CN113006016A

CN113006016A - Cleaning robot and underwater cleaning system

Info

Publication number: CN113006016A
Application number: CN202110171889.XA
Authority: CN
Inventors: 胡刚毅; 陈新伯
Original assignee: Guangdong Jingyi Intelligent Control Technology Co ltd
Current assignee: Guangdong Jingyi Equipment Technology Co.,Ltd.
Priority date: 2021-02-08
Filing date: 2021-02-08
Publication date: 2021-06-22

Abstract

The invention relates to the technical field of underwater cleaning, in particular to a cleaning robot and an underwater cleaning system, which are used for cleaning underwater dirt. The cleaning robot provided by the invention is suitable for underwater work, foreign matters attached to the grating are cleaned through the movable cleaning assembly carried by the robot frame, the robot is fixed on the grating through the fixing assembly, the effective performance of the plot process is ensured, the robot is transferred through the power assembly, so that the whole grating area is cleaned, the underwater position of the robot is controlled through the positioning assembly, and the running safety of the robot is ensured.

Description

Cleaning robot and underwater cleaning system

Technical Field

The invention relates to the technical field of underwater cleaning, in particular to a cleaning robot and an underwater cleaning system.

Background

The underwater trash blocking device is used for blocking trash underwater, and the grille structure as a commonly-used trash blocking device can block sundries and dirt larger than grille holes outside the grille, so that the sundries and the dirt are prevented from entering an underwater water flow channel to block the channel.

However, dirt is accumulated on the surface of the grating structure over time, the grating holes are blocked when the dirt is accumulated to a certain degree, and the grating holes are also blocked when large sundries are blocked in the grating holes, especially, water flow pipelines in natural environments are easy to block, for example, shellfish marine organisms and aquatic weeds in seawater are attached to the surface of the grating structure, and the grating holes are blocked when the dirt is accumulated to a certain degree. Therefore, the surface of the grid structure needs to be cleaned regularly to ensure the smoothness of the water flow pipe.

The existing cleaning mode is that the grid in seawater is cleaned by manual work, a diver needs to hold a tool by hand to clean the grid, or two ends of a closed pipeline are closed, and personnel go deep into the underground to clean the grid. However, such manual cleaning method has the disadvantages of low efficiency and extremely high risk.

Disclosure of Invention

In view of the above-mentioned shortcomings of the prior art, it is a first object of the present invention to provide a cleaning robot for cleaning an underwater grill to replace manual cleaning.

The scheme is as follows:

a cleaning robot is used for cleaning underwater dirt and comprises a frame, and a cleaning assembly, a power assembly, a fixing assembly and a control assembly which are connected with the frame;

the cleaning assembly moves on the frame and is used for cleaning attachments or dirt on the grating;

the power assembly drives the frame to move in multiple directions;

the fixing component is used for fixing the frame on the surface of the grating;

the control assembly is respectively connected with the cleaning assembly, the power assembly and the fixing assembly and used for controlling the cleaning assembly, the power assembly, the positioning assembly and the fixing assembly.

Further, the cleaning assembly comprises a linear module, a base is arranged on the surface of the linear module, and the base moves along the linear module.

Further, the cleaning components are distributed on two sides of the frame oppositely.

Furthermore, a rotary cutter head is arranged on the base, and the rotary cutter head penetrates through the grating and is positioned between the rods forming the grating when working.

Further, the cleaning assembly also includes a digging structure coupled to the base.

Further, the cleaning assembly also includes a multi-joint robotic arm coupled to the base.

Further, the cleaning assembly further comprises a high-pressure water gun, and the high-pressure water gun is connected with the base.

Further, the frame is provided with an anti-collision railing.

Further, the height of the collision railing is greater than or equal to the height of the cleaning assembly.

Further, the power assembly includes a pusher and a retractable walker.

Further, the thrusters are distributed in the frame and push the frame to move.

Further, the telescopic walking device is positioned at the bottom of the frame, and the telescopic walking device can extend out of or retract into the frame.

Further, the fixed component comprises a parallel clamping mechanism, and the parallel clamping mechanism is arranged on the frame.

Further, a buoyancy block is arranged in the frame.

Further, still include locating component, locating component with the frame links to each other, locating component with control assembly links to each other, locating component is used for cleaning machines people's location.

Further, the positioning assembly includes one or more of a sonar imager and a visual sensor on the frame, coupled to the frame.

Further, the lifting device comprises a lifting structure, the lifting structure is connected with the frame, the lifting structure is used for connecting the frame and the cable hanging device, and the lifting structure pulls the frame to move relative to the grid.

Further, the emergency power supply is arranged in the frame.

Correspondingly, an underwater cleaning system is provided, which comprises a shore-based component, a cable hanging device and the cleaning robot.

