CN111229687A

CN111229687A - Underwater cleaning system

Info

Publication number: CN111229687A
Application number: CN202010057617.2A
Authority: CN
Inventors: 熊明磊; 陈龙冬; 孙勐
Original assignee: Boya Gongdao Beijing Robot Technology Co Ltd
Current assignee: Boya Gongdao Beijing Robot Technology Co Ltd
Priority date: 2020-01-19
Filing date: 2020-01-19
Publication date: 2020-06-05

Abstract

The invention relates to an underwater cleaning system, which belongs to the technical field of cleaning equipment, and comprises water supply equipment capable of generating high-pressure water, wherein the water supply equipment is arranged on a shore; the cavitation cleaning device comprises an underwater robot and a cavitation cleaning disc capable of generating cavitation bubbles, wherein the cavitation cleaning disc is installed on the underwater robot, and the water inlet end of the cavitation cleaning disc is communicated with the water outlet end of the water supply equipment through a pipeline. By adopting the structure, the washing and cleaning system provided by the invention cleans underwater objects by moving the underwater robot carrying the cavitation cleaning disc underwater, can carry out cleaning operation for a long time, and has high working efficiency and low manual labor intensity.

Description

Underwater cleaning system

Technical Field

The invention belongs to the technical field of cleaning equipment, and particularly relates to an underwater cleaning system.

Background

Various marine organisms are easy to grow on the surfaces of underwater and underwater objects such as ship bodies, net cages, piers, bridge columns and the like, corrode material matrixes, increase running resistance and even cause major accidents, so that the underwater and underwater objects need to be cleaned regularly. The current methods applied to the aspect of cleaning mainly adopt manual scraping, high-pressure water jet, sand blasting and mechanical electric brush polishing.

With the scientific progress, the cavitation jet equipment adopts the cavitation principle and can achieve good cleaning effect, so the cavitation jet cleaning equipment is applied to underwater cleaning, but in the prior art, a diver usually dives into water and holds a cavitation cleaning disc to clean the surface of an object under water, so the labor intensity is high, and the efficiency is low.

Disclosure of Invention

The invention provides an underwater cleaning system, which is used for solving the technical problems of high labor intensity and low efficiency caused by manually submerging and manually cleaning underwater objects by a cavitation cleaning disc in the prior art.

The invention is realized by the following technical scheme: an underwater cleaning system comprising:

a water supply apparatus capable of generating high pressure water, the water supply apparatus being installed on shore;

the cavitation cleaning device comprises an underwater robot and a cavitation cleaning disc capable of generating cavitation bubbles, wherein the cavitation cleaning disc is installed on the underwater robot, and the water inlet end of the cavitation cleaning disc is communicated with the water outlet end of the water supply equipment through a pipeline.

Further, in order to better realize the invention, the underwater robot comprises a frame body, a floating material, a horizontal propeller, a vertical propeller, a holder and a controller, the frame body is a frame structure provided with a hoisting structure, the floating material is arranged on the frame body, the number of the horizontal thrusters and the number of the vertical thrusters are four, four horizontal thrusters are arranged on the periphery of the frame body, four vertical thrusters are arranged on the top wall of the frame body and the four vertical thrusters are distributed at four top corners of the same rectangle, the cloud platform is installed on the support body, still be equipped with the sealed cabin in the support body, the controller is installed in the sealed cabin and this controller with horizontal propeller, perpendicular propeller and the equal electricity of cloud platform are connected in order to receive the information that the cloud platform was collected and control horizontal propeller and the motion state of perpendicular propeller.

Further, in order to better implement the invention, the underwater robot further comprises a crawler chassis, and the crawler chassis is installed at the bottom end of the frame body.

