CN112572731A

CN112572731A - Underwater automatic cleaning robot

Info

Publication number: CN112572731A
Application number: CN202011603780.0A
Authority: CN
Inventors: 陈伟; 宦键
Original assignee: Haian Keda Robot Technology Co ltd
Current assignee: Haian Keda Robot Technology Co ltd
Priority date: 2020-12-30
Filing date: 2020-12-30
Publication date: 2021-03-30

Abstract

The invention discloses an underwater automatic cleaning robot, which comprises: a hull member including a first hull and a second hull; a boot clearance piece disposed on the hull piece, the boot clearance piece including a hinged fixture disposed on the first hull and the second hull and a boot-removal piece disposed on the hinged fixture; the root removing part comprises a left root removing part, a right root removing part and a root removing belt, the left root removing part and the right root removing part are both arranged on the hinged fixing part, and the root removing belt is arranged on the left root removing part and the right root removing part; a weed winding member provided on the root removing member, the weed winding member winding and collecting the submerged plant after root removal. The submerged plant root cleaning machine is reasonable in structural design and high in automation degree, can obviously reduce the labor intensity of workers, and can obviously improve the submerged plant root cleaning efficiency.

Description

Underwater automatic cleaning robot

Technical Field

The invention relates to the technical field of automation, in particular to an underwater automatic cleaning robot.

Background

The eutrophication of water is a main factor of water quality deterioration of inland rivers and lakes, the eutrophicated water contains abundant nitrogen and phosphorus elements, which can cause breeding and growth of aquatic plants, excessive aquatic plants can consume a large amount of oxygen content in water, resulting in oxygen deficiency of water, the oxygen deficient water can cause death of aquatic animals, the aquatic plants such as duckweeds and submerged plants can not be consumed without the aquatic animals, and the water quality deterioration can be further aggravated due to the corruption of the aquatic plants. At present, the floating plants on the water surface are cleaned by adopting a manual fishing operation mode, workers drive a boat and salvage the floating plants and fallen leaves on the water to the shore by using an intercepting net, but the equipment cannot clean the floating plants and cannot meet the requirement of cleaning the water quality of a river channel and a lake. Meanwhile, the manual salvage operation mode is adopted, so that the defects of low plant cleaning efficiency, large labor capacity of workers, high weed cleaning cost and the like can be caused.

Disclosure of Invention

In order to overcome the defects, the invention provides an underwater automatic cleaning robot, which specifically adopts the following technical scheme:

an underwater automated cleaning robot comprising:

a hull member including a first hull and a second hull;

a boot clearance piece disposed on the hull piece, the boot clearance piece including a hinged fixture disposed on the first hull and the second hull and a boot-removal piece disposed on the hinged fixture; the root removing part comprises a left root removing part, a right root removing part and a root removing belt, the left root removing part and the right root removing part are both arranged on the hinged fixing part, and the root removing belt is arranged on the left root removing part and the right root removing part;

a weed winding member provided on the root removing member, the weed winding member winding and collecting the submerged plant after root removal;

wherein: articulated mounting will remove the root piece and place in submarine silt, remove after the root piece gets into silt through left side remove the root piece with right side remove the root piece and drive remove the root area and rotate, ship body spare passes through articulated mounting drives remove the root piece and clear away the submerged plant root according to the clearance route track line of planning in advance in silt.

Preferably, the hinge fixing member includes a hinge pipe, a hinge rod, a lifting fixing rod, a fixing cap and a lifting member, the hinge pipe and the lifting member are both disposed on the first hull and the second hull, the hinge rod is disposed on the hinge pipe, the lifting fixing rod is disposed on the hinge rod, and the fixing cap is disposed on the lifting fixing rod; the hinged pipes are horizontally and fixedly arranged on the bow of the first ship body and the bow of the second ship body respectively; the number of the hinge rods is two, and the two hinge rods are correspondingly embedded in the hinge pipes; the lifting dead lever is provided with many, many lifting dead lever one end corresponds fixed the setting and is in on the hinge bar.

Preferably, the fixing cap is tubular, two end faces of the fixing cap are closed, a first rotary through hole is formed in the circle center of one end face of the fixing cap, and a second rotary through hole is formed in the circle center of the other end face of the fixing cap; the fixed cap is provided with two, two the fixed cap corresponds fixed the setting many on the lifting dead lever other end.

Preferably, the lifting piece comprises a plurality of winches, the winches are fixedly arranged on the first ship body and the second ship body respectively, tension sensors are arranged on steel ropes of the winches, and the winches are fixedly connected with the lifting fixing rods correspondingly through the tension sensors respectively.

Preferably, the left root removing part comprises a rotating motor, a transmission shaft, a transmission pipe, a buffer spring, a protection pipe and a transmission wheel, wherein the rotating motor and the protection pipe are both arranged on the fixing cap, the transmission shaft is arranged on the rotating motor, the transmission pipe and the buffer spring are both arranged on the transmission shaft, and the transmission wheel is arranged on the transmission pipe; the rotating motor is a double-output-shaft motor, the rotating motor is embedded in the fixing cap, one rotating shaft of the rotating motor penetrates through the first rotating through hole, and the other rotating shaft of the rotating motor penetrates through the second rotating through hole.