Further, bank base subassembly is located the bank base, cleaning machines people is located cleanness under water, bank base subassembly includes hoist cable device and control terminal, bank base subassembly passes through the cable and links to each other with cleaning machines people, for cleaning machines people provides electric power, and with cleaning machines people communicates, bank base subassembly still through the trachea with cleaning machines people links to each other, for cleaning machines people provides compressed gas, the hoist cable device links to each other with cleaning machines people, the hoist cable device drives cleaning machines people moves under water, control terminal control cleaning machines people.

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

the cleaning robot provided by the invention is suitable for underwater work, foreign matters attached to the grating are cleaned through the movable cleaning assembly carried by the robot frame, the robot is fixed on the grating through the fixing assembly, the effective performance of the plot process is ensured, the robot is transferred through the power assembly, so that the whole grating area is cleaned, the underwater position of the robot is controlled through the positioning assembly, and the running safety of the robot is ensured.

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 structures shown in the drawings without creative efforts.

FIG. 1 is a schematic view of a cleaning robot according to an embodiment of the present invention;

FIG. 2 is a perspective view of a cleaning robot in accordance with an embodiment of the present invention;

FIG. 3 is a rear view of a cleaning robot in accordance with an embodiment of the present invention;

FIG. 4 is an exploded view of a cleaning robot according to an embodiment of the present invention;

FIG. 5 is a schematic view of a cleaning robot according to an embodiment of the present invention;

FIG. 6 is a schematic view of a cleaning assembly according to an embodiment of the present invention;

FIG. 7 is an exploded view of a cleaning assembly according to an embodiment of the present invention;

FIG. 8 is a schematic view of a rotary cutter head according to an embodiment of the present invention;

FIG. 9 is a schematic view of a fixing assembly according to an embodiment of the present invention;

FIG. 10 is a first cross-sectional view of a retaining assembly in accordance with an embodiment of the present invention;

FIG. 11 is a second cross-sectional view of a retaining assembly in accordance with an embodiment of the present invention;

FIG. 12 is a schematic view of the internal structure of a fixing assembly according to an embodiment of the present invention;

FIG. 13 is a schematic view of a cleaning system according to an embodiment of the present invention;

FIG. 14 is a schematic diagram of a cleaning process according to an embodiment of the present invention.

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.

It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.

It will also be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.

In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

Fig. 1-12 are schematic views of an embodiment of a cleaning robot of the present invention.

Referring to fig. 1-12, the embodiment is used for cleaning underwater pipeline dirt, especially cleaning underwater pipeline steel grating dirt, and particularly cleaning steel grating dirt at a seawater inlet and outlet of a nuclear power station. The present embodiment specifically includes a frame 100, a cleaning assembly 200, a power assembly 300, a positioning assembly 400, a securing assembly 500, and a control assembly 600. Wherein the frame 100 is a main body of the cleaning robot for carrying or connecting each component, the frame 100 in this embodiment is a square structure, and the upper part of the frame 100 is connected with a cable hanging device on a shore base.

Fig. 6-8 are schematic structural views of the cleaning assembly 200, the cleaning assembly 200 includes a traveling assembly 210, a rotating cutter head assembly 220 and a linear module 230, wherein the traveling assembly 210 is disposed on the linear module 230, the traveling assembly 210 moves linearly along the linear module 230, and the rotating cutter head assembly 220 is connected to the traveling assembly 210, so that the rotating cutter head assembly 220 moves linearly along the linear module 230 under the driving of the traveling assembly 210. Therefore, when the underwater cleaning robot is fixed on the grating, the walking assembly 210 can move the rotary cutter head assembly 220, so that the grating can be cleaned in a large range.