Further, in order to better realize the invention, the crawler chassis comprises two crawler groups, each crawler group comprises a crawler, a support wheel, a support plate, a driving wheel, a driven wheel and a driving motor, the driving wheel, the driven wheel and the support wheel are all rotatably mounted on the support plate, the support wheel is positioned between the driving wheel and the driven wheel, a rotating shaft of the driving motor is connected with the driving wheel to drive the driving wheel to rotate, the crawler wraps the driving wheel, the driven wheel and the support wheel and is meshed with the driving wheel, a connecting plate is mounted on one side of the support plate far away from the crawler, and the frame body is connected with the connecting plate.

Furthermore, in order to better implement the invention, the number of the supporting wheels is multiple, a plurality of racks are uniformly distributed on the outer surface of the crawler belt, the distance between two adjacent supporting wheels is greater than the pitch between two adjacent racks, and the distance between two adjacent supporting wheels is a non-integral multiple of the pitch between two adjacent racks.

Furthermore, in order to better realize the invention, the cavitation cleaning disc comprises a cover body, a cavitation jet nozzle, a connecting pipe, a rotary joint and a flange sleeve, wherein a central hole is formed in the center of the cover body, the flange sleeve is installed on the outer wall of the cover body, an inner hole of the flange sleeve is communicated with the central hole, a round pipe is arranged at the upper part of the rotary joint, the round pipe penetrates through the central hole and is inserted into the inner hole of the flange sleeve, the round pipe is connected with the pipeline, one end of the connecting pipe is connected with the lower part of the rotary joint, the cavitation jet nozzle is installed at the other end of the connecting pipe, and the cavitation jet nozzle is positioned in the cover body;

the side wall of the cover body is provided with a first through hole, the cover body further comprises a sealing cover plate, the sealing cover plate is provided with a round hole and is rotatably installed on the outer wall of the cover body through the matching of the round hole and the flange sleeve, and the sealing cover plate is further provided with a second through hole;

in the first state, the second through hole is opposite to and communicated with the first through hole;

and in the second state, the second through hole and the first through hole are staggered.

Further, in order to better realize the invention, the connecting pipe comprises a first straight pipe section, a minor arc pipe section and a second straight pipe section which are sequentially connected, the free end of the first straight pipe section is connected to the rotary joint, the cavitation jet nozzle is installed at the free end of the second straight pipe section, the central axis of the first straight pipe section, the central axis of the minor arc pipe section and the central axis of the second straight pipe section are both located on a plane A, the included angle between the plane A and the axial direction of the cover body is α, and 0 is more than α and less than 45 degrees.

Further, in order to better implement the invention, the number of the cavitation cleaning discs is two, and the two cavitation cleaning discs are both arranged right in front of the traveling path of the underwater robot.

Furthermore, in order to better realize the invention, the water supply equipment comprises a frame, a winding drum, a water suction pump and a plunger pump, wherein the winding drum is rotatably installed on the frame, the water suction pump and the plunger pump are both installed in the frame, the water inlet end of the water suction pump is communicated with a water source, the water outlet end of the water suction pump is communicated with the water inlet end of the plunger pump, the water inlet end of the pipeline is communicated with the water outlet end of the plunger pump, and the pipeline is wound on the winding drum;

the water supply equipment still includes reel motor and control box, the reel motor is installed on the frame and be used for the drive the reel rotates, the control box is installed in the frame and this control box with plunger pump, suction pump and the equal electricity of reel motor is connected in order to control plunger pump, suction pump and the operating condition of reel motor.

Further, in order to better implement the present invention, the water supply apparatus further includes a water filter installed in the frame and communicating between the suction pump and the plunger pump.