Preferably, a sliding groove is formed in the transmission shaft, one end of the transmission shaft is fixedly arranged on a rotating shaft of the rotating motor, and the axis of the transmission shaft is overlapped with the axis of the rotating shaft of the rotating motor; the transmission shaft is sleeved with a first thrust ball bearing and a second thrust ball bearing, and one end face of the first thrust ball bearing is attached to one end face of the fixing cap.

Preferably, the inner diameter of the transmission pipe is not smaller than the diameter of the transmission shaft, a sliding block is arranged on the inner wall of the transmission pipe, and a first suspension ring is fixedly sleeved on the outer side wall of one end of the transmission pipe; one end of the transmission pipe is sleeved on the other end of the transmission shaft, and the sliding block is matched with the sliding groove; the buffer spring is sleeved on the transmission shaft, and two ends of the buffer spring are respectively attached to the other end face of the first thrust ball bearing and the second thrust ball bearing.

Preferably, the inner diameter of the protective tube is larger than the outer diameter of the first suspension ring, the length of the protective tube is larger than the length of the buffer spring, a second suspension ring is fixedly embedded in one end tube of the protective tube, and the second suspension ring has the same structure as the first suspension ring; the protective pipe is sleeved on the buffer spring and the transmission pipe, the other end of the protective pipe is fixedly connected with one end face of the fixing cap, and meanwhile, a rotary sealing ring is arranged at a gap between the second suspension ring and the transmission pipe; the driving wheel is fixedly arranged at the other end of the driving pipe, and the axis of the driving wheel is superposed with the axis of the driving pipe.

Preferably, the right root removing part and the left root removing part have the same structure, the right root removing part is arranged in the other fixing cap, and the right root removing part and the other fixing cap are connected in the same way as the left root removing part and the other fixing cap.

Preferably, the root removing belt comprises a transmission belt and root removing teeth, the transmission belt is arranged on the transmission wheel, and the root removing teeth are arranged on the transmission belt; the transmission belt is sleeved on the transmission wheels of the left root removing part and the right root removing part at the same time and rotates along with the rotation of the transmission wheels; the root removing teeth are in a right-angle block shape and are fixedly arranged on the transmission belt; the root removing teeth are arranged in a plurality of evenly distributed modes on the transmission belt, and each root removing tooth right-angle surface faces the rolling direction of the transmission belt.

The invention at least comprises the following beneficial effects:

1) the underwater automatic cleaning robot has reasonable structural design and high automation degree, can obviously reduce the labor intensity of workers and can obviously improve the root cleaning efficiency of submerged plants;

2) the underwater automatic cleaning robot is provided with a root cleaning part, the root cleaning part comprises a hinged pipe, a hinged rod, a lifting fixing rod, a fixing cap, a lifting part, a left root removing part, a right root removing part and a root removing belt, the left root removing part and the right root removing part are arranged on the fixing cap, the root removing belt is arranged on the left root removing part and the right root removing part, the lifting part automatically puts the left root removing part and the right root removing part into sludge through the lifting fixing rod and the fixing cap, the left root removing part and the right root removing part drive the root removing belt to rotate in the sludge to clean the roots of submerged plants, the efficiency of cleaning the roots of the submerged plants is obviously improved, the automation degree is high, and the labor intensity of workers is obviously reduced.

Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.

Drawings

FIG. 1 is a front view of an underwater automated cleaning robot of the present invention;

FIG. 2 is a top view of the underwater automatic cleaning robot of the present invention;

FIG. 3 is a front elevation view of the underwater automated cleaning robot of the present invention;

FIG. 4 is a schematic view of a left side bottom perspective structure of the underwater automatic cleaning robot of the present invention;

FIG. 5 is a schematic diagram of a right side bottom perspective view of the underwater automatic cleaning robot of the present invention;

FIG. 6 is a schematic view of the three-dimensional structure of the underwater automatic cleaning robot after the protective tube is removed.

Wherein: 1-hinged pipe, 2-hinged rod, 3-lifting fixed rod, 4-fixed cap, 5-winch, 6-tension sensor, 9-transmission shaft, 10-transmission pipe, 11-buffer spring, 12-protective pipe, 13-transmission wheel, 15-first thrust ball bearing, 16-second thrust ball bearing, 17-transmission belt, 18-root removing tooth, 19-first ship body, 20-second ship body, 21-weed winding member and 22-first suspension ring.

Detailed Description

Technical solutions of the present invention will be described in detail below by way of embodiments with reference to the accompanying drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto.

The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, B exists alone, and A and B exist at the same time, and the term "/and" is used herein to describe another association object relationship, which means that two relationships may exist, for example, A/and B, may mean: a alone, and both a and B alone, and further, the character "/" in this document generally means that the former and latter associated objects are in an "or" relationship.