Specifically, the rotary head assembly 220 in the present embodiment includes a rotary head 221, a spindle 222, a spindle structure assembly 223, a spindle pushing device 224, a spindle power device 225, and a spindle motor 226. One end of the spindle 222 is connected to the rotary cutter head 221, the other end of the spindle 222 extends into the spindle structure component 223, the spindle structure component 223 is a cylindrical structure, and the spindle 222 can perform telescopic motion in the spindle structure component 223. Main shaft thrust unit 224 is located the tail end of main shaft structure subassembly 223, and main shaft thrust unit 224 links to each other with the main shaft 222 that stretches into main shaft structure subassembly 223, it is concertina movement to drive the main shaft through main shaft thrust unit 224, and then drive rotatory tool bit 221 and be concertina movement, the flexible of rotatory tool bit 221 is realized to this extending structure's aim at, when underwater robot is in the removal state, rotatory tool bit 221 is followed main shaft 222 and is retracted this moment, avoid rotatory tool bit 221 to follow underwater robot and remove the in-process and cause the damage, when underwater robot is fixed in and cleans on the grid, rotatory tool bit 221 is followed main shaft 222 and is stretched out this moment, clean the grid. The spindle motor 226 is connected to the spindle 222, and the spindle motor 226 drives the spindle 222 to rotate, so as to drive the rotary cutter head 221 to rotate, thereby cleaning the grid. The spindle power device 225 is connected to the spindle motor 226 and the spindle pushing device 224, respectively, and provides power for the spindle motor 226 and the spindle pushing device 224. The rotary cutter head 221 is one or more of a rotary milling cutter, a steel brush cutter, a sponge cutter, or a grinding wheel cutter. The rotary milling cutter is used for rough machining cleaning, cleaning objects are attachments which are difficult to clean and are similar to attachments of shellfish and the like, rotary cutter heads such as a steel brush cutter, a sponge cutter and a grinding wheel cutter are used for fine machining cleaning, and the cleaning objects are attachments and dirt which are easy to clean. The choice of the rotary cutter head 221 can be selected according to the actual need. In addition, the main shaft 222 is provided with a groove matched with the shape of the rotary cutter head 221, the bottom of the groove is provided with a threaded hole and a positioning groove, and the rotary cutter head 222 is inserted into the groove and connected with the main shaft 222 through a screw. The walking assembly 210 includes a base 211 and a walking servo motor 212. The base 211 is connected to the linear module 230, the base 211 is further connected to the walking servo motor 212, the walking servo motor 212 is disposed inside the base 211, and the walking servo motor 212 drives the base 211 to move linearly along the linear module 230. In addition, limit sensors 231 are disposed at two ends of the linear module 230 in this embodiment, and are used for monitoring the walking process of the walking assembly 210 on the linear module 230, so as to prevent the walking assembly 210 from crossing the boundary of the walking distance on the linear module 230.

Further, the base 211 is provided with a sliding slot 213, the main shaft assembly 223 is disposed in the sliding slot 213, and the main shaft assembly 223 can move linearly in the sliding slot 213. The interval between the rotary cutter head 221 and the grating is adjusted by adjusting the position of the main shaft structure component 223 in the sliding groove 213, the cleaning of attachments on the upper surfaces of the gratings with different widths is adapted by adjusting the sliding groove 213, the interference and collision between the rotary cutter head 221 and the grating during working are avoided, and further the grating and the rotary cutter head 221 are prevented from being damaged. The position of main shaft structure subassembly 223 in spout 213 carries out artifical manual adjustment on water usually, is equipped with the scale on spout 213, can make things convenient for operating personnel to carry out the adjustment of distance, puts into under water along with underwater robot after the adjustment, cleans the grid, and in clean process, the position of main shaft structure subassembly 223 in spout 213 is fixed to prevent that rotatory tool bit 221 from causing the damage to cutter or grid in the spout displacement in clean process, cause the deterioration of clean effect. The vision assembly 240 is connected with the base 211 and is disposed on the same side as the rotary cutter head 221, and is used for acquiring the operation condition of the rotary cutter head 221. The vision assembly 240 transmits the acquired operation condition of the rotary cutter head 221 to a terminal controlled by an operator, and the operator can judge whether the operation position of the rotary cutter head 221 is correct or not through the operation condition and judge whether the operation condition is normal or not; when an emergency occurs, the operator can operate and repair the rotary cutter head 221 or the grating in time according to the operation condition acquired by the vision assembly 240, so as to prevent the rotary cutter head 221 or the grating from being damaged. A digging assembly 250 is also included. Specifically, the digging assembly 250 includes a digging structure 251, a link 252, a first rotating shaft 253, a second rotating shaft 254, and a power unit (not shown). The digging assembly 250 enables cleaning of particular geographic conditions, such as local mounting slots for grills, sidewall slots, and the like. The power device in this embodiment is specifically a cylinder, drives the operation of excavating structure 251 through pneumatic mode, excavates subassembly 250 and can accomodate through pneumatic action under non-user state, excavates the subassembly height and is less than the height of underwater cleaning robot's anticollision barrier under the state of accomodating to reduce underwater robot's the resistance of underwater motion, and prevent to excavate subassembly 250 and suffer damage in the operation. The first rotating shaft 253 is arranged on the base 211, the power device is connected with the first rotating shaft 253 and provides rotating power for the first rotating shaft 253, the first rotating shaft 253 is connected with the connecting rod 252, the connecting rod 252 is connected with the excavating structure 251 through the second rotating shaft 254, and the overturning excavating function of the excavating structure 251 is achieved through the matching of the first rotating shaft 253, the connecting rod 253 and the second rotating shaft 254. The digging structure 251 is in a container shape with a half opening, and tooth-shaped structures are distributed at the opening, so that the digging is convenient. The excavating component 250 may also be replaced by a multi-joint robot arm or a high-pressure water gun for cleaning the grating, or a multi-joint robot arm or a high-pressure water gun is added to the existing base 211 to be used in cooperation with the excavating component 250, and the specific selection may be selected according to actual needs, and is not limited to selecting some of them, and the installation position may also be selected according to actual needs, and may be installed on the left side or the right side of the frame 100, and the positions mentioned in the above embodiments are only used as an illustration, and are not limited.