Compared with the prior art, the invention has the following beneficial effects:

the underwater cleaning system provided by the invention comprises water supply equipment arranged on the shore, an underwater robot and a cavitation cleaning disc, wherein the water supply equipment can generate high-pressure water, the cavitation cleaning disc is arranged on the underwater robot, and the water inlet end of the cavitation cleaning disc is communicated with the water outlet end of the water supply equipment through a pipeline.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic diagram of an embodiment of the invention illustrating the configuration of an underwater cleaning system;

FIG. 2 is a schematic view of the installation structure of the underwater robot, a cavitation cleaning disc and a crawler chassis in the embodiment of the invention;

FIG. 3 is a top view of the structure shown in FIG. 2;

FIG. 4 is a schematic diagram of the distribution of horizontal thrusters on an underwater robot in accordance with the present invention;

FIG. 5 is a schematic illustration of the configuration of a track set in an embodiment of the present invention;

FIG. 6 is a schematic view of the structure of FIG. 5 without the connecting plate and drive motor shown;

FIG. 7 is a schematic view of a horizontal thruster in an embodiment of the present invention;

FIG. 8 is a schematic mechanical diagram of a vertical pusher in an embodiment of the present invention;

FIG. 9 is a schematic structural view of a cavitation cleaning disk in an embodiment of the present invention;

FIG. 10 is another perspective view of the structure shown in FIG. 9;

FIG. 11 is a control schematic of the controller of the present invention;

fig. 12 is a control schematic diagram of the control box in the present invention.

In the figure:

1-a water supply device; 11-a frame; 12-a reel; 13-a water pump; 14-a plunger pump; 15-a control box; 16-a water filter; 17-a drum motor;

2-an underwater robot; 21-floating material; 22-a frame body; 23-a horizontal thruster; 24-a vertical thruster; 25-a pan-tilt; 26-a hoisting structure; 27-sealing the cabin; 28-a controller;

3-cavitation cleaning disc; 31-a cover; 32-cavitation jet nozzle; 33-connecting tube; 34-a rotary joint; 35-flange sleeve; 36-sealing the cover plate; 361-second via;

4-a crawler chassis; 41-track; 42-a support wheel; 43-a support plate; 44-driving wheel; 45-driven wheel; 46-a drive motor; 47-rack;

5-connecting plates;

6-pipeline.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.

Example 1:

the embodiment provides an underwater cleaning system which is used for cleaning the outer surfaces of underwater objects such as ship bodies, net cages, piers, bridge columns and the like.

The underwater cleaning system includes a water supply apparatus 1, and the water supply apparatus 1 is installed on the shore and is capable of generating high pressure water.

Also included is an underwater robot 2 (i.e., an ROV), which underwater robot 2 is capable of submerging and moving underwater.

The device also comprises a cavitation cleaning disc 3, wherein the cavitation cleaning disc 3 can generate cavitation bubbles by using a cavitation principle, the cavitation bubbles are generated due to local low pressure (saturated steam of the body at corresponding temperature) of a liquid flow system to form bubbles, strong micro-jet impact can be caused when the cavitation bubbles collapse, extremely short pressure pulses are generated, local hot spots are formed in micro spaces around the bubbles to generate extremely high temperature and pressure, and the chemical mechanical action, the electrochemical mechanical action, the electrical and thermal action are accompanied with complex physical reaction. The speed of the micro-jet at the near wall can be 70 to 180m/s when the cavitation bubbles collapse, the impact force generated on the surface of the object is up to 140 to 170Mpa, the diameter of the micro-jet is about 2 to 3 mu m, and the number of times of the surface impacted by the micro-jet is about 100 to 1000/(s-cm)²). Therefore, in the prior art, the cavitation jet device manufactured by adopting the principle has the advantages of high efficiency, no damage to a substrate and the like in the aspect of cleaning. The cavitation cleaning disc 3 is also installed on the underwater robot 2 by adopting the cavitation jet principle, and when the underwater robot 2 moves in water, the cavitation cleaning disc 3 can be driven to move in water. And the water inlet end of the cavitation cleaning disc 3 is communicated with the water outlet end of the water supply device 1 through a pipeline 6. Thus, the cavitation cleaning disk 3 can clean the surface of the object in water.