According to fig. 1-6, an underwater automated cleaning robot includes a hull member, a root remover, and a weed winder 21, the root remover being disposed on the hull member, the weed winder 21 being disposed on the root remover. The hull elements comprise a first hull 19 and a second hull 20, a connecting bridge arranged on the first hull 19 and the second hull 20, and weed transporters arranged on the connecting bridge. The connecting bridge is plate-shaped, and two side edges of the connecting bridge are respectively connected with the first ship body 19 and the second ship body 20, so that the first ship body 19 and the second ship body 20 are assembled into a catamaran through the connecting bridge, the deck area and the wave resistance of the whole catamaran are effectively improved, the installation and the use of the weed conveying piece are facilitated, the weed cleaning work stability is improved, and the work efficiency is improved.

The first hull 19 and the second hull 20 have a large number of lithium batteries built therein that continue to power the root removing member and the weed winding member 21 in addition to powering the first hull 19 and the second hull 20 in travel. The method can obviously reduce environmental pollution, reduce the noise in the cleaning process, improve the energy utilization rate and reduce the maintenance cost of the whole ship.

Be provided with signal processing transceiver and beidou navigation system module on the first hull 19 deck, signal processing transceiver sets up the stern department on the first hull 19 deck, beidou navigation system module sets up the bow department on the first hull 19 deck. The signal processing transceiver device comprises an information memory, a wireless signal receiver and a wireless signal transmitter, wherein the information memory can receive weed cleaning information sent by the unmanned ship control station through the wireless signal receiver, the weed cleaning information comprises hydrological information of a water area to be cleaned, a submerged plant distribution diagram and a cleaning path trajectory, and the information memory determines self coordinates through the Beidou navigation system module and cleans according to the cleaning path trajectory. And the information storage can receive all sensor information of the whole ship, transmit the sensor information of the whole ship to the unmanned ship control station through the wireless signal transmitter, and wait for executing a processing instruction issued by the unmanned ship control station. The Beidou navigation system module is used for self coordinate positioning, so that the underwater automatic cleaning robot can perform cleaning operation according to a cleaning path trajectory.

Set up unmanned module on second hull 20 deck, unmanned module includes infrared camera and depth of water detection instrument, infrared camera is used for discerning waters surrounding environment, uploads unmanned module with surrounding environment information, and unmanned module discernment and obstacle avoidance are convenient for. The depth of water detection instrument sets up second hull 20 front side, the depth of water detection instrument can survey whole ship in real time and move to the depth of water to survey the depth of water in real time with treat that the comparison is made to clearance waters hydrology information, when the discovery with treat that clearance waters hydrology information is different, will pass through wireless signal transmitter sends to unmanned ship control station, and waits to carry out the processing instruction that unmanned ship control station issued. The unmanned module receives and executes the control instruction of the signal processing transceiver, receives the self-positioning information of the Beidou navigation system module and runs according to the cleaning path trajectory.

The tail parts of the first ship body 19 and the second ship body 20 are provided with counterweight grooves, each counterweight groove is internally provided with a first push rod and a counterweight block, the counterweight grooves are rectangular holes, and one end of the first push rod is fixedly arranged on the bottoms of the counterweight groove holes. The balancing weight is rectangular block, one end of the balancing weight is embedded in the balancing weight groove, one end of the balancing weight is connected with the other end of the first push rod, the other end of the balancing weight can be pushed out of the balancing weight groove by the first push rod, and then the root clearing part and the weed winding part 21 are longitudinally balanced in the whole ship. The first push rod is electrically connected with the signal processing transceiver and is controlled to stretch by the signal processing transceiver.

The weed conveying piece comprises a front end conveying piece and a rear end conveying piece, and the front end conveying piece and the rear end conveying piece are both arranged on the connecting bridge. The front end conveying piece comprises an angle adjusting frame and a sliding conveying piece, the angle adjusting frame is arranged on the connecting bridge, and the sliding conveying piece is arranged on the angle adjusting frame. The angle adjusting frame comprises an adjusting fixing plate and a second push rod, and the adjusting fixing plate and the second push rod are arranged on the connecting bridge. The adjustable fixing plate is characterized in that a driving through hole is formed in the adjustable fixing plate, limiting strips are arranged on two side edges of the adjustable fixing plate, and the length of each limiting strip is equal to that of the adjustable fixing plate. The limiting strip can prevent the sliding conveying piece from moving transversely when sliding on the adjusting fixing plate. One end of the adjusting fixing plate is hinged with one end of the connecting bridge through a hinge, so that the adjusting fixing plate can rotate around the hinge. The adjusting fixing plate is a metal plate. The second push rod is fixedly arranged on the connecting bridge, and the top end of the second push rod is hinged to the lower side face of the adjusting fixing plate. When the second push rod extends, the other end of the adjusting fixing plate can be pushed to rotate around the hinge, so that the downward sliding direction of the sliding conveying piece is changed, and the sliding conveying piece slides to the position below the weed winding piece 21 to receive weeds. The second push rod is electrically connected with the signal processing transceiver and is controlled to stretch by the signal processing transceiver.

