CN111113442A - Underwater cleaning robot and cleaning method thereof - Google Patents
Underwater cleaning robot and cleaning method thereof Download PDFInfo
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- CN111113442A CN111113442A CN201911320249.XA CN201911320249A CN111113442A CN 111113442 A CN111113442 A CN 111113442A CN 201911320249 A CN201911320249 A CN 201911320249A CN 111113442 A CN111113442 A CN 111113442A
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- cleaning
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- propulsion
- pore
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- 238000004140 cleaning Methods 0.000 title claims abstract description 206
- 238000000034 method Methods 0.000 title claims abstract description 13
- 239000011148 porous material Substances 0.000 claims description 34
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 9
- 239000000463 material Substances 0.000 claims description 9
- 230000001681 protective effect Effects 0.000 claims description 4
- 239000004033 plastic Substances 0.000 claims description 3
- 229920003023 plastic Polymers 0.000 claims description 3
- 229910001220 stainless steel Inorganic materials 0.000 claims description 3
- 239000010935 stainless steel Substances 0.000 claims description 3
- 238000001363 water suppression through gradient tailored excitation Methods 0.000 description 5
- 239000012535 impurity Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 239000002352 surface water Substances 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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- B08B1/12—
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- B08B1/32—
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
Abstract
The invention discloses an underwater cleaning robot and a cleaning method thereof, and the underwater cleaning robot comprises a machine body, wherein cleaning plates are symmetrically sleeved on the left side and the right side of the outer circle surface of the machine body, a plurality of cleaning motors are uniformly arranged at the adjacent ends of the cleaning plates, a cleaning shaft is rotatably connected onto the cleaning motors, the movable end of the cleaning shaft penetrates through the cleaning plates and is fixedly connected with cleaning balls, a waterproof cover is sleeved on the outer side of each cleaning motor, and the diameter of each cleaning ball is larger than the single-side width of each cleaning plate; the cleaning motor is matched with the cleaning shaft to drive the cleaning balls to rotate, and the rotating cleaning balls are used for cleaning attached organisms or other sundries on the surface of an underwater building; and because the diameter of clearance ball is greater than the unilateral width of clearance board for the organism promotes the clearance ball in radial direction and accomplishes the clearance operation, also can promote the clearance ball in the organism axis direction simultaneously and accomplish the clearance operation, need not to adjust the organism at specific angle, and the operation degree of difficulty reduces by a wide margin, is convenient for easily accomplish the clearance operation.
Description
Technical Field
The invention relates to the technical field of cleaning robots, in particular to an underwater cleaning robot and a cleaning method thereof.
Background
Hydraulic engineering is an engineering built for controlling and allocating surface water and underground water in nature to achieve the purposes of removing harmful substances and benefiting. Also known as water engineering. Hydraulic engineering needs to build various types of hydraulic buildings such as dams, dikes, spillways, water gates, water inlets, channels, transition troughs, rafts, fishways and the like so as to achieve the aims.
In the constructional engineering such as water gates and dams constructed in hydraulic engineering, a large amount of aquatic organisms are attached to the surfaces of the constructional engineering such as the water gates and the dams and grow after being soaked in water for a long time, so that the normal operation of the water gates and the dams is influenced, particularly, gates of the water gates are required to be opened and closed continuously during flood peak regulation, the aquatic organisms attached to the surfaces of the gates directly influence the normal operation of the gates, and therefore the gates are required to be cleaned regularly.
At present, part of underwater cleaning robots are put out in the market to replace manual work to clean underwater buildings, so that the safety of cleaning work is greatly improved, but the existing cleaning robots can complete cleaning work only by adjusting specific directions, so that the robots need to continuously adjust the directions underwater, the operation is complicated, and the requirements of modern underwater building cleaning are difficult to meet, therefore, the invention provides the underwater cleaning robot and the cleaning method thereof, and the problem can be well solved.