Adopt above-mentioned structure, the cleaning system under water that this embodiment provided, with the subassembly part setting that water supply installation 1 and underwater robot 2 and cavitation washing dish 3 are constituteed, and then be convenient for implement more, 2 area bodies of underwater robot are artifical sneaks into under water and drive cavitation washing dish 3 and remove in order to wash the object surface in aqueous moreover, can wash work for a long time, efficient, artifical labour greatly reduced.

Example 2:

this embodiment is a specific implementation manner of embodiment 1, and the underwater robot 2 in this embodiment includes a frame 22, a buoyant material 21, a horizontal thruster 23, a vertical thruster 24, a pan/tilt head 25 and a controller 28, wherein the frame 22 is a rectangular steel frame structure having a top plate and a bottom plate, and the buoyant material 21 is mounted on the frame 22 to provide buoyancy to the frame 22, so that the underwater robot 2 can be suspended in water. A lifting structure 26 is installed at the center of the top plate of the frame body 22 so that a user can conveniently use a lifting rope to take up and pay off the underwater robot 2.

The number of the horizontal thrusters 23 and the vertical thrusters 24 is four. The four horizontal thrusters 23 are respectively installed in the frame body 22, and preferably, the horizontal thrusters 23 are installed on the bottom wall of the frame body 22, and the four horizontal thrusters 23 are respectively located at four corners of the frame body 22, so that one horizontal thruster 23 is respectively installed around the frame body 22, and an included angle of 45 degrees is formed between a central axis of each horizontal thruster 23 and a side line of the frame body 22, and central axes of two adjacent horizontal thrusters 23 are perpendicular to each other. By adopting the structure, the underwater robot 2 can do linear motion or 360-degree rotation in the horizontal direction by operating different horizontal propellers 23, such as forward, backward, left-hand, right-hand, left-hand and right-hand motions. Four above-mentioned vertical thrusters 24 all install on the roof (roof) of support body 22 and inlay in floating material 21, and four vertical thrusters 24 are located four apex angle departments of same rectangle respectively moreover, adopt this kind of structure, and vertical thrusters 24 not only can drive underwater robot 2 and go up and down to move in the vertical direction, and through the different vertical thrusters 24 of operation, can also drive it and carry out 360 upsets in the vertical direction to accomplish for example forward facing upward, hypsokinesis, left side is rolled, right side is rolled etc. and move.

By means of the four horizontal propellers 23 and the four vertical propellers 24, the underwater robot 2 can be made more flexible when suspended in water, so that the underwater robot can be adjusted to the best posture when observing the water area.

As a best mode of the embodiment, the horizontal propeller 23 and the vertical propeller 24 in the embodiment are both electric propellers, each electric propeller includes a forward and reverse rotation motor, a blade, and a nacelle, wherein a rotating shaft of the forward and reverse rotation motor is connected with the blade to drive the blade to rotate, the nacelle is mounted on a housing of the forward and reverse rotation motor and covers the blade, so as to protect the blade, and the forward and reverse rotation motor can provide forward and reverse rotation, so as to drive the underwater robot 2 to move more flexibly in water.

The above-mentioned cloud platform 25 is installed in the support body 22, and still be equipped with the capsule 27 in the support body 22, the controller 28 is then installed in the capsule 27, cloud platform 25 includes camera and light, the light can provide the illumination, the aquatic image can be collected to the camera, the camera is connected with controller 28 electricity, thereby transmit the aquatic image information of collecting for controller 28, controller 28 can handle this information and pass back to the accuse platform in ground, so that the accuse platform carries out corresponding operation in ground, and above-mentioned controller 28 is connected with the just reversal motor of above-mentioned horizontal propeller 23 and the just reversal motor of vertical propeller 24 is all electrically, with the operating condition of controlling horizontal propeller 23 and vertical propeller 24, the operation is also controlled through this controller 28 to above-mentioned light. It should be noted that the controller 28 is an STM32F4 or STM32H7 series single-chip microcomputer.