The sliding conveying piece comprises a sliding rail, a driving roller, a driving bearing, a driven roller, a driven bearing, a conveying belt, a conveying motor, a connecting rod and a sliding power piece, the sliding rail and the sliding power piece are arranged on the adjusting fixing plate, the driving bearing and the driven bearing and the connecting rod are arranged on the sliding rail, the driving roller is arranged on the driving bearing, the driven roller is arranged on the driven bearing, and the conveying motor is arranged on the driving roller. The slide rail is rectangular plate-shaped, slide rail length is greater than adjustment fixed plate length, the slide rail is provided with two, two slide rail mutual parallel distribution to two slide rail interval is not more than adjustment fixed plate width. The two driving bearings are respectively sleeved at two ends of the driving shaft, the outer rings of the two driving bearings are respectively and correspondingly and fixedly arranged on one side edge of the sliding rail one by one, and the axis of the driving shaft is perpendicular to the axis of the sliding rail. The driven bearings are provided with two driven bearings, the two driven bearings are respectively sleeved on the driven rollers, outer rings of the two driven bearings are respectively and correspondingly and fixedly arranged on one side edge of the two sliding rails one by one, and meanwhile, the driven shafts are parallel to the driving shaft. The conveyer belt is simultaneously sleeved on the driving roller and the driven roller. The driving roller and the driven roller can slide on the adjusting fixing plate through the sliding rail, and in order to reduce the friction force between the sliding rail and the adjusting fixing plate, the other side edge of the sliding rail is in a blade shape. The conveying motor is fixedly arranged on the sliding rail, a rotating shaft of the conveying motor is fixedly connected with one end of the driving roller, and meanwhile, the axis of the rotating shaft of the conveying motor is overlapped with the axis of the driving roller. Specifically, the conveying motor is a motor provided with a speed reducer. Can drive through the drive roll when conveying motor rotates the belt is rotatory, and then realizes that weeds transport backward. The conveying motor is electrically connected with the signal processing transceiver and is controlled by the signal processing transceiver.

The two ends of the connecting rod are respectively and correspondingly fixedly arranged on the two sliding rails one by one, and the connecting rod is positioned on the lower side of the belt. The connecting rods are arranged in three numbers, the three connecting rods are uniformly distributed on the sliding rail along the longitudinal direction, and the axes of the three connecting rods are positioned on the same plane. The sliding power part comprises a rack, a sliding motor and a gear, the rack is arranged on the connecting rod, the sliding motor is fixedly arranged on the adjusting fixing plate, and the gear is arranged on a rotating shaft of the sliding motor. The sliding motor is electrically connected with the signal processing transceiver and is controlled by the signal processing transceiver. The length of the rack is not less than the distance between the driving roller and the driven roller, and the rack is fixedly arranged on the connecting rod along the longitudinal direction of the sliding rail. The gear penetrates through the driving through hole to be meshed with the rack. When the sliding motor rotates, the rack can be driven by the gear to longitudinally slide along the sliding rail, the rack drives the sliding rail to slide on the adjusting fixing plate through the connecting rod, the sliding rail drives the driving roller and the driven roller to slide through the driving bearing and the driven bearing, and finally the conveying belt slides to the position below the weed winding piece 21 to receive weeds. The rear end conveying piece is a conveyor and is arranged at the rear end of the connecting bridge, and the rear end conveying piece is used for receiving weeds conveyed by the front end conveying piece and conveying the weeds out of the underwater automatic cleaning robot.

When the winding drum is driven by the rotating motor to roll forward and is discharged from the water surface, the conveying motor is started to rotate forward to slide the conveying belt to the position below the winding drum, the weed cutting piece on the winding drum is started to cut weeds wound on the winding drum, and the cut weeds fall on the conveying belt under the action of gravity. After the conveying belt slides to the lower part of the winding drum, the signal processing transceiver controls the second push rod to slowly contract, so that the angle of the fixing plate is reduced and adjusted, and finally the conveying belt slowly rises along with the winding drum to prolong the time of the conveying belt for receiving weeds, prevent the weeds from falling into water and improve the weed removal efficiency; after the conveying belt receives the weeds, the conveying motor starts to rotate reversely to reset the conveying belt, and the signal processing transceiver controls the second push rod to extend slowly to reset the adjusting fixing plate.