Disclosure of Invention
The invention aims to provide an underwater cleaning robot and a cleaning method thereof, and aims to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
an underwater cleaning robot comprises a machine body, wherein the machine body is of a cylindrical structure, cleaning plates are symmetrically sleeved on the left side and the right side of the outer circular surface of the machine body, each cleaning plate is a circular ring plate, a plurality of cleaning motors are uniformly arranged at the adjacent ends of the cleaning plates, each cleaning motor is rotatably connected with a cleaning shaft, the movable end of each cleaning shaft penetrates through the cleaning plates and is fixedly connected with a cleaning ball, each cleaning shaft is rotatably connected to the cleaning plates through bearings, a waterproof cover is sleeved on the outer side of each cleaning motor and is fixedly arranged on the cleaning plates, the diameter of each cleaning ball is larger than the single-side width of each cleaning plate, the cleaning balls are driven to rotate by matching of the cleaning motors with the cleaning shafts during cleaning operation, and organisms or other sundries attached to the surface of an underwater building are cleaned by the aid of the rotating cleaning balls; and because the diameter of clearance ball is greater than the unilateral width of clearance board for the organism promotes the clearance ball in radial direction and accomplishes the clearance operation, also can promote the clearance ball in the organism axis direction simultaneously and accomplish the clearance operation, need not to adjust the organism at specific angle, and the operation degree of difficulty reduces by a wide margin, is convenient for easily accomplish the clearance operation.
Be equipped with the axial in the organism and impel the pore, the axis of organism and the axial axis coincidence that impels the pore, the axial impels the pore through connection organism both ends about, first protection network is installed to both ends symmetry about the inner chamber that the axial impeld the pore, and the inner chamber left and right sides symmetry that the axial impeld the pore is equipped with first propulsion oar, first propulsion oar is through first connecting rod fixed mounting on the inner chamber wall that the axial impeld the pore, and the direction of rotation of two first propulsion oars is opposite completely, through mutually supporting of two first propulsion oars, can accomplish the position propulsion adjustment to the organism left and right sides position, and then accomplish the removal in clearance ball left and right sides position.
The outer disc middle part of organism is circular array and is equipped with a plurality of radial propulsion pore, be perpendicular through-connection between radial propulsion pore and the axial propulsion pore, the one end that the axial propulsion pore was kept away from to the inner chamber in radial propulsion pore installs the second protection network, installs the second in the radial propulsion pore and impels the oar, the second impels the oar to pass through second connecting rod fixed connection on the inner chamber wall in radial propulsion pore, impels the pore cooperation through the second and radially advances the adjustment that can accomplish orientation and fore-and-aft direction about the organism, and then accomplish the adjustment to orientation and fore-and-aft direction about the clearance ball to the removal in orientation about the clearance ball is accomplished to cooperation two first propulsion oars, can realize the adjustment of clearance ball optional position, be convenient for accomplish the clearance operation to the building dead angle, guarantee clearance quality.
In a further embodiment, all the waterproof covers on one cleaning plate are fixedly provided with a sliding rail which is of a circular ring structure, the sliding rail is sleeved outside the machine body, the cross section of the sliding rail is of a T-shaped structure, the sliding rail is slidably connected with a rotating seat which is of a circular ring structure, an inner gear ring is sleeved in an inner cavity of the rotating seat, one side end of the machine body is provided with an adjusting motor, the adjusting motor is rotatably connected with an adjusting shaft, the movable end of the adjusting shaft is fixedly connected with a gear matched with the inner gear ring, the outer circular surface of the rotating seat is uniformly provided with a plurality of cameras, the cameras are internally provided with wireless transmission modules, and during cleaning, the cameras can be directly connected with a tablet computer, a notebook computer or a mobile phone through the wireless transmission modules, shoot pictures in water by using the cameras and transmit the pictures to the tablet computer, the notebook computer or the mobile phone in real time, so that workers can know the underwater operation conditions in real, the cleaning quality is ensured; and the gear is driven to rotate by the adjusting motor, and the rotation seat is driven to rotate on the sliding rail by utilizing the mutual matching of the gear and the inner gear ring, so that the shooting angle of the camera can be adjusted, and the shooting quality is ensured.
In further embodiment, clearance ball includes the base spheroid, and base spheroid fixed mounting is epaxial in the clearance, and the outside cover of base spheroid is equipped with the elastic layer, the ectosphere surface of elastic layer is equipped with the brush hair, the base spheroid is the preparation of plastics material and forms, the elastic layer chooses for use the rubber material preparation to form, the brush hair chooses for use stainless steel material preparation to form, and it is rotatory to drive the base spheroid through the clearance axle, utilizes the base spheroid to drive the brush hair clearance debris operation, because whole brush hair is the spheroid and distributes, can directly clear up a plurality of angles, need not specific clearance angle to reduce the adjustment degree of difficulty of whole clearance ball by a wide margin.