Example 3:

in this embodiment, as a more preferable embodiment of embodiment 2, the underwater robot 2 in this embodiment further includes a crawler chassis 4 installed at the bottom of the frame body 22, and with this structure, when the underwater robot 2 is suspended in water, the movement can be driven by four horizontal pushers 23 and/or vertical pushers 24, when the underwater robot 2 lands on the surface of the water area ground/objects, the underwater robot can be driven to move by the crawler chassis 4, because the crawler belt chassis 4 is pressed on the surface of the water area ground/underwater object when moving, the crawler belt chassis 4 can not generate excessive stirring to the silt on the surface of the water area ground/underwater object in the process of running, in this way, the surrounding environment of the underwater robot 2 is not too turbid, so that the underwater robot 2 has a better view in any field in water.

As a specific implementation manner of this embodiment, the crawler chassis 4 in this embodiment includes two sets of crawler sets, each crawler set includes a crawler 41, a supporting wheel 42, a supporting plate 43, a driving wheel 44, a driven wheel 45, and a driving motor 46, wherein the driving wheel 44, the driven wheel 45, and the supporting wheel 42 are rotatably mounted on the supporting plate 43, the supporting wheel 42 is located between the driving wheel 44 and the driven wheel 45, the driving motor 46 is mounted on the supporting plate 43, a rotating shaft of the driving motor 46 is connected to the driving wheel 44 to drive the driving wheel 44 to rotate, the crawler 41 is wrapped around the driving wheel 44, the driven wheel 45, and the supporting wheel 42, and the crawler 41 is engaged with the driving wheel 44, such that the driving wheel 44 can drive the crawler 41 to rotate, thereby implementing the traveling of the crawler chassis 4, the driven wheel 45 can plan the rotating path of the crawler 41, the bottom ends of the supporting wheels 42 are attached to the, thereby supporting the crawler 41, the support plate 43 is provided with a connecting plate 5 at a side away from the crawler 41, and the frame body 22 is detachably and fixedly connected with the connecting plate 5 through screws, thereby realizing the connection between the crawler chassis 4 and the underwater robot 2.

In this embodiment, the plurality of racks 47 are uniformly distributed on the outer surface of the crawler 41 along the width direction of the crawler 41, the number of the supporting wheels 42 is multiple, the distance between two adjacent supporting wheels 42 is greater than the pitch between two adjacent racks 47, and the distance between two adjacent supporting wheels 42 is a non-integral multiple of the pitch between two adjacent racks 47.

Preferably, the distance between every two adjacent supporting wheels 42 is different, so that the occurrence frequency of the situation that the supporting wheels 42 do not press the rack 47 can be further reduced, and a better vibration reduction effect is achieved.

Example 4:

in this embodiment, as a best mode of the above embodiment, the cavitation cleaning disk 3 includes a cover body 31, a cavitation jet 32, a connecting pipe 33, a rotary joint 34 and a flange sleeve 35, wherein the cover body 31 is a circular truncated cone shaped housing structure, an opening is formed through the bottom surface of the cover body 31, a central hole is formed at the center position of the top surface of the cover body 31, the flange sleeve 35 is installed on the outer wall of the top surface of the cover body 31, the inner hole of the flange sleeve 35 is communicated with the central hole, a circular pipe is arranged on the upper portion of the rotary joint 34, the circular pipe passes through the central hole and is inserted into the inner hole of the flange sleeve 35, a pipe 6 connected to the water outlet end of the water supply device 1 includes a hose and a hard pipe, one end of the hose is connected to the water outlet end of the water supply device 1, the other end of the hose is inserted into the top plate of the frame, the hard pipe is fixedly (welded or clamped) to the frame body 22, and the other end of the hard pipe is connected to the circular pipe, so that the pipeline 6 is communicated with the rotary joint 34, the rotary joint 34 is hollow, a mounting through hole is formed at the lower part of the rotary joint 34, one end of the connecting pipe 33 is inserted into the mounting through hole, the other end of the connecting pipe 33 is provided with the cavitation jet nozzle 32, the cavitation jet nozzle 32 can convert the high-pressure water supplied by the water supply device 1 into cavitation bubbles, and the cavitation jet nozzle 32 is located inside the cover body 31.