The root removing member comprises a hinge fixing member and a root removing member, the hinge fixing member is arranged on the first hull 19 and the second hull 20, and the root removing member is arranged on the hinge fixing member. Articulated mounting includes articulated pipe 1, articulated pole 2, lifting dead lever 3, locking cap 4 and lifting piece, articulated pipe 1 with the lifting piece all sets up first hull 19 with on the second hull 20, articulated pole 2 sets up articulated pipe 1 is last, lifting dead lever 3 sets up on the articulated pole 2, locking cap 4 sets up on the lifting dead lever 3. The number of the hinged pipes 1 is two, and the hinged pipes 1 are respectively and correspondingly and horizontally fixedly arranged on the bow of the first ship body 19 and the bow of the second ship body 20 one by one. The hinged rod 2 is provided with two, and two hinged rod 2 corresponds to inlay one by one and is adorned two in the hinged pipe 1 for hinged rod 2 can the hinged pipe 1 internal rotation. Lifting dead lever 3 is provided with two, two 3 one end of lifting dead lever corresponds fixed the setting one by one on the hinge bar 2. The fixing cap 4 is tubular, two end faces of the fixing cap 4 are sealed, a first rotary through hole is formed in the circle center of one end face of the fixing cap 4, and a second rotary through hole is formed in the circle center of the other end face of the fixing cap 4. The fixing caps 4 are two, and the fixing caps 4 are vertically and fixedly arranged at the other ends of the two lifting fixing rods 3 one by one. The lifting piece comprises a winch 5, the winch 5 is a small-sized winch 5, the winch 5 is provided with two winches 5, the two winches 5 are respectively and fixedly arranged on the first ship body 19 and the second ship body 20, tension sensors 6 are arranged on steel ropes of the two winches 5, and meanwhile the winch 5 is fixedly connected with the two lifting fixing rods 3 one by one through the tension sensors 6. When the winch 5 is used for winding the rope, the other end of the lifting fixing rod 3 is pulled up, and when the winch 5 is used for releasing the rope, the other end of the lifting fixing rod 3 is lowered. The winch 5 is electrically connected with the signal processing transceiver and is controlled to stretch by the signal processing transceiver.

Remove root spare and include that the left side removes root spare, right side and remove the root zone, the left side remove root spare with the right side removes root spare and corresponds the setting one by one two on the locking cap 4, remove the root zone setting and be in the left side remove root spare with the right side removes on the root spare. The root piece is removed in left side includes rotating electrical machines, transmission shaft 9, driving pipe 10, buffer spring 11, protective tube 12 and drive wheel 13, rotating electrical machines with protective tube 12 all sets up on locking cap 4, transmission shaft 9 sets up on the rotating electrical machines, driving pipe 10 with buffer spring 11 all sets up on the transmission shaft 9, drive wheel 13 sets up on the driving pipe 10. The rotating motor is a double-output-shaft motor, the rotating motor is embedded in the fixing cap 4, one rotating shaft of the rotating motor penetrates through the first rotating through hole, and the other rotating shaft of the rotating motor penetrates through the second rotating through hole. The rotating motor is electrically connected with the signal processing transceiver and is controlled by the signal processing transceiver.

The transmission shaft 9 is provided with a sliding groove, the axis of the sliding groove is parallel to the axis of the transmission shaft 9, and the length of the sliding groove is the same as that of the transmission shaft 9. One end of the transmission shaft 9 is fixedly arranged on a rotating shaft of the rotating motor, and the axis of the transmission shaft 9 is superposed with the axis of the rotating shaft of the rotating motor. The transmission shaft 9 is sleeved with a first thrust ball bearing 15 and a second thrust ball bearing 16, and one end face of the first thrust ball bearing 15 is attached to one end face of the fixing cap 4. The inner diameter of the transmission pipe 10 is not smaller than the diameter of the transmission shaft 9, a sliding block is arranged on the inner wall of the transmission pipe 10, and the length of the sliding block is the same as that of the transmission pipe 10. The fixed cover of driving pipe 10 one end lateral wall is equipped with first suspension ring 22, driving pipe 10 passes through first suspension ring 22 suspends in midair in protective tube 12, prevents the landing when piece lifting is clear away to the root. One end of the transmission tube 10 is sleeved on the other end of the transmission shaft 9, and the sliding block is matched with the sliding groove. The buffer spring 11 is sleeved on the transmission shaft 9, and two ends of the buffer spring 11 are respectively attached to the other end face of the first thrust ball bearing 15 and the second thrust ball bearing 16. When the rotating motor rotates, the rotating motor drives the transmission pipe 10 to rotate through the transmission shaft 9.

The inner diameter of the protective tube 12 is larger than the outer diameter of the first suspension ring 22, the length of the protective tube 12 is larger than the length of the buffer spring 11, a second suspension ring is fixedly embedded in one end tube of the protective tube 12, and the structure of the second suspension ring is the same as that of the first suspension ring 22. The protective tube 12 is sleeved on the buffer spring 11 and the transmission tube 10, the other end of the protective tube 12 is fixedly connected with one end face of the fixing cap 4, meanwhile, a rotary sealing ring is arranged at the gap between the second suspension ring and the transmission tube 10, and the rotary sealing ring can prevent external impurities from entering the protective tube 12 to influence the normal work of the transmission shaft 9, the transmission tube 10 and the buffer spring 11. The second suspension ring is matched with the first suspension ring 22 to prevent the root removing part from sliding off when being lifted. The driving wheel 13 is fixedly arranged at the other end of the driving pipe 10, and the axis of the driving wheel 13 is superposed with the axis of the driving pipe 10. The root piece is removed on the right side with the root piece structure is removed on the left side identical, and the root piece setting is removed on the right side in the locking cap 4, simultaneously the root piece is removed on the left side and 4 connected modes are the same with the root piece is removed on the right side and 4 connected modes are the same with the locking cap.