A cleaning method of an underwater cleaning robot comprises the following steps:
s1) releasing the cleaning robot: firstly, the camera can be directly connected with a tablet personal computer, a notebook computer or a mobile phone through a wireless transmission module; then the whole robot device is put into water;
s2) adjusting the cleaning robot: the up-down direction and the front-back direction of the machine body can be adjusted by matching the second propulsion paddle with the radial propulsion duct, and the left-right direction of the machine body can be pushed and adjusted by matching the two first propulsion paddles, so that the machine body is conveyed to the side of an underwater building, and the machine body is opposite to the underwater building in a radial direction or the axis is opposite to the underwater building; during the process of adjusting the position of the machine body, the camera is used for shooting underwater pictures, so that information is provided for the adjustment of the whole machine body, and the adjustment operation is convenient to complete;
s3) finishing the cleaning operation: firstly, starting a cleaning motor, wherein the cleaning motor drives a cleaning ball to rotate through a cleaning shaft; then, the machine body is further pushed to be close to the underwater building through the step S2, and sundries on the surface of the underwater building are cleaned by using the cleaning balls until the complete cleaning is finished; during cleaning, a camera is used for shooting an underwater cleaning picture, so that information is provided for adjustment of the whole cleaning work, and the cleaning work is convenient to complete;
s4) stowing the cleaning robot: after the cleaning operation is finished, the cleaning motor is stopped, the first propulsion paddle and the second propulsion paddle are matched with each other to push the whole equipment out of the water surface, and then the whole equipment is folded.
Compared with the prior art, the invention has the beneficial effects that:
1. the cleaning motor is matched with the cleaning shaft to drive the cleaning balls to rotate, and the rotating cleaning balls are used for cleaning organisms or other impurities attached to the surface of an underwater building; the diameter of the cleaning ball is larger than the single-side width of the cleaning plate, so that the machine body pushes the cleaning ball in the radial direction to finish cleaning operation, and meanwhile, the cleaning ball can be pushed in the axial direction of the machine body to finish cleaning operation, the machine body does not need to be adjusted to a specific angle, the operation difficulty is greatly reduced, and the cleaning operation can be finished easily;
2. according to the invention, the up-down direction and the front-back direction of the machine body can be adjusted by matching the second propulsion paddle with the radial propulsion pore channel, so that the up-down direction and the front-back direction of the cleaning ball can be adjusted, and the left-right direction movement of the cleaning ball can be completed by matching the two first propulsion paddles, so that the adjustment of any position of the cleaning ball can be realized, the cleaning operation of dead corners of buildings can be conveniently completed, and the cleaning quality is ensured;
3. the invention utilizes the camera to shoot the underwater picture, and transmits the underwater picture to the tablet personal computer, the notebook computer or the mobile phone in real time, so that the working personnel can know the underwater operation condition in real time, and the cleaning quality is ensured; the gear is driven to rotate by the adjusting motor, and the rotating seat is driven to rotate on the sliding rail by the mutual matching of the gear and the inner gear ring, so that the shooting angle of the camera can be adjusted, and the shooting quality is ensured;
4. the cleaning shaft drives the base sphere to rotate, the base sphere drives the bristles to clean sundries, and the whole bristles are distributed in a sphere shape, so that the cleaning device can directly clean a plurality of angles without a specific cleaning angle, and the adjustment difficulty of the whole cleaning ball is greatly reduced.
Drawings
FIG. 1 is a schematic view of an underwater cleaning robot;
FIG. 2 is a schematic structural view of a perspective view of a body of an underwater cleaning robot in mating relationship with a cleaning plate;
FIG. 3 is a schematic view of a part of an enlarged view A of an underwater cleaning robot;
FIG. 4 is a schematic diagram of a cleaning ball of an underwater cleaning robot;
fig. 5 is a schematic view of a flow chart of a cleaning method of an underwater cleaning robot.
In the figure: 1-machine body, 2-axial propelling hole channel, 3-radial propelling hole channel, 4-first propelling paddle, 5-first connecting rod, 6-first protective net, 7-second propelling paddle, 8-second connecting rod, 9-second protective net, 10-cleaning plate, 11-cleaning motor, 12-cleaning shaft, 13-bearing, 14-cleaning ball, 141-base ball body, 142-elastic layer, 143-brush hair, 15-waterproof cover, 16-sliding rail, 17-rotating seat, 18-internal gear ring, 19-gear, 20-adjusting motor, 21-adjusting shaft, 22-camera and 23-wireless transmission module.
