the first propeller 308 and the second propeller 309 push the cleaning robot 3 to turn right.

S5, the washing robot 3 turns forward in the water, the first control module 202 sends a forward turning signal, the first processing module 203 receives the signal and sends the signal to the first communication module 204 after processing the signal, the first communication module 204 receives the signal, processes the signal and transmits the processed signal to the second communication module 3014, the second communication module 3014 receives the signal and sends the signal processing to the second processing module 3013, the second processing module 3013 receives the signal and sends the processed signal to the second control module 3012, the second control module 3012 receives signals to control the first thruster 308 and the second thruster 309 to rotate reversely, the third thruster 310 is rotated forward, and the first thruster 308, the second thruster 309 and the third thruster 310 push the cleaning robot 3 to turn forward.

S6, the washing robot 3 turns backwards in the water, the first control module 202 sends a backward turning signal, the first processing module 203 receives the signal and sends the signal to the first communication module 204 after processing the signal, the first communication module 204 receives the signal, processes the signal and transmits the processed signal to the second communication module 3014, the second communication module 3014 receives the signal and sends the signal processing to the second processing module 3013, the second processing module 3013 receives the signal and sends the processed signal to the second control module 3012, the second control module 3012 receives signals to control the first thruster 308 and the second thruster 309 to rotate forward, the third thruster 310 is rotated reversely, and the first thruster 308, the second thruster 309 and the third thruster 310 push the cleaning robot 3 to turn back.

S7, the cleaning robot 3 turns left in water, the first control module 202 sends a left turn signal, the first processing module 203 receives the signal and then processes the signal and sends the processed signal to the first communication module 204, the first communication module 204 receives the signal and then processes the signal and sends the processed signal to the second communication module 3014, the second communication module 3014 receives the signal and then sends the processed signal to the second processing module 3013, the second processing module 3013 receives the signal and then processes the signal and sends the processed signal to the second control module 3012, the second control module 3012 receives the signal and controls the fourth propeller 311 and the fifth propeller 312 to rotate forward, the sixth propeller 313 rotates backward, and the fourth propeller 311, the fifth propeller 312 and the sixth propeller 313 push the cleaning robot 3 to turn left.

S8, the cleaning robot 3 turns right in water, the first control module 202 sends a right turn signal, the first processing module 203 receives the signal and processes the signal and sends the processed signal to the first communication module 204, the first communication module 204 receives the signal and processes the signal and sends the processed signal to the second communication module 3014, the second communication module 3014 receives the signal and sends the processed signal to the second processing module 3013, the second processing module 3013 receives the signal and processes the signal and sends the processed signal to the second control module 3012, the second control module 3012 receives the signal and controls the fourth propeller 311 and the fifth propeller 312 to rotate reversely, the sixth propeller 313 rotates normally, and the fifth propeller 312 pushes the cleaning robot 3 to turn right.

S9, the cleaning robot 3 moves forward in water, the first control module 202 sends a forward signal, the first processing module 203 receives the signal and then processes the signal and sends the processed signal to the first communication module 204, the first communication module 204 receives the signal and then processes the signal and sends the processed signal to the second communication module 3014, the second communication module 3014 receives the signal and then sends the processed signal to the second processing module 3013, the second processing module 3013 receives the signal and then processes the signal and sends the processed signal to the second control module 3012, the second control module 3012 receives the signal and controls the fifth propeller 312 and the sixth propeller 313 to rotate forward, and the fifth propeller 312 and the sixth propeller 313 push the cleaning robot 3 to move forward.

S10, the cleaning robot 3 moves backward in water, the first control module 202 sends a backward signal, the first processing module 203 receives the signal and then processes the signal and sends the processed signal to the first communication module 204, the first communication module 204 receives the signal and then processes the signal and sends the processed signal to the second communication module 3014, the second communication module 3014 receives the signal and then sends the processed signal to the second processing module 3013, the second processing module 3013 receives the signal and then processes the signal and sends the processed signal to the second control module 3012, the second control module 3012 receives the signal and controls the fifth propeller 312 and the sixth propeller 313 to rotate backward, and the fifth propeller 312 and the sixth propeller 313 push the cleaning robot 3 to move backward.

S11, the cleaning robot 3 moves leftwards in water, the first control module 202 sends a signal moving leftwards, the first processing module 203 receives the signal and then processes the signal and sends the processed signal to the first communication module 204, the first communication module 204 receives the signal and then processes the signal and sends the processed signal to the second communication module 3014, the second communication module 3014 receives the signal and then sends the processed signal to the second processing module 3013, the second processing module 3013 receives the signal and then processes the signal and sends the processed signal to the second control module 3012, the second control module 3012 receives the signal and controls the fourth propeller 311 and the fifth propeller 312 to rotate forwards, the sixth propeller 313 rotates backwards, the fourth propeller 311, the fifth propeller 312 and the sixth propeller 313 push the cleaning robot 3 to move leftwards.

S12, the cleaning robot 3 translates right in water, the first control module 202 sends a signal for translating right, the first processing module 203 receives the signal and then processes the signal and sends the processed signal to the first communication module 204, the first communication module 204 receives the signal and then processes the signal and sends the processed signal to the second communication module 3014, the second communication module 3014 receives the signal and then sends the processed signal to the second processing module 3013, the second processing module 3013 receives the signal and then processes the signal and sends the processed signal to the second control module 3012, the second control module 3012 receives the signal and controls the fourth propeller 311 and the sixth propeller to rotate in reverse 313, the fifth propeller 312 rotates in forward direction, the fourth propeller 311, the fifth propeller 312 and the sixth propeller 313 push the cleaning robot 3 to translate right.