The root removing belt comprises a transmission belt 17 and root removing teeth 18, wherein the transmission belt 17 is arranged on the transmission wheel 13, and the root removing teeth 18 are arranged on the transmission belt 17. The transmission belt 17 is sleeved on the transmission wheels 13 of the left root removing part and the right root removing part at the same time and rotates along with the rotation of the transmission wheels 13. The root removing teeth 18 are in a right-angle block shape, and the root removing teeth 18 are fixedly arranged on the transmission belt 17. Eighteen root removing teeth 18 are arranged on the root removing teeth 18, eighteen root removing teeth 18 are uniformly distributed on the transmission belt 17, and the right-angle surface of each root removing tooth 18 faces to the rolling direction of the transmission belt 17. When the rootage teeth 18 meet underwater small stones, the rootage teeth slide through the stones through the right-angle surfaces of the rootage teeth 18 and are not blocked by the small stones.

After the underwater automatic cleaning robot runs to the designated coordinates, the winch 5 puts the root removing part into the water bottom, the signal processing transceiver controls the rotation of the rotating motor, and the rotating motor drives the transmission belt 17 and the root removing teeth 18 to rotate; when the root removing teeth 18 meet a large obstacle, the root removing part moves backwards, the tension sensor 6 monitors abnormal tension, the tension sensor 6 transmits abnormal tension information to the signal processing transceiver, the signal processing transceiver controls the ship body to stop moving forwards through the unmanned module, and meanwhile, the signal processing transceiver transmits abnormal tension signals to the unmanned ship control station and waits for executing a processing instruction issued by the unmanned ship control station.

The weed winding member 21 includes a winding fixing member provided on the root removing member and a winding partitioning member provided on the winding fixing member. The coiling mounting includes coiling fixed plate, coiling axle, coiling worm, coiling turbine, the fixed cover of coiling and the coiling bracing piece, the coiling fixed plate sets up on the locking cap 4, the coiling axle sets up on the coiling fixed plate, the coiling worm sets up on the rotating electrical machines, the coiling turbine with the fixed cover of coiling all sets up on the coiling axle, the coiling bracing piece sets up the fixed sheathes in of coiling. The winding fixing plates are plate-shaped, first winding through holes are formed in the winding fixing plates, the number of the winding fixing plates is two, the two winding fixing plates are fixedly arranged on the other end faces of the two fixing caps 4 one by one correspondingly, and the axes of the first winding through holes are overlapped. And winding bearings are sleeved at two ends of the winding shaft, and the two ends of the winding shaft are respectively and correspondingly embedded in the two first winding through holes one by one through the winding bearings. One end of the winding worm is fixedly arranged on the other rotating shaft of the rotating motor, the axis of the winding worm is superposed with the axis of the other rotating shaft of the rotating motor, the number of the winding worms is two, and the two winding worms are correspondingly connected with the two rotating motors one by one. The winding worm wheel is provided with two, and two the winding worm wheel corresponds the suit one by one on the winding axle both ends, and the winding worm wheel is located the winding bearing outside, simultaneously, the winding worm wheel with the meshing that corresponds one by one.

The length of the winding fixing sleeve is smaller than that of the winding shaft, and the winding fixing sleeve is fixedly sleeved on the winding shaft and rotates along with the rotation of the winding shaft. The winding support rod is provided with sixteen rods, wherein eight winding support rods are uniformly and fixedly arranged on the winding fixed sleeve at one ends around one end of the winding fixed sleeve. And in addition, one ends of eight winding support rods surround the other end of the winding fixed sleeve and are uniformly and fixedly arranged on the winding fixed sleeve.