Detailed Description
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. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
Referring to fig. 1-2, an underwater cleaning robot comprises a body 1, wherein the body 1 is a cylindrical structure, cleaning plates 10 are symmetrically sleeved on the left side and the right side of the outer circular surface of the body 1, the cleaning plate 10 is a circular ring plate, a plurality of cleaning motors 11 are uniformly arranged at the adjacent ends of the cleaning plate 10, the cleaning motor 11 is rotatably connected with a cleaning shaft 12, the movable end of the cleaning shaft 12 penetrates through the cleaning plate 10 and is fixedly connected with a cleaning ball 14, the cleaning shaft 12 is rotatably connected on the cleaning plate 10 through a bearing 13, the outer side of the cleaning motor 11 is sleeved with a waterproof cover 15, the waterproof cover 15 is fixedly arranged on the cleaning plate 10, the diameter of the cleaning ball 14 is larger than the single-side width of the cleaning plate 10, during cleaning operation, the cleaning motor 11 is matched with the cleaning shaft 12 to drive the cleaning balls 14 to rotate, and the rotating cleaning balls 14 are used for cleaning organisms or other impurities attached to the surface of the underwater building; and because the diameter of clearance ball 14 is greater than the unilateral width of clearance board 10 for organism 1 promotes clearance ball 14 in radial direction and accomplishes the clearance operation, also can promote clearance ball 14 in organism 1 axis direction and accomplish the clearance operation simultaneously, need not to adjust organism 1 at specific angle, and the operation degree of difficulty reduces by a wide margin, is convenient for easily accomplish the clearance operation.
Be equipped with axial propulsion pore 2 in the organism 1, the axis of organism 1 and the axial axis coincidence who impels pore 2, axial propulsion pore 2 link up the both ends about connecting organism 1, and first protection network 6 is installed to both ends symmetry about the inner chamber that axial impels pore 2, and axial propulsion pore 2's inner chamber left and right sides symmetry is equipped with first propulsion oar 4, first propulsion oar 4 is on the inner chamber wall that axial propulsion pore 2 was advanced through 5 fixed mounting of first connecting rod, and two first direction of rotation that impel oar 4 are opposite completely, through two first cooperations of impeling of oar 4, can accomplish the position propulsion adjustment to organism 1 left and right sides position, and then accomplish the removal of clearance ball 14 left and right sides position.
A plurality of radial propelling channels 3 are arranged in a circular array in the middle of the outer circular surface of the machine body 1, the radial propelling channels 3 are vertically communicated with the axial propelling channels 2, a second protective net 9 is arranged at one end, far away from the axial propelling channels 2, of the inner cavity of each radial propelling channel 3, a second propelling paddle 7 is arranged in each radial propelling channel 3, the second propulsion paddle 7 is fixedly connected to the inner cavity wall of the radial propulsion duct 3 through a second connecting rod 8, the up-down direction and the front-back direction of the machine body 1 can be adjusted by the second propulsion paddle 7 matching with the radial propulsion pore canal 3, thereby completing the adjustment of the up-down direction and the front-back direction of the cleaning ball 14, and completing the movement of the left-right direction of the cleaning ball 14 by matching with the two first propulsion paddles 4, therefore, any position of the cleaning ball 14 can be adjusted, the cleaning operation of the dead corner of the building is convenient to complete, and the cleaning quality is ensured.
Example 2
Referring to fig. 3, the difference from example 1 is: the cleaning device comprises a cleaning plate 10, all waterproof covers 15 on the cleaning plate 10 are fixedly provided with slide rails 16 jointly, each slide rail 16 is of a circular ring structure, each slide rail 16 is sleeved outside a machine body 1, the cross section of each slide rail 16 is of a T-shaped structure, each slide rail 16 is connected with a rotating seat 17 in a sliding manner, each rotating seat 17 is of a circular ring structure, an inner gear ring 18 is sleeved in an inner cavity of each rotating seat 17, an adjusting motor 20 is installed at one side end of each machine body 1, each adjusting motor 20 is connected with an adjusting shaft 21 in a rotating manner, a movable end of each adjusting shaft 21 is fixedly connected with a gear 19 matched with the inner gear ring 18, a plurality of cameras 22 are uniformly arranged on the outer circular surface of each rotating seat 17, each camera 22 is internally provided with a wireless transmission module 23, each camera 22 can be directly connected with a tablet personal computer, a notebook computer or a mobile phone through the wireless transmission module 23 during, the underwater cleaning fluid is transmitted to a tablet personal computer, a notebook computer or a mobile phone in real time, so that workers can know underwater operation conditions in real time, and the cleaning quality is ensured; and the gear 19 is driven to rotate by the adjusting motor 20, and the rotating seat 17 is driven to rotate on the slide rail 16 by the mutual matching of the gear 19 and the inner gear ring 18, so that the shooting angle of the camera 22 can be adjusted, and the shooting quality is ensured.