In this embodiment, the both sides of frame 100 are equipped with the crashproof railing 101 of symmetry for the protection of cleaning assembly 200 in the above-mentioned embodiment avoids cleaning machines people to cause the collision damage to cleaning assembly 200 in the motion process, and the height of crashproof railing 101 is greater than the height when excavating structure, articulated robot arm and high-pressure squirt and accomodating in the above-mentioned embodiment, thereby realizes the protection to above-mentioned cleaning assembly 200. Specifically, the anti-collision railing 101 is composed of two oppositely arranged bent stop levers, and compared with a baffle plate design, the stop lever design has the following advantages that firstly, a middle blank area can be convenient for the rotary cutter head to extend out, the rotary cutter head retracts when not in a working state, the rotary cutter head is prevented from being impacted and damaged when the cleaning robot travels, the rotary cutter head extends out when in the working state, and the blank area formed by the anti-collision railing 101 can be used for the rotary cutter head to travel; secondly, the material that adopts the pin is less, can alleviate the weight of whole cleaning machines people, in addition, be hollow structure in the middle of the anticollision railing 101, the inflow of accessible water in the hollow structure, consequently can further reduce the weight of whole cleaning machines people.

In this embodiment, the power assembly 300 includes the pushers 301, the pushers 301 are distributed in the frame 100, the number of the pushers 301 is seven, four of the pushers 301 are uniformly distributed at four corners of the front surface of the frame 100, the remaining three pushers 301 are distributed on the upper surface of the frame 100, the pushers 301 can push the frame 100 to move in a direction perpendicular to the grid and move left and right in parallel to the grid surface, and the underwater autonomous attitude control can be realized by attitude sensing and combining with a motion algorithm. Pusher 301 promotes whole cleaning robot and is close to the grid at the cleaning in-process, and fixed subassembly 500 catches and attaches to the grid, is fixed in the grid surface with whole cleaning robot, and after cleaning robot was fixed, cleaning subassembly 200 cleared up the surperficial attachment of grid, and after clearing up the grid in current region, fixed subassembly 500 loosens the grid, and pusher 301 promotes cleaning robot and cleans to the next region that waits to clean, repeats the cleanness of above-mentioned step completion whole grid.

In addition, the power assembly 300 further includes a hoisting structure 302, the hoisting structure 302 is used for connecting the frame 100 and a cable suspension device (not shown), and the hoisting structure 302 pulls the frame 100 to make a relative movement with the grid under the action of the cable suspension device (not shown) so as to realize the movement of the cleaning robot under water, and also realize the operation of putting the cleaning robot under water and the recovery operation of the cleaning robot.

In this embodiment, the fixing assembly 500 is a parallel clamping mechanism provided on the frame 100 for clamping the cleaning robot on the bars of the grill. As shown in fig. 9-12, the fixing assembly 500 includes a base 510, and a pushing assembly 520, a clamping assembly 530 and a synchronizing assembly 540 are provided on the base 510. Wherein the pushing assembly 520 is connected to the clamping assembly 530, the pushing assembly 520 drives the clamping assembly 530 to perform clamping and releasing actions, and the synchronizing assembly 540 is connected to the pushing assembly 520, and the synchronizing assembly 540 is used for keeping the same step motion of the pushing assembly 520. Specifically, the base 510 is connected to the cleaning robot at one side and the push assembly 520 at the other side. The pushing assembly 520 includes a housing 521 and an oppositely disposed air cylinder 522 located within the housing. The housing 521 is composed of a bottom block 521a, two slider side plates 521b, two slider end plates 521c, a center upper cover 521d, and two side upper covers 521 e.

The number of the cylinders 522 is two, the cylinders 522 are arranged on the bottom block 521a through cylinder supporting seats 522a, the cylinders 522 are oppositely arranged, the opposite arrangement means that the movable ends of the cylinders 522 are oppositely arranged, and the two cylinders 522 are located on the same straight line and symmetrically oppositely arranged. The cylinder 522 is provided with a cylinder joint 522b, and is connected to the solenoid valve through the cylinder joint 522 b.

Specifically, the clamping assembly 530 includes two opposing jaw blocks 531, the jaw blocks 531 are provided with jaw pieces 532 on the surfaces of the jaw blocks 531, the jaw pieces 532 are connected between the jaw blocks 531 through screw threads, the jaw blocks 531 drive the jaw pieces 532 to approach or separate from each other, and the opposing arrangement of the jaw blocks 531 is referred to as a symmetrical opposing arrangement and an opposite opposing arrangement. The clamping jaw block 531 is located outside the housing 521, the clamping jaw block 531 is connected with two sliders 533, the number of the sliders 533 is two, the sliders 533 penetrate through the housing 521, the two sliders 533 are correspondingly connected with the movable ends of the two cylinders 522 inside the housing 521, guide rails 534 are arranged on two sides of the sliders 533, guide bars 535 are arranged on the inner surface of the housing 521, the guide rails 534 are matched with the guide bars 535, the guide rails 534 make linear motion along the direction of the guide bars 535, and effective sliding of the sliders 533 in the housing 521 is achieved through the guide rails 533 and the guide bars 535. Therefore, when the cylinder 522 extends and contracts, the two sliding seats 533 are driven to move relatively, and then the clamping jaw blocks 531 connected with the sliding seats 533 can be driven to move relatively, so that the operation of clamping and loosening the grating is realized.