The winding and cutting piece comprises a winding support plate, a winding drum, a winding motor and a weed cutting piece, wherein the winding support plate is arranged on the winding support rod, and the winding drum, the winding motor and the weed cutting piece are all arranged on the winding support plate. The winding support plate is provided with a second winding through hole, the winding support plate is provided with sixteen winding support plates, and the sixteen winding support plates are correspondingly fixedly arranged at the other ends of the sixteen winding support rods one by one. The winding drum is tubular, two end faces of the winding drum are closed, winding teeth are arranged on the side wall of the winding drum, the winding teeth are rod-shaped, the winding teeth are forty-eight, the forty-eight winding teeth are evenly divided into four groups, the first group of winding teeth are evenly and fixedly arranged on the side wall of the winding drum along the axial direction of the winding drum, the second group of winding teeth are evenly and fixedly arranged on the side wall of the winding drum along the axial direction of the winding drum, the third group of winding teeth are evenly and fixedly arranged on the side wall of the winding drum along the axial direction of the winding drum, the fourth group of winding teeth are evenly and fixedly arranged on the side wall of the winding drum along the axial direction of the winding drum, and the first group of winding teeth, the second group of winding teeth, the third group of winding teeth and the fourth group of winding teeth are evenly distributed on the circumferential direction of the winding drum. And cutting through holes are formed in the winding drum on two sides of each group of winding teeth, and the length of each cutting through hole is not more than that of the winding drum. The winding device is characterized in that rotary rods are arranged on two end faces of the winding drum and are hollow tubular, the rotary rods are communicated with the winding drum, and each rotary rod is sleeved with a cutting bearing. The winding drum is correspondingly embedded in the second winding through holes at two ends of the winding fixing sleeve one by one through the cutting bearings at two ends. The winding drums are provided with eight winding drums, the eight winding drums are identical in structure, and the eight winding drums are correspondingly embedded in the second winding through holes at two ends of the winding fixing sleeve one by one through the cutting bearings. The winding motor is provided with eight, and eight winding motor corresponds fixed the setting one by one and is located winding bobbin one end the winding backup pad is last, and eight winding motor pivot and eight the rotary rod corresponds fixed connection one by one. When the winding motor rotates, the winding drum is driven to rotate through the rotating rod, and then the submerged plant weeds after root removal are wound and collected on the winding drum. The winding motor is electrically connected with the signal processing transceiver and is controlled by the signal processing transceiver.

The weed cutting piece comprises a cutting motor, a cutting shaft, a reciprocating nut, a cutting connecting rod and a cutting knife, wherein the cutting motor is arranged on the winding support plate, the cutting shaft is arranged on the cutting motor, the reciprocating nut is arranged on the cutting shaft, the cutting connecting rod is arranged on the reciprocating nut, and the cutting knife is arranged on the cutting connecting rod. The cutting motor is fixedly arranged on the winding support plate at the other end of the winding fixing sleeve, and the rotating shaft of the cutting motor penetrates through the rotating rod and extends into the winding drum. The cutting shaft is a reciprocating lead screw, the length of the cutting shaft is not more than that of the winding drum, one end of the cutting shaft is fixedly arranged on the rotating shaft of the cutting motor, and the axis of the cutting shaft is coincided with the axis of the rotating shaft of the cutting motor. The reciprocating nut is sleeved on the cutting shaft, and the reciprocating nut can reciprocate on the cutting shaft. The cutting connecting rods are four, and one end of each cutting connecting rod is uniformly and fixedly arranged on the reciprocating nut around the circumference of the reciprocating nut. The cutting knife is in a rectangular groove shape, and the depth of the cutting knife groove is not less than the length of the winding teeth. The bottom of the cutting knife groove is fixedly arranged at the other end of the cutting connecting rod, and the wall of the cutting knife groove penetrates through the cutting through hole and is sleeved on the winding teeth. The cutting device is characterized in that the number of the cutting knives is four, and the four cutting knives are correspondingly arranged at the other end of the cutting connecting rod one by one. The weed cutting pieces are eight, and the eight weed cutting pieces are correspondingly arranged on the eight winding supporting plates positioned at the other end of the winding fixing sleeve one by one. The cutting motor is electrically connected with the signal processing transceiver and is controlled to start and stop by the signal processing transceiver. When the cutting knife is not required to move in the cutting through hole for cutting, the rotating direction and the rotating speed of the cutting motor are the same as those of the winding motor, and then the cutting knife is made to be static in the cutting through hole.

After the submerged plant weeds after root removal are wound on the winding drum, the winding drum is rotated to a set position through the winding fixing piece, the cutting motor is controlled to rotate in the forward direction, the cutting motor which rotates in the forward direction drives the cutting knife to move in the cutting through hole along the axis of the winding drum through the cutting shaft, the reciprocating nut and the cutting connecting rod, the moving cutting knife cuts off the weeds wound on the winding drum and the winding teeth, and the cut-off weeds fall on the front end conveying piece under the action of gravity and are finally conveyed out of the underwater automatic cleaning robot.

The invention has the following beneficial effects:

the underwater automatic cleaning robot has reasonable structural design and high automation degree, can obviously reduce the labor intensity of workers and can obviously improve the root cleaning efficiency of submerged plants; the underwater automatic cleaning robot is provided with a root cleaning part, the root cleaning part comprises a hinged pipe 1, a hinged rod 2, a lifting fixing rod 3, a fixing cap 4, a lifting part, a left root removing part, a right root removing part and a root removing belt, the left root removing part and the right root removing part are arranged on the fixing cap 4, the root removing belt is arranged on the left root removing part and the right root removing part, the lifting part automatically puts the left root removing part and the right root removing part into sludge through the lifting fixing rod 3 and the fixing cap 4, the left root removing part and the right root removing part drive the root removing belt to rotate in the sludge to clean roots of submerged plants, the submerged plant root cleaning efficiency is obviously improved, the automation degree is high, and the labor intensity of workers is obviously reduced.