Example 3
Referring to fig. 4, the difference from example 1 is: clearance ball 14 includes base spheroid 141, and base spheroid 141 fixed mounting is on clearance axle 12, and elastic layer 142 is established to base spheroid 141's outside cover, elastic layer 142's ectosphere is equipped with brush hair 143, base spheroid 141 is the preparation of plastics material, elastic layer 142 chooses for use the preparation of rubber material to form, brush hair 143 chooses for use the preparation of stainless steel material to form, and it is rotatory to drive base spheroid 141 through clearance axle 12, utilizes base spheroid 141 to drive brush hair 143 clearance debris operation, because whole brush hair 143 is the spheroid and distributes, can directly clear up a plurality of angles, need not specific clearance angle to reduce whole clearance ball 14's adjustment degree of difficulty by a wide margin.
Referring to fig. 5, the cleaning method of the underwater cleaning robot disclosed in the above embodiment includes the following steps:
s1) releasing the cleaning robot: firstly, the camera 22 can be directly connected with a tablet personal computer, a notebook computer or a mobile phone through the wireless transmission module 23; then the whole robot device is put into water;
s2) adjusting the cleaning robot: the up-down direction and the front-back direction of the machine body 1 can be adjusted by matching the second propulsion paddle 7 with the radial propulsion duct 3, and the left-right direction of the machine body 1 can be pushed and adjusted by matching the two first propulsion paddles 4, so that the machine body 1 is conveyed to the side of an underwater building, and the machine body 1 is opposite to the underwater building in a radial direction or the axis is opposite to the underwater building; during the process of adjusting the position of the machine body 1, the camera 22 is used for shooting underwater pictures to provide information for the adjustment of the whole machine body 1, so that the adjustment operation is convenient to complete;
s3) finishing the cleaning operation: firstly, starting a cleaning motor 11, wherein the cleaning motor 11 drives a cleaning ball 14 to rotate through a cleaning shaft 12; then, the machine body 1 is further pushed to approach the underwater building through the step S2, and sundries on the surface of the underwater building are cleaned by the cleaning balls 14 until the complete cleaning is finished; during cleaning, the camera 22 is used for shooting an underwater cleaning picture to provide information for adjustment of the whole cleaning work, so that the cleaning work is conveniently finished;
s4) stowing the cleaning robot: after the cleaning operation is finished, the cleaning motor 11 is stopped, the first propulsion paddle 4 and the second propulsion paddle 7 are matched with each other to push the whole equipment out of the water surface, and then the whole equipment is retracted.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (9)
1. An underwater cleaning robot comprises a machine body (1), wherein the machine body (1) is of a cylindrical structure, cleaning plates (10) are symmetrically sleeved on the left side and the right side of the outer circular surface of the machine body (1), and the underwater cleaning robot is characterized in that the cleaning plates (10) are circular ring plates, a plurality of cleaning motors (11) are uniformly arranged at the adjacent ends of the cleaning plates (10), a cleaning shaft (12) is rotatably connected onto the cleaning motors (11), the movable end of the cleaning shaft (12) penetrates through the cleaning plates (10) and is fixedly connected with cleaning balls (14), the cleaning shaft (12) is rotatably connected onto the cleaning plates (10) through bearings (13), a waterproof cover (15) is sleeved on the outer side of the cleaning motors (11), the waterproof cover (15) is fixedly installed on the cleaning plates (10), and the diameter of the cleaning balls (14) is larger than the single-side width of the cleaning plates (10);
an axial propelling pore passage (2) is arranged in the machine body (1), the axial propelling pore passage (2) is communicated and connected with the left end and the right end of the machine body (1), first protective screens (6) are symmetrically arranged at the left end and the right end of an inner cavity of the axial propelling pore passage (2), first propelling paddles (4) are symmetrically arranged at the left side and the right side of the inner cavity of the axial propelling pore passage (2), and the first propelling paddles (4) are fixedly arranged on the wall of the inner cavity of the axial propelling pore passage (2) through first connecting rods (5);
the outer disc middle part of organism (1) is circular array and is equipped with a plurality of radial propulsion pore (3), it is perpendicular through-connection to radially impel between pore (3) and the axial propulsion pore (2), and the one end that the axial propulsion pore (2) was kept away from to the inner chamber that radially impels pore (3) is installed second protection network (9), radially impels and installs second propulsion oar (7) in pore (3), the second impels oar (7) through second connecting rod (8) fixed connection on the inner chamber wall of radial propulsion pore (3).