The claws 532 may be one or more of metal spike claws or rubber flat claws. The type of the claw piece 532 can be selected according to actual conditions, and the claw piece 532 is connected with the claw piece 531 through threads, so that the claw piece 532 can be replaced conveniently. The claw sheets 532 in the figure are nail type claw sheets, the claw sheets are made of metal materials, the hardness is relatively high, the surfaces of the claw sheets are of nail-shaped structures which are uniformly distributed, the claw sheets are suitable for the situation that the surface of the grating is provided with more attachments or the surface of the grating is provided with larger roughness, the surface of the grating can be effectively clamped, and the cleaning tool is prevented from being damaged due to the fact that the cleaning robot generates relative displacement in the cleaning process. The rubber plane claw sheet is made of rubber, has low relative hardness and certain elasticity, and the surface of the claw sheet is a plane, so that the claw sheet is suitable for the condition that the surface attachment of the grating is less or the surface roughness degree of the grating is less, and when the grating is clamped by the claw sheet under the condition that the surface attachment of the grating is less, the scraping of the grating by the claw sheet can be reduced.

The timing assembly 540 is located in the housing 521, and specifically includes a timing belt 541, a connecting member 542, a timing wheel 543, and a timing shaft 544. The synchronizing shafts 544 are disposed corresponding to the air cylinder 522, the two synchronizing shafts 544 are disposed below the air cylinder 522, the two synchronizing shafts 544 are symmetrically disposed, the number of the synchronizing wheels 543 is two, and the two synchronizing wheels 543 are connected to the synchronizing shafts 544, and the synchronizing wheels 543 can rotate through the synchronizing shafts 544. The synchronous belt 541 is connected with the two synchronous wheels 543 and meshed with the synchronous wheels, the synchronous belt 541 can rotate around the two synchronous wheels 543, and the synchronous belt 541, the synchronous wheels 543 and the synchronous shaft 544 form a structure similar to a chain. The synchronous belt 541 is connected with the sliding seat 533 through the connecting pieces 542 in a fixed connection mode, the number of the connecting pieces 542 is two, the two connecting pieces 542 are arranged in different sides, the different side arrangement means that one of the connecting pieces is located on the left side of one of the cylinders as shown in the figure, and the rest of the connecting pieces are located on the right sides of the rest of the cylinders, and the arrangement mode can ensure that the two cylinders drive the connecting pieces 542 to move in the same direction when working, namely, the two cylinders rotate clockwise or rotate anticlockwise.

The synchronization principle implemented by the synchronization component 540 is as follows:

when the clamping assembly 530 clamps the grating, the clamping object is a rod forming the grating, the rod is not necessarily located at the center of the two clamping jaw blocks 531, the rod may be closer to one of the clamping jaw blocks 531, and the rod may be relatively farther from the remaining clamping jaw block 531. For the clamping jaw block 531 relatively far away from the rod, due to the stroke limit of the air cylinder 522, when the air cylinder 522 may reach the stroke limit of the air cylinder 522 in the process of pushing the clamping jaw block 531 to clamp inwards, a certain distance still exists between the clamping jaw block 531 and the rod, so that the rod cannot be clamped effectively. The synchronization component 540 is used to solve the clamping failure caused by this situation. After the synchronous component 540 is adopted, the sliding base 533 connected with the air cylinder 522 is fixedly connected with the synchronous belt 541 through the connecting piece 542, so that the linkage of the two air cylinders 522 in the working process is realized, when the extending stroke of one air cylinder 522 is smaller relative to the extending stroke of the other air cylinder 522, the synchronous belt 541 limits a total stroke, the air cylinder 522 with a larger extending stroke retracts at the moment, the air cylinder with a smaller extending stroke continues to extend inwards, the synchronous amplitude movement of the two air cylinders 522 is further realized, and the condition that the clamping of one air cylinder 522 is invalid due to the fact that the stroke limit is reached is avoided.

The housing 521 is connected to the base 510 through the sliding slot 511, and the housing 521 and the base 510 can be displaced relative to each other through the sliding slot 511. The base 510 is fixedly connected with the cleaning robot, so that the base 510 and the base 521 can adopt the connection capable of generating relative displacement, and the flexibility of the whole clamp assembly can be increased. In the actual use process of the clamping assembly, when a plurality of clamping devices are usually used at the same time, in order to avoid the possibility that two or more identical clamping device sets interfere with each other when gripping the same large-sized workpiece at a fixed distance from the gripping point, and thus the gripping is not firm or the clamping devices are damaged, the design of relative displacement between the housing 521 and the base 510 is adopted, so that the position of the clamping assembly 530 can be adaptively adjusted in the clamping process.