Adopt above-mentioned structure, being connected between hard tube and the rotary joint 34 and being connected between hard tube and the support body 22 can be so that cavitation cleaning disc 3 installs on above-mentioned support body 22, when underwater robot 2 is in the time of the removal under water, will drive cavitation cleaning disc 3 and remove, when underwater robot 2 passes through crawler chassis 4 and attaches to under water the object surface, then can utilize cavitation cleaning disc 3 to wash the object surface. Preferably, the crawler belt 41 is a rubber crawler belt to enhance adhesion between the crawler belt 41 and the surface of the object, and the cavitation cleaning disc 3 may be attached to the surface of the object by generating a negative pressure inside the cover 31 after the cavitation bubbles are collapsed, by generating a negative pressure inside the cover 31.

Preferably, the side wall (most preferably, the top surface) of the cover 31 in this embodiment is provided with a first through hole, through which the inside of the cover 31 can be communicated with the outside of the cover 31, the cavitation cleaning disk 3 is further provided with a cover plate 36, a circular hole is provided at a central position of the cover plate 36, the circular hole is sleeved outside the flange sleeve 35 and is located on the outer wall of the cover 31, so that the cover plate 36 can rotate on the cover 31 with the central axis of the central hole as a central line, and the cover plate 36 is further provided with a second through hole 361.

In the first state, the second through hole 361 is in direct contact with the first through hole, and at this time, the internal space and the external space of the cover 31 are in contact with each other, so that the negative pressure inside the cover 31 is minimized;

in the second state, the second through hole 361 is offset from the first through hole, and at this time, the internal space and the external space of the cover 31 are not communicated with each other, and the negative pressure generated in the cover 31 is maximized.

It should be noted that the switching between the first state and the second state is actually realized by rotating the cover plate 36 on the cover 31, and certainly, there are a plurality of states between the first state and the second state, that is, the opening size of the first through hole can be changed, so as to satisfy the purpose that the user adjusts the size of the negative pressure in the cover 31 according to the requirement, and further adjust the suction force of the cavitation cleaning disc 3 attached to the surface of the object, so as to more conveniently move the cavitation cleaning disc 3 for cleaning.

In a preferred embodiment of the present invention, the connection pipe 33 includes a first straight pipe section, a minor arc pipe section and a second straight pipe section connected in sequence, the free end of the first straight pipe section is inserted into the rotary joint 34, the cavitation jet head 32 is mounted on the free end of the second straight pipe section, and the cavitation jet head 32 faces the side through which the cover 31 penetrates, the central axis of the first straight pipe section and the central axis of the minor arc pipe section and the central axis of the second straight pipe section are both defined in a plane a, the angle between the plane a and the axial direction of the cover 31 is α, 0 < α < 45 °, the rotary joint 34 is a conventional technique, and the lower portion thereof is rotatable with respect to the middle portion and the upper portion, and when the cavitation jet head 32 generates a jet flow, a horizontal thrust force (component force) is generated in the second straight pipe section of the connection pipe 33, and the lower portion of the rotary joint 34 is driven to rotate with respect to the upper portion and the upper portion of the rotary joint 34, thereby achieving a better cleaning effect.

It is noted that the minor arc tube segment has a central angle of less than 90 °.

In a more preferred embodiment of this embodiment, an included angle between the central axis of the second straight tube section and the axial direction of the cover 31 is β, 0 < β < 45 °, so that the cavitation bubbles ejected from the cavitation jet nozzle 32 cover a larger area, thereby achieving a better cleaning effect.