While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.

Claims

1. An underwater automated cleaning robot, comprising:

a hull member including a first hull and a second hull;

2. The underwater automated cleaning robot of claim 1, wherein the hinged fixture includes a hinged tube, a hinged rod, a lifting fixing rod, a fixing cap, and a lifting piece, the hinged tube and the lifting piece are both disposed on the first hull and the second hull, the hinged rod is disposed on the hinged tube, the lifting fixing rod is disposed on the hinged rod, and the fixing cap is disposed on the lifting fixing rod; the hinged pipes are horizontally and fixedly arranged on the bow of the first ship body and the bow of the second ship body respectively; the number of the hinge rods is two, and the two hinge rods are correspondingly embedded in the hinge pipes; the lifting dead lever is provided with many, many lifting dead lever one end corresponds fixed the setting and is in on the hinge bar.

3. The underwater automatic cleaning robot of claim 2, wherein the fixing cap is tubular, both end surfaces of the fixing cap are closed, a first rotation through hole is formed in the center of a circle of one end surface of the fixing cap, and a second rotation through hole is formed in the center of a circle of the other end surface of the fixing cap; the fixed cap is provided with two, two the fixed cap corresponds fixed the setting many on the lifting dead lever other end.

4. The underwater automatic cleaning robot as claimed in claim 2 or 3, wherein the lifting member includes a plurality of winches, the plurality of winches are respectively and fixedly disposed on the first hull and the second hull, tension sensors are respectively disposed on steel cables of the plurality of winches, and the winches are respectively and correspondingly and fixedly connected with the plurality of lifting fixing rods through the tension sensors.

5. The underwater automatic cleaning robot according to claim 3, wherein the left-side root removing member includes a rotary motor, a transmission shaft, a transmission pipe, a buffer spring, a protection pipe, and a transmission wheel, the rotary motor and the protection pipe are both provided on the fixing cap, the transmission shaft is provided on the rotary motor, the transmission pipe and the buffer spring are both provided on the transmission shaft, and the transmission wheel is provided on the transmission pipe; the rotating motor is a double-output-shaft motor, the rotating motor is embedded in the fixing cap, one rotating shaft of the rotating motor penetrates through the first rotating through hole, and the other rotating shaft of the rotating motor penetrates through the second rotating through hole.

6. The underwater automatic cleaning robot as claimed in claim 5, wherein the transmission shaft is provided with a sliding groove, one end of the transmission shaft is fixedly arranged on a rotating shaft of the rotating motor, and the axis of the transmission shaft is coincident with the axis of the rotating shaft of the rotating motor; the transmission shaft is sleeved with a first thrust ball bearing and a second thrust ball bearing, and one end face of the first thrust ball bearing is attached to one end face of the fixing cap.

7. The underwater automatic cleaning robot as claimed in claim 6, wherein the inner diameter of the transmission pipe is not less than the diameter of the transmission shaft, the inner wall of the transmission pipe is provided with a slide block, and a first suspension ring is fixedly sleeved on the outer side wall of one end of the transmission pipe; one end of the transmission pipe is sleeved on the other end of the transmission shaft, and the sliding block is matched with the sliding groove; the buffer spring is sleeved on the transmission shaft, and two ends of the buffer spring are respectively attached to the other end face of the first thrust ball bearing and the second thrust ball bearing.

8. The underwater automatic cleaning robot as claimed in claim 7, wherein the inner diameter of the protection tube is larger than the outer diameter of the first suspension ring, the length of the protection tube is larger than the length of the buffer spring, a second suspension ring is fixedly embedded in one end tube of the protection tube, and the second suspension ring has the same structure as the first suspension ring; the protective pipe is sleeved on the buffer spring and the transmission pipe, the other end of the protective pipe is fixedly connected with one end face of the fixing cap, and meanwhile, a rotary sealing ring is arranged at a gap between the second suspension ring and the transmission pipe; the driving wheel is fixedly arranged at the other end of the driving pipe, and the axis of the driving wheel is superposed with the axis of the driving pipe.

9. The underwater automated cleaning robot of any one of claims 1 to 3, wherein the right-side rooter is identical in structure to the left-side rooter, the right-side rooter is disposed in another of the fixed caps, and the right-side rooter and the other of the fixed caps are attached in the same manner as the left-side rooter and the one of the fixed caps.

10. The underwater automated cleaning robot of any one of claims 1 to 3, wherein the uprooting belt comprises a driving belt and uprooting teeth, the driving belt is disposed on the driving wheel, and the uprooting teeth are disposed on the driving belt; the transmission belt is sleeved on the transmission wheels of the left root removing part and the right root removing part at the same time and rotates along with the rotation of the transmission wheels; the root removing teeth are in a right-angle block shape and are fixedly arranged on the transmission belt; the root removing teeth are arranged in a plurality of evenly distributed modes on the transmission belt, and each root removing tooth right-angle surface faces the rolling direction of the transmission belt.