Specifically, the adaptive adjustment scheme is as follows: the housing 521 and the base 510 are connected by an adaptive centering assembly 550, the adaptive centering assembly 550 being located in the middle of the housing 521 and the base 510. Self-adaptation subassembly 550 placed in middle includes bullet seat 551 and briquetting 552, the one end of bullet seat 551 is the open end, briquetting 552 is located in bullet seat 551, the one end of briquetting 552 is protruding end, protruding end stretches out in bullet seat 551, protruding end even has bearing 553, the other end of briquetting 552 and the bottom elastic connection of bullet seat 551, elastic connection specifically is through spring 554 and bolt 555 connection, bolt 555 is used for being connected between bullet seat 551 and briquetting 552, bolt 555 one end and briquetting 552 fixed connection, the other end and bullet seat 551 swing joint, spring 554 is located between briquetting 552 and the bullet seat 551, be used for providing the elastic force. The pressing block 552 can move telescopically in the spring seat 551 through a spring 554, the base 510 is provided with a concave groove 512, the bearing 553 is in contact with the concave groove 512, the bearing 553 slides in the concave groove 512, the bearing 553 is positioned at the bottom of the concave groove 512 in an unstressed state, and the bearing 553 can slide left and right in the concave groove 512 in a stressed state. The adaptive centering assembly 550 has two functions, one is to reset the housing 521 and the base 510 after displacement through the adaptive centering assembly 550, and the other is to limit the displacement interval of the housing 521 and the base 510 during relative displacement.

When the relative displacement between the housing 521 and the base 510 is not required, the retaining member 556 can be used for blocking, the retaining member 556 is inserted between the housing 521 and the base 510, specifically, the retaining member 556 is inserted into the adaptive centering assembly 550 to limit the rolling of the bearing 553 in the adaptive centering assembly 550, so that the blocking between the housing 521 and the base 510 is realized, and the relative displacement between the housing 521 and the base 510 is prevented. And the catch 556 can be freely inserted or extracted. Catch 556 in this embodiment is a dovetail backing strip.

For dust and sand prevention, a felt 560 or a protective cover 561 is provided at the connection portion of the pushing assembly 520, the clamping assembly 530 and the synchronizing assembly 540, and the specific arrangement positions of the felt 560 and the protective cover 561 are as shown in the figure.

Since the cleaning robot of the embodiment needs to be fixed on the grid and then cleaned during the cleaning process, the area and size of the grid of the inlet/outlet on the seabed of the nuclear power plant are usually large, and therefore a large-sized cleaning robot is needed for cleaning, the large-sized cleaning robot usually has a large mass, and when the large-sized cleaning robot is fixed on the grid, the grid can be damaged. Therefore, the embodiment increases the buoyancy of the whole cleaning robot by arranging the buoyancy block 102 in the frame to offset the acting force of a part of the cleaning robot on the grid, thereby avoiding damage to the grid. The buoyancy block 102 is embedded in the front surface of the frame 100, the buoyancy block 102 has a certain thickness to ensure sufficient buoyancy, and specifically, the buoyancy block 102 is made of a material with a low density, for example, 0.45g/cm³In this embodiment, the material of (2) can provide at least 300kg of buoyancy.

In this embodiment, the positioning assembly 400 includes a sonar imager 401 and a vision sensor 402. The number of the sonar imaging instruments 401 is four, one sonar imaging instrument 401 is arranged in a fan-shaped groove formed in the buoyancy block, and the remaining three sonar imaging instruments 401 are respectively arranged on the two sides and the bottom of the frame 100 and used for sensing the environment and the position of the cleaning robot and the posture of the cleaning robot. The vision sensor 402 is disposed corresponding to the fixed assembly 500 and the rotary cutter head 221, the vision sensor 402 is fixed to the frame, and the vision sensor 402 is used for sensing the motion, position and posture of the fixed assembly 500 and the cutter head.

In this embodiment, the bottom of the frame 100 is further provided with a telescopic walking device 103, specifically, the telescopic walking device 103 is a walking crawler belt, and the telescopic walking device 103 is telescopic through a telescopic cylinder. The telescopic walking device 103 is in a telescopic state when not in work and is contracted into the frame 100, so that the resistance of the cleaning robot in the process of moving can be reduced, and the telescopic walking device 103 can be prevented from being damaged in the process of moving the cleaning robot; when the cleaning robot contacts or is about to contact with the underwater bottom, the telescopic cylinder pushes the telescopic walking device 103 to extend out, and after the telescopic walking device 103 extends out, the cleaning robot advances under the water by virtue of the telescopic walking device 103, so that the cleaning robot can be conveniently controlled under the water and can be conveniently cleaned on the bottom grating.