As a preferred embodiment of this embodiment, the number of cavitation cleaning discs 3 in this embodiment is two, and the two cavitation cleaning discs 3 are both arranged right in front of the traveling path of the crawler chassis 4, and it is noted that when the crawler chassis 4 is attached to the surface of an object in water, the advancing direction of the cleaning device is provided with a right front part and a right rear part, the two cavitation cleaning discs 3 are both arranged right front of the advancing path of the crawler chassis 4 (namely the underwater robot 2), thus, when cleaning, the surface pressed by the crawler chassis 4 is cleaned by the cavitation cleaning disc 3, the adhesive force between the crawler chassis 4 and the object surface is further increased, and the two cavitation cleaning discs 3 are arranged side by side, and the outer walls of the two cavitation cleaning discs 3 are attached to each other or are separated by less than 2-10mm, the two cavitation cleaning discs 3 can clean a larger area at one time, and the working efficiency of the underwater cleaning system provided by the embodiment is further improved.

Example 5:

the present embodiment is a specific implementation manner of the above embodiment, and in the present embodiment, the water supply device 1 includes a frame 11, a reel 12, a water pump 13, and a plunger pump 14. The winding drum 12 has a function of winding the pipeline 6, is rotatably mounted on the frame 11, the water suction pump 13 and the plunger pump 14 are both mounted in the frame 11, a water inlet end of the water suction pump 13 is communicated with a water source, the water suction pump 13 can pump water from the water source under the condition of power-on, a water outlet end of the water suction pump 13 is communicated with a water inlet end of the plunger pump 14, the water pumped by the water suction pump 13 enters the plunger pump 14 for pressurization, a water inlet end of the pipeline 6 is communicated with a water outlet end of the plunger pump 14, the water pressurized by the plunger pump 14 enters the pipeline 6 and is finally conveyed to the cavitation cleaning disc 3 through the pipeline 6, and the pipeline 6 is wound on the winding drum 12, specifically, a hose of the pipeline 6 is wound on the winding drum 12, and when the winding drum 12 rotates, the hose can be driven to be wound and unwound.

In addition, the water supply device 1 further includes a reel motor 17 and a control box 15, wherein the reel motor 17 is installed on the frame 11 and is used for driving the reel 12 to rotate, the control box 15 is also installed in the frame 11, and the control box 15 is electrically connected with the plunger pump 14, the water pump 13 and the reel motor 17 to control the operating states of the plunger pump 14, the water pump 13 and the reel motor 17, it is noted that the control box 15 in this embodiment is a box body having electrical components such as a relay, an exchanger and a delay switch inside, and the control box 15 in this embodiment actually controls two pumps and one motor to operate according to a prescribed action, the control principle is simple, which is very common in the prior art, and thus detailed description thereof is omitted here.

Through this kind of structure, use suction pump 13 and plunger pump 14's cooperation to the water pressurization with the water source is high pressure water, and carries to cavitation cleaning disc 3 through pipeline 6, and pipeline 6 receive and releases through reel 12, and simple structure, with low costs, it is the components of a whole that can function independently structure with above-mentioned underwater robot 2, cavitation cleaning disc 3 and track chassis 4, thereby convenient production and installation.

A more preferable embodiment of the present embodiment is that the water supply apparatus 1 of the present embodiment further comprises a water filter 16, and the water filter 16 is installed in the frame 11 and communicated between the suction pump 13 and the plunger pump 14.

By adopting the structure, the water conveyed to the cavitation cleaning disc 3 is purer, so that the cleaning is convenient.