2. An underwater cleaning robot as claimed in claim 1, characterized in that the axis of the body (1) coincides with the axis of the axial propulsion duct (2).
3. An underwater cleaning robot as claimed in claim 1, characterized in that the directions of rotation of the two first propulsion paddles (4) are diametrically opposite.
4. The underwater cleaning robot as claimed in claim 1, wherein a sliding rail (16) is fixedly mounted on all waterproof covers (15) on one cleaning plate (10) together, the sliding rail (16) is of a circular ring structure, the sliding rail (16) is sleeved on the outer side of the machine body (1), a rotating seat (17) is connected onto the sliding rail (16) in a sliding manner, an inner toothed ring (18) is sleeved in an inner cavity of the rotating seat (17), an adjusting motor (20) is mounted at one side end of the machine body (1), an adjusting shaft (21) is connected onto the adjusting motor (20) in a rotating manner, a gear (19) matched with the inner toothed ring (18) is fixedly connected onto the movable end of the adjusting shaft (21), a plurality of cameras (22) are uniformly arranged on the outer circumferential surface of the rotating seat (17), and a wireless transmission module (23) is mounted into the cameras (22).
5. An underwater cleaning robot as claimed in claim 4, characterized in that the cross-section of the slide (16) is a T-shaped structure.
6. An underwater cleaning robot as claimed in claim 4, characterized in that the rotary seat (17) is of a circular ring configuration.
7. An underwater cleaning robot as claimed in claim 1, wherein the cleaning ball (14) comprises a base ball body (141), the base ball body (141) is fixedly mounted on the cleaning shaft (12), an elastic layer (142) is sleeved outside the base ball body (141), and the outer spherical surface of the elastic layer (142) is provided with bristles (143).
8. An underwater cleaning robot as claimed in claim 7, wherein the base sphere (141) is made of plastic material, the elastic layer (142) is made of rubber material, and the bristles (143) are made of stainless steel material.
9. A cleaning method of an underwater cleaning robot according to any one of claims 1 to 8, comprising the steps of:
s1) releasing the cleaning robot: firstly, a camera (22) can be directly connected with a tablet personal computer, a notebook computer or a mobile phone through a wireless transmission module (23); then the whole robot device is put into water;
s2) adjusting the cleaning robot: the up-down direction and the front-back direction of the machine body (1) can be adjusted by matching the second propulsion paddle (7) with the radial propulsion duct (3), and the left-right direction of the machine body (1) can be pushed and adjusted by matching the two first propulsion paddles (4), so that the machine body (1) is conveyed to the side of an underwater building, and the machine body (1) is opposite to the underwater building in a radial direction or the axis is opposite to the underwater building; in the process of adjusting the position of the machine body (1), a camera (22) is used for shooting underwater pictures to provide information for the adjustment of the whole machine body (1), so that the adjustment operation is convenient to complete;
s3) finishing the cleaning operation: firstly, starting a cleaning motor (11), wherein the cleaning motor (11) drives a cleaning ball (14) to rotate through a cleaning shaft (12); then, the machine body (1) is further pushed to approach the underwater building through the step S2, and sundries on the surface of the underwater building are cleaned by using the cleaning ball (14) until the complete cleaning is finished; during cleaning, a camera (22) is used for shooting an underwater cleaning picture, so that information is provided for adjustment of the whole cleaning work, and the cleaning work is convenient to complete;
s4) stowing the cleaning robot: after the cleaning work is finished, firstly the cleaning motor (11) is stopped, then the first propulsion paddle (4) and the second propulsion paddle (7) are matched with each other to push the whole equipment out of the water surface, and then the whole equipment is retracted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911320249.XA CN111113442A (en) | 2019-12-19 | 2019-12-19 | Underwater cleaning robot and cleaning method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911320249.XA CN111113442A (en) | 2019-12-19 | 2019-12-19 | Underwater cleaning robot and cleaning method thereof |
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| CN111113442A true CN111113442A (en) | 2020-05-08 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112547629A (en) * | 2020-10-20 | 2021-03-26 | 中国水产科学研究院南海水产研究所 | Net cleaning robot and method for large steel aquaculture net cage |
| CN114011775A (en) * | 2021-10-21 | 2022-02-08 | 广东行远机器人技术有限公司 | Pump room gate sealing area cleaning method, system and computer readable storage medium |
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Application publication date: 20200508 |