The control assembly 600 in this embodiment is a control cabin assembly, is located inside the frame, is connected to the cleaning assembly 200, the power assembly 300, the positioning assembly 400, the fixing assembly 500 and other assemblies, and is used for controlling the assemblies, and the control assembly 600 communicates and transmits data, such as machine parameters, sonar data, image data and the like, to a control terminal on the shore base through cables.

The embodiment further comprises an emergency power supply 700 and a solenoid valve assembly 800, wherein the emergency power supply 700 and the solenoid valve assembly 800 are both arranged inside the frame. The emergency power supply 700 can realize energy supply under a crisis working condition so as to ensure data storage and start and coordinate with a rescue scheme; the solenoid valve assembly 800 is connected with a compressed air pump on the shore base through an air pipe 801, the solenoid valve assembly 800 is connected with the pusher 301 to provide pneumatic power for the pusher 301, and the fixed assembly 500 and the cylinder of the telescopic walking device 103 are connected to provide power for the cylinder.

The components in the above embodiments are made of corrosion-resistant non-metallic materials, such as stainless steel and plastic, or corrosion-resistant coatings are applied to the surfaces of the components to prevent corrosion. Avoid rusting and the damage of silt to the partial structure of motion to the work that is adapted to the operating mode under water, for example the work under sea water, the dirty silt environment.

Fig. 13 shows an embodiment of an underwater cleaning system provided by the present invention.

Referring to fig. 13, the system is used for cleaning fouling of an underwater pipeline, particularly cleaning fouling of a steel grating of the underwater pipeline, and particularly cleaning fouling of the steel grating of a seawater inlet and an outlet of a nuclear power plant. This embodiment specifically includes a shore-based assembly 20 and a cleaning robot 10.

The shore-based module 20 includes a hoist cable device 21 and a control terminal 22, the hoist cable device 21 performing a moving step and a transporting step, and the control terminal 22 controlling the cleaning robot 10. The cleaning robot 10 performs a positioning step, an image acquisition step, a moving step, a fixing step, and a cleaning step.

The shore based assembly 20 is located on shore base and the cleaning robot 10 is used for underwater grille cleaning. The hoist cable device 21 is used to place the cleaning robot under water and retrieve it from under water to a shore base, and can move the cleaning robot under water. The bank-based assembly 20 is connected to the cleaning robot 10 through a cable to supply power to the cleaning robot and communicates with the cleaning robot 10, and the bank-based assembly 20 is also connected to the cleaning robot 10 through an air pipe to supply compressed air to the cleaning robot.

Specifically, the power sources adopted by the embodiment are a 48V direct current power supply and 0.5Mpa compressed air, wherein the drainage of the compressed air is led out to the shore base; in the embodiment, the power supply power is 20KVA, the gas consumption is intermittent, and the maximum gas consumption is 2L/min.

FIG. 14 is a flowchart illustrating a cleaning process according to an embodiment of the present invention.

Referring to fig. 14, the process executed by the cleaning robot in the above embodiment specifically includes the following steps:

s1, moving; s2, image acquisition; s3, fixing; and S4, cleaning.

The cleaning method comprises an image acquisition step, a moving step and a fixing step, wherein the image acquisition step is used for acquiring underwater image information, the moving step is used for moving the cleaning robot to a preset area, the fixing step is used for fixing the cleaning robot on the surface of the grating, and the cleaning step is used for controlling the cleaning robot to clean attachments or sundries on the surface of the grating.

Specifically, the moving step S1 in this embodiment is to move the cleaning robot under water by using a pusher, or to move the cleaning robot to the area of the grille to be cleaned by using a cable suspension device to move the cleaning robot under water.

In this embodiment, the method further includes a positioning step for positioning the cleaning robot underwater, and the positioning step includes: the cleaning robot acquires the environmental information, transmits the environmental information to a shore-based control terminal, and navigates and positions the cleaning robot. Specifically, the cleaning robot carries out positioning and navigation of the cleaning robot under water by carrying a sonar imager or a positioning system, and provides parameter support for the cleaning robot to execute the moving step S1.

Specifically, the image acquisition step S2 in the present embodiment is performed by a visual sensor or a sonar imager. The visual sensor carried on the cleaning robot acquires the image information of the grating, provides judgment basis for the cleaning robot to execute the fixing step, and avoids the cleaning robot from damaging the fixing component in the fixing process.

Specifically, in the present embodiment, the fixing step S3 is performed by a fixing component, and the cleaning robot is mounted with the fixing component, and the cleaning robot can be fixed on the surface of the grid by the fixing component, so as to avoid instability of the cleaning robot in cleaning the grid.

In this embodiment, a determination step is further included before the fixing step S3, wherein the determination step is to determine whether the cleaning robot moves to a predetermined area, and if so, the fixing step S3 is performed, where the predetermined area is a grid cleaning area, and a grid rod in the grid cleaning area is located between areas clamped by the fixing members.

Specifically, the specific content of the cleaning step S4 includes: the cleaning robot controls the obstacle removing tool to clean the grating. The obstacle clearing tool is one or more of cleaning components, and the cleaning components can be a rotary cutter head, an excavating component, a multi-joint robot arm or a high-pressure water gun. The cleaning step S4 specifically includes two cleaning modes, i.e., rough cleaning for cleaning attachments that are difficult to clean on the surface of the grating, and fine cleaning for cleaning attachments that are relatively easy to clean on the surface of the grating.

Due to the existence of the two cleaning modes, the embodiment further comprises a step of replacing the obstacle removing tool, wherein the corresponding obstacle removing tool is replaced by rough machining cleaning or fine machining cleaning in the step of cleaning, for example, the rough machining cleaning can adopt a rotary milling cutter, and the fine machining cleaning can adopt a steel brush cutter.

In this embodiment, the method further includes a transporting step for transporting the cleaning robot, and the transporting step includes: connecting the cleaning robot with a cable suspension device, and controlling the cable suspension device to convey the cleaning robot to the water from the shore base, wherein the content is generally executed before the whole cleaning process; or the cleaning robot is connected with the cable suspension device, the cable suspension device is controlled to recycle the cleaning robot to the shore base, the content is usually executed after the cleaning process is finished or after part of the cleaning work is finished, and the part of the cleaning work is finished, namely the cleaning robot needs to be recycled to the shore base for replacement when the cleaning tool head is replaced.

In this embodiment, the method further comprises a walking step, when the cleaning robot is at the water bottom or is about to contact with the water bottom, the cleaning robot unfolds the walking device to walk along the water bottom. The step can facilitate the cleaning of the cleaning robot at the bottom of the grating, and the cleaning area is increased.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. A cleaning robot is used for cleaning underwater dirt and is characterized by comprising a frame, and a cleaning assembly, a power assembly, a fixing assembly and a control assembly which are connected with the frame;

the power assembly drives the frame to move in multiple directions;

2. A cleaning robot as claimed in claim 1, wherein the cleaning assembly comprises a linear module having a base disposed on a surface thereof, the base being movable along the linear module.

3. A cleaning robot as claimed in claim 2, wherein the cleaning elements are distributed on opposite sides of the frame.

4. A cleaning robot as claimed in claim 2, wherein the base is provided with a rotatable cutting head which is operatively arranged to pass through the grille between the bars forming the grille.

5. The cleaning robot of claim 2, wherein the cleaning assembly further comprises a digging structure coupled to the base.

6. The cleaning robot of claim 2, wherein the cleaning assembly further comprises a multi-joint robotic arm coupled to the base.

7. The cleaning robot of claim 2, wherein the cleaning assembly further comprises a high pressure water gun coupled to the base.

8. A cleaning robot as claimed in claim 1, wherein the frame is provided with a collision rail.

9. A cleaning robot as claimed in claim 8, wherein the height of the bumper rail is greater than or equal to the height of the cleaning assembly.

10. A cleaning robot as claimed in claim 1, wherein the power assembly comprises a pusher and a retractable walker.

11. The cleaning robot as claimed in claim 10, wherein said thrusters are distributed in said frame to urge said frame to move.

12. The cleaning robot as claimed in claim 10, wherein the retractable walking means is provided at a bottom of the frame, and the retractable walking means is extendable from or retractable into the frame.

13. A cleaning robot as claimed in claim 1, wherein the fixing assembly comprises a parallel clamping mechanism provided on the frame.

14. A cleaning robot as claimed in claim 1, wherein the frame is provided with buoyancy blocks therein.

15. The cleaning robot of claim 1, further comprising a positioning assembly coupled to the frame, the positioning assembly coupled to the control assembly, the positioning assembly configured to position the cleaning robot.

16. The cleaning robot of claim 15, wherein the positioning assembly comprises one or more of a sonar imager and a vision sensor on the frame coupled to the frame.

17. The cleaning robot as claimed in claim 1, further comprising a hoisting structure connected to the frame, wherein the hoisting structure is used for connecting the frame and the cable hanger, and pulls the frame to move relative to the grid.

18. The cleaning robot of claim 1, further comprising an emergency power source disposed within the frame.

19. An underwater cleaning system comprising a shore based assembly and a cleaning robot as claimed in any one of claims 1 to 18.

20. An underwater cleaning system as claimed in claim 19, wherein the shore-based module is located on a shore base, the cleaning robot is located under water for cleaning, the shore-based module includes a cable hanger and a control terminal, the shore-based module is connected to the cleaning robot through a cable to provide power for the cleaning robot and communicate with the cleaning robot, the shore-based module is further connected to the cleaning robot through a gas pipe to provide compressed gas for the cleaning robot, the cable hanger is connected to the cleaning robot, the cable hanger drives the cleaning robot to move under water, and the control terminal controls the cleaning robot.