The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims

1. An underwater cleaning system, comprising:

2. An underwater cleaning system according to claim 1, wherein: the underwater robot comprises a support body, floating materials, horizontal propellers, vertical propellers, a pan-tilt and a controller, wherein the support body is of a frame structure provided with a lifting structure, the floating materials are installed on the support body, the number of the horizontal propellers and the number of the vertical propellers are four, the horizontal propellers are installed around the support body, the vertical propellers are installed on the top wall of the support body, four vertical propellers are distributed at four corners of the same rectangle, the pan-tilt is installed on the support body, a sealed cabin is further arranged in the support body, the controller is installed in the sealed cabin, the controller is electrically connected with the horizontal propellers, the vertical propellers and the pan-tilt to receive the information collected by the pan-tilt and control the horizontal propellers and the motion state of the vertical propellers.

3. An underwater cleaning system according to claim 2, wherein: the underwater robot further comprises a crawler chassis, and the crawler chassis is arranged at the bottom end of the frame body.

4. An underwater cleaning system according to claim 3, wherein: two sets of track groups on the track chassis, track group includes track, supporting wheel, backup pad, action wheel, follows driving wheel and driving motor, the action wheel follow the driving wheel with the supporting wheel all rotates to be installed in the backup pad just the supporting wheel is located the action wheel with from between the driving wheel, driving motor's pivot with the action wheel links to each other in order to drive the action wheel rotates, the track wraps up and covers the action wheel follow the driving wheel with the supporting wheel is outer and this track with the action wheel meshing, keep away from in the backup pad one side of track is installed the connecting plate, the support body with the connecting plate is connected.

5. An underwater cleaning system according to claim 4, wherein: the supporting wheels are multiple in number, a plurality of racks are uniformly distributed on the outer surface of the crawler, the distance between every two adjacent supporting wheels is larger than the tooth pitch between every two adjacent racks, and the distance between every two adjacent supporting wheels is a non-integral multiple of the tooth pitch between every two adjacent racks.

6. An underwater cleaning system according to any one of claims 1 to 5 wherein: the cavitation cleaning disc comprises a cover body, a cavitation jet nozzle, a connecting pipe, a rotary joint and a flange sleeve, wherein a central hole is formed in the center of the cover body, the flange sleeve is installed on the outer wall of the cover body, an inner hole of the flange sleeve is communicated with the central hole, a circular pipe is arranged at the upper part of the rotary joint, the circular pipe penetrates through the central hole and is inserted into the inner hole of the flange sleeve, the circular pipe is connected with the pipeline, one end of the connecting pipe is connected with the lower part of the rotary joint, the cavitation jet nozzle is installed at the other end of the connecting pipe, and the cavitation jet nozzle is located in the cover body;

7. An underwater cleaning system as claimed in claim 6, wherein the connecting pipe includes a first straight pipe section, a minor arc pipe section and a second straight pipe section which are connected in sequence, the free end of the first straight pipe section is connected to the swivel joint, the cavitation jet nozzle is mounted at the free end of the second straight pipe section, the central axis of the first straight pipe section, the central axis of the minor arc pipe section and the central axis of the second straight pipe section are located on a plane A, an included angle between the plane A and the axial direction of the cover body is α, and 0 & lt α & lt 45 °.

8. An underwater cleaning system according to claim 7 wherein: the number of the cavitation cleaning discs is two, and the two cavitation cleaning discs are arranged right in front of the traveling path of the underwater robot.

9. An underwater cleaning system according to any one of claims 1 to 5 wherein: the water supply equipment comprises a frame, a winding drum, a water suction pump and a plunger pump, wherein the winding drum is rotatably installed on the frame, the water suction pump and the plunger pump are both installed in the frame, the water inlet end of the water suction pump is communicated with a water source, the water outlet end of the water suction pump is communicated with the water inlet end of the plunger pump, the water inlet end of a pipeline is communicated with the water outlet end of the plunger pump, and the pipeline is wound on the winding drum;

10. An underwater cleaning system according to claim 9 wherein: the water supply equipment further comprises a water filter, wherein the water filter is installed in the frame and communicated between the water suction pump and the plunger pump.