The cleaning robot can move in water with six degrees of freedom (ascending/descending, left turning/right turning, front turning/rear turning, left turning/right turning, forward/backward, left translation/right translation).

The method comprises the following specific implementation steps:

the switch of the control box 2 of the power distribution cabinet 1 is turned on, the electric energy of the power distribution cabinet 1 is transmitted to the control box 2 and the cleaning robot 3, the control signal is transmitted to the first processing module 203 through the first control module 202, the first processing module 203 receives the signal and then transmits the processed signal to the first communication module 204, the first communication module 204 receives the signal and then transmits the processed signal to the second communication module 3014, the second communication module 3014 receives the signal and then transmits the processed signal to the second processing module 3013, the second communication module 3014 receives the signal and then transmits the processed signal to the second control module 3012, the second control module 3012 controls the cleaning robot 3 to run near the ship body in water, the camera 306 arranged on the side surface of the cleaning robot 3 transmits the shot picture to the second processing module 3013, the second processing module 3013 processes the signal and then transmits the processed signal to the second communication module 3014, the second communication module 3014 processes the signal and transmits the signal to the first communication module 204 through the umbilical cable 206, the first communication module 204 processes the received signal and transmits the processed signal to the first processing module 203, the first processing module 203 processes the signal and transmits the processed signal to the display module 205, the display module 205 processes the signal and restores the picture, the display module 205 closes and observes the picture, adjusts the position of the cleaning robot 3 in the water, aligns the cleaning mechanism 315 with the garbage to be attached to the surface of the ship body, opens the switches of the high-pressure water pump 302, the motor 4022 and the water pump 40211 of the power distribution cabinet 1, the high-pressure water flow cleans the ship body through the cleaning mechanism 315, the recovery cabin cover 319 collects the garbage cleaned by the cleaning mechanism 315, the water pump 40211 sucks the garbage in the recovery cabin cover 319 into the crusher housing 4021 through the recovery pipe 40210, the garbage is crushed by moving the crushing blades 4026 to fully contact with the garbage in the process of leading the garbage to the filter 401, crushed garbage enters a water outlet pipe 4028 through a water outlet 4027, the water outlet pipe 4028 enters a sewage discharge pipe 40212 through a water suction pump 40211, the crushed garbage enters a filter 401 through a filter opening 4012 by the sewage discharge pipe 40212, the garbage is filtered out by a filter screen in the filter 401, clean water enters the water outlet pipe 4028 through the water outlet 4027, the clean water is discharged into seawater by the water outlet pipe 4028, a first fixing plate 4014 and a second fixing plate 4019 are loosened to take off a filter cover plate 4011 after the numerical value of a pressure gauge 4017 reaches a preset range by observing the numerical value of the pressure gauge 4017, the filter screen 40111 filled with the garbage is taken off and sent to a garbage treatment center to be replaced by a new filter screen 40111, so that a worker can directly control a cleaning robot 3 at the top of a ship body to clean the ship body, the garbage generated in the cleaning process is recovered while the ship body is cleaned, and the problem that the ship must be regularly cleaned, the problem of pollution of the seawater caused by garbage generated by hull cleaning is avoided.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims

1. A underwater robot that is used for hull rubbish clearance to retrieve rubbish of hull, its characterized in that includes:

a power distribution cabinet;

2. The underwater robot for hull garbage collection and recovery of ship hull according to claim 1, wherein: the control box comprises a first power supply module, a first control module, a first processing module, a first communication module, a display module and an umbilical cable;

3. The underwater robot for hull garbage collection and recovery of ship hull according to any one of claims 1 and 2, wherein: the cleaning robot comprises a control box, a high-pressure water pump, a high-pressure water pipe, a cleaning robot body, a lighting lamp, a camera, a first gravity center adjusting pipe, a first propeller, a second propeller, a third propeller, a fourth propeller, a fifth propeller, a sixth propeller, a second gravity center adjusting pipe, a cleaning mechanism, a flow divider, a high-pressure flow dividing pipe, a recovery cabin cover and a sealing rubber;

4. The underwater robot for hull garbage collection and recovery of ship hull according to claim 1, wherein: the power input ends of the motor and the water suction pump are electrically connected with the power output end of the power distribution cabinet, and the power distribution cabinet controls the opening and closing of the motor.

5. The underwater robot for hull garbage collection and recovery of ship hull according to claim 3, wherein: the side shape of connecting plate is right triangle, the U-shaped pipe install in on the inclined plane of connecting plate, just the height at the both ends of U-shaped pipe is higher than the height of U-shaped pipe mid portion, the inside of U-shaped pipe is full of oil, the shape, the structure and the size of first focus control tube all unanimous with the shape, the structure and the size of second focus control tube, just first focus control tube with second focus control tube structure is the symmetry setting.

6. The underwater robot for hull garbage collection and recovery of ship hull according to claim 1, wherein: the first fixing hole formed in the surface of the first fixing plate is connected with the second fixing hole formed in the surface of the second fixing plate through a bolt.

7. The underwater robot for hull garbage collection and recovery of ship according to claim 3, wherein: the shape, structure and size of the first propeller are consistent with those of the second propeller, the third propeller, the fourth propeller, the fifth propeller and the sixth propeller.

8. The underwater robot for hull garbage collection and recovery of ship hull according to claim 1, wherein: the precision of filter screen is 200 microns, the end of filter screen is sealed, and the other end communicates with the filter opening.

9. The underwater robot for hull garbage collection and recovery of ship hull according to claim 3, wherein: the first thruster, the second thruster and the third thruster are horizontally arranged at the top of the cleaning robot body, and the fourth thruster, the fifth thruster and the sixth thruster are vertically arranged at the top of the cleaning robot body.

10. An operation method of an underwater robot for cleaning and recovering garbage from ship hulls is characterized in that: