CN113173229A - Underwater cleaning robot with collection function - Google Patents
Underwater cleaning robot with collection function Download PDFInfo
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- CN113173229A CN113173229A CN202110493393.4A CN202110493393A CN113173229A CN 113173229 A CN113173229 A CN 113173229A CN 202110493393 A CN202110493393 A CN 202110493393A CN 113173229 A CN113173229 A CN 113173229A
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- frame
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- push
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
- B63B59/06—Cleaning devices for hulls
- B63B59/08—Cleaning devices for hulls of underwater surfaces while afloat
Abstract
The invention provides an underwater cleaning robot with a collecting function, which comprises a frame, wherein a magnetic crawler belt is arranged on the bottom end surface of the frame, and a cleaning unit for cleaning attachments on a ship body is arranged at the front end of the bottom end surface of the frame; an L-shaped collecting box is arranged on the frame, and a collecting unit is arranged above the L-shaped collecting box; two side walls of the L-shaped collecting box are provided with first rectangular openings, and two sides of the upper end of the L-shaped collecting box are also provided with auxiliary push-away units for opening the collecting units; and an absorbing and pushing unit for absorbing the attachments into the L-shaped collecting box and pushing the attachments in the L-shaped collecting box to the collecting unit is arranged in the L-shaped collecting box. The underwater cleaning robot can clean and collect attachments on the surface of the ship body underwater, reduces the time for the ship to enter a dock to be cleaned, saves the cleaning cost, and meanwhile, the attachments after being cleaned are collected and can not be adsorbed on the ship body again, and the cleaning effect is good.
Description
Technical Field
The invention relates to an underwater robot, in particular to an underwater cleaning robot with a collecting function.
Background
The ship body attachments refer to aquatic organism attachments adsorbed on the surface of the ship body in the movement process of the ship body, the attachments increase the weight of the ship body on one hand, increase the surface resistance in the movement process of the ship on the other hand, influence the speed of the ship and increase the oil consumption of the ship, and therefore, the bottom of the ship needs to be cleaned every time.
At present, the cleaning operation of ship surface attachments is mainly high-pressure water cleaning and sand blasting operation in a dock, the cleaning method has the defects of long ship repair period, insufficient dock, long non-operation time of ships and the like, and in recent years, with the development of scientific technology, an underwater cleaning robot is widely applied to cleaning the ship surface attachments; however, after the existing underwater cleaning robot cleans the attachments on the surface of the ship body, because the ship body is kept still, some shell barnacles and the like with strong adsorbability are easy to adsorb again, the cleaning effect is not good, and the underwater cleaning robot capable of cleaning and collecting the attachments on the ship body is needed to solve the problem to be solved urgently.
Disclosure of Invention
The invention aims to provide an underwater cleaning robot with a collecting function, which can be used for cleaning and collecting attachments on the surface of an underwater ship body.
The invention aims to realize the technical scheme, which comprises a frame, wherein a magnetic crawler belt is arranged on the bottom end surface of the frame, the advancing direction of the frame is the length direction of the frame, and a cleaning unit for cleaning attachments on a ship body is arranged at the front end of the bottom end surface of the frame;
the frame is provided with an L-shaped collecting box, two sides above the L-shaped collecting box are provided with conveyor belts, the moving direction of the conveyor belts is the same as that of the frame, and the conveyor belts are provided with a plurality of groups of collecting units for sleeving collecting bags at equal intervals;
the collecting unit comprises two first connecting pieces, one ends of the two first connecting pieces are hinged to the side wall of the conveying belt, the middle parts of the two first connecting pieces are connected through a tension spring, the other ends of the first connecting pieces are respectively hinged to one end of an L-shaped sleeve piece, a torsion spring is sleeved on a hinged shaft of each first connecting piece and a hinged shaft of each L-shaped sleeve piece, one end of each torsion spring is fixedly connected with the L-shaped sleeve piece, the other end of each torsion spring is fixedly connected with the corresponding first connecting piece, when the torsion springs are in a free state, the first connecting pieces and the L-shaped sleeve pieces are parallel to each other, and collecting bags for collecting attachments are sleeved on the two L-shaped sleeve pieces;
the two side walls of the L-shaped collecting box are respectively provided with a first rectangular opening, the first rectangular opening is provided with a door lock unit which can be opened and closed in a sliding manner, and two sides of the upper end of the L-shaped collecting box are also provided with an auxiliary push-open unit which is used for enabling the door lock unit, two L-shaped socket pieces positioned outside the first rectangular opening and a collecting bag sleeved on the L-shaped socket pieces to be opened;
the front end of the L-shaped collecting box is provided with a first opening, the first opening is positioned above the cleaning unit, and an absorbing and pushing unit which is used for absorbing attachments into the L-shaped collecting box and pushing the attachments in the L-shaped collecting box into a collecting bag is arranged in the L-shaped collecting box.
Further, the absorbing and pushing unit comprises a baffle plate arranged in the L-shaped collecting box, the baffle plate is perpendicular to the moving direction of the frame, and a plurality of water passing grooves are formed in the baffle plate;
the rear end of the L-shaped collecting box is provided with a plurality of mounting holes, and propeller blades for generating water flow in the L-shaped collecting box are mounted in the mounting holes;
a first motor is installed at the bottom of the frame, a first sealing cover is sleeved outside the first motor, a power output shaft of the first motor extends out of the first sealing cover and is fixedly connected with one end of a first rotating shaft, the other end of the first rotating shaft penetrates through the lower surfaces of the frame and the L-shaped collecting box and extends into the L-shaped collecting box and is provided with a second connecting plate, a first mounting shaft is installed at the other end of the second connecting plate, one ends of two third connecting plates are rotatably installed on the first mounting shaft, the other ends of the two third connecting plates are respectively hinged to two push plates arranged on two sides of the first rotating shaft, and the sliding directions of the two push plates are parallel to the baffle plates;
the baffle is close to the upper and lower both ends of push pedal one side all are provided with T shape slide rail, and two push pedals are close to two lower both ends of baffle one side all are provided with T shape spout, T shape spout slides and sets up on the T shape slide rail.
Furthermore, two walking wheels are installed on two sides of the bottom of the frame, a magnetic crawler belt is sleeved on the two walking wheels on two sides, and a plurality of tensioning wheels used for tensioning the magnetic crawler belt are further installed on the bottom of the frame between the two walking wheels.
Furthermore, the cleaning unit comprises an installation box installed at the front end of the frame, and the top end of the installation box is arranged on a sliding rail installed at the bottom of the frame in a sliding mode;
the front end of the mounting box is provided with an opening, one end of a plurality of second mounting shafts is hinged in the mounting box, cleaning shovels for shoveling ship attachment are mounted at the other ends of the second mounting shafts, which extend out of the front end of the mounting box, a pressure spring is arranged between the upper end of each second mounting shaft and the upper surface of the inner side of the mounting box, and the lower surfaces of the second mounting shafts are abutted to the lower surface of the inner side of the mounting box;
the rear end of the mounting box is hinged with one end of a fourth connecting piece, the other end of the fourth connecting piece is hinged with one end of a fifth connecting piece, the other end of the fifth connecting piece is fixed on a power output shaft of a second motor, the second motor is mounted at the bottom of the frame, and a second sealing cover is sleeved outside the second motor;
the first opening is located above the cleaning shovel.
Further, the lock unit is including seting up the spout of rectangle opening both sides, two door plants in the spout of slip setting both sides, and the front end of two door plants is laminated each other, and the rear end of two door plants passes through first spring coupling with the lateral wall of spout respectively, and the equal rigid coupling in upper end of two door plants has the limiting plate, the supplementary unit of pushing away is through promoting two door plants of limiting plate drive and is moved to both sides.
Further, the auxiliary push-away unit comprises first sliding rods which are arranged on the L-shaped collecting box in parallel, and the two first sliding rods are symmetrically arranged above the first rectangular opening;
the two first sliding rods are provided with sliding plates in a sliding mode, the sliding direction of the sliding plates is the same as that of the pushing plate, a second rectangular opening is formed in the middle of each sliding plate, the sliding plates are provided with second sliding rods, two ends of each second sliding rod are located on two sides of the corresponding second rectangular opening respectively, one ends of the two pushing plates are arranged on the corresponding second sliding rods in a sliding mode, the other ends of the two pushing plates penetrate through the corresponding second rectangular openings, and slotting tools are installed on the outer sides of the two pushing plates;
one end of each of the two push-open plates, which is slidably arranged on the second sliding rod, is hinged to one end of a sixth connecting piece, the other ends of the two sixth connecting pieces are hinged to two ends of a seventh connecting piece, telescopic ends of electric telescopic rods are mounted on the side wall, far away from the push-open plates, of the seventh connecting piece, and the electric telescopic rods are mounted on the L-shaped collecting box.
Furthermore, the top of the L-shaped collecting box is also provided with a third motor for driving the conveyer belts on the two sides to move, a third closed cover is sleeved outside the third motor, the power output end of the third motor is provided with a first bevel gear, the first bevel gear is in meshing transmission with a second bevel gear, the second bevel gear is arranged on the second rotating shaft, and the two ends of the second rotating shaft respectively drive the conveyer belts on the two sides.
Furthermore, an underwater driver for driving the vehicle frame to move is installed at the top of the L-shaped collecting box.
Further, the collection bag is a flexible netted collection bag, and the opening of the collection bag is an elastic tightening opening.
Due to the adoption of the technical scheme, the invention has the following advantages:
1. the underwater cleaning robot can clean and collect attachments on the surface of the ship body underwater, reduces the time for the ship to enter a dock to be cleaned, saves the cleaning cost, and meanwhile, the attachments after being cleaned are collected and can not be adsorbed on the ship body again, and the cleaning effect is good.
2. According to the device, negative pressure is generated by rotation of the propeller blades to suck the cleaned attachments into the L-shaped collecting box, the attachments are pushed into the collecting bag through the push plate to be stored, the collecting bag is taken down to collect the attachments after cleaning is completed, and the collecting effect is good;
3. the device comprises a conveying belt, a door plate, an absorbing and pushing unit, a tension spring, a plurality of groups of L-shaped sleeving parts, a door plate and a collecting bag, wherein the conveying belt is provided with the plurality of groups of L-shaped sleeving parts, the collecting bags are sleeved on the L-shaped sleeving parts, when the collecting bags need to be collected, the conveying belt conveys the empty collecting bags to the outer side of a first rectangular opening, the door plate and the collecting bag are opened by the aid of the pushing-away component, the absorbing and pushing unit pushes adsorbates on one side of a baffle plate into the collecting bags, when one collecting bag is fully collected; the next collection bag is switched, the collection effect is good, the quantity that single operation can be collected is large, and the operating efficiency is high.
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. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof.
Drawings
The drawings of the present invention are described below.
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a bottom view of the present invention.
Fig. 3 is a schematic structural diagram of the absorbing and pushing unit of the invention.
FIG. 4 is a top view of the L-shaped collection box of the present invention.
Fig. 5 is a partial enlarged view of the invention at a in fig. 1.
Fig. 6 is a partial enlarged view of the invention at B in fig. 3.
Fig. 7 is a partial enlarged view of the invention at C in fig. 4.
FIG. 8 is a cross-sectional view of the cleaning unit of the present invention.
Fig. 9 is a schematic view of the structure of the collection bag of the present invention.
In the figure: 1-a vehicle frame; 2-a magnetic crawler; 3-L-shaped collection box; 4-underwater drive; 5, a conveyor belt; 6-collecting the bag; 7-a first connector; 8-L-shaped socket joint; 9-a tension spring; 10-torsion spring; 11-a first rectangular opening; 12-a first opening; 13-a baffle; 14-passing through a water tank; 15-mounting holes; 16-a propeller blade; 17-a first electric machine; 18-a first sealing boot; 19-a first shaft; 20-a second connecting plate; 21-a first mounting axis; 22-a third connecting plate; 23-a push plate; a 24-T shaped slide rail; 25-T shaped chute; 26-a tension wheel; 27-mounting a box; 28-a slide rail; 29-a second mounting shaft; 30-cleaning a shovel; 31-a pressure spring; 32-a fourth connection; 33-a fifth connection; 34-a second motor; 35-a second containment vessel; 36-a chute; 37-door panel; 38-a first spring; 39-limiting plate; 40-a first slide bar; 41-a sliding plate; 42-road wheels; 43-a second rectangular opening; 44-a second slide bar; 45-pushing the plate open; 46-a slotting tool; 47-sixth connecting member; 48-a seventh connection; 49-electric telescopic rod; 50-a third motor; 51-a third containment vessel; 52-a first bevel gear; 53-second bevel gear; 54-second axis of rotation.
Detailed Description
The invention is further illustrated by the following figures and examples.
In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the embodiments of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "connected" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. Specific meanings of the above terms in the embodiments of the present invention can be understood in specific cases by those of ordinary skill in the art.
1-9, the underwater cleaning robot with the collecting function comprises a frame 1, a magnetic crawler 2 is arranged on the bottom end surface of the frame 1, the advancing direction of the frame 1 is the length direction of the frame 1, and a cleaning unit for cleaning attachments on a ship body is arranged at the front end of the bottom end surface of the frame;
the frame 1 is provided with an L-shaped collecting box 3, two sides above the L-shaped collecting box 3 are provided with conveyor belts 5, the moving direction of the conveyor belts is the same as that of the frame 1, and a plurality of groups of collecting units for sleeving collecting bags 6 are arranged on the conveyor belts 5 at equal intervals;
the collecting unit comprises two first connecting pieces 7, one ends of the two first connecting pieces 7 are hinged to the side wall of the conveying belt 5, the middle parts of the two first connecting pieces 7 are connected through a tension spring 9, the other ends of the first connecting pieces 7 are respectively hinged with one end of an L-shaped sleeve-joint piece 8, a torsion spring 10 is sleeved on a hinged shaft of each first connecting piece 7 and the L-shaped sleeve-joint piece 8, one end of the torsion spring 10 is fixedly connected with the L-shaped sleeve-joint piece 8, the other end of the torsion spring 10 is fixedly connected with the first connecting piece 7, when the torsion spring 10 is in a free state, the first connecting pieces 7 and the L-shaped sleeve-joint pieces 8 are parallel to each other, and a collecting bag 6 for collecting attachments is sleeved on the two L-shaped sleeve-joint pieces 8;
the two side walls of the L-shaped collecting box 3 are respectively provided with a first rectangular opening 11, a door lock unit capable of being opened and closed in a sliding mode is arranged at the position of the first rectangular opening 11, and two sides of the upper end of the L-shaped collecting box 3 are also provided with an auxiliary push-open unit used for enabling the door lock unit, two L-shaped socket pieces 8 positioned outside the first rectangular opening 11 and a collecting bag 6 sleeved on the L-shaped socket pieces 8 to be opened;
the front end of the L-shaped collecting box 3 is provided with a first opening 12, the first opening 12 is positioned above the cleaning unit, and an absorption pushing unit which is used for absorbing attachments into the L-shaped collecting box 3 and pushing the attachments in the L-shaped collecting box 3 into the collecting bag 6 is arranged in the L-shaped collecting box 3.
In the embodiment of the invention, before the launching is cleaned, each group of L-shaped sleeving pieces 8 is sleeved with a collecting bag, when the collecting bags are cleaned, the cleaning units clean attachments on the surface of the ship body, the absorption pushing units absorb the cleaned attachments into the L-shaped collecting box 3, and the attachments in the L-shaped collecting box 3 are pushed into the collecting bags 6 for storage; when in collection, the conveyor belt 5 locks the door unit at the first rectangular opening of the conveyor belt of one group of collection components under the action of the auxiliary push-open unit, the two first connecting pieces 7 rotate to the positions parallel to each other, and the two L-shaped sleeve-connection pieces 8 are parallel to each other under the action of the torsion spring 9, so that the collection bags sleeved on the two L-shaped sleeve-connection pieces 8 are opened to collect the garbage pushed out by the collection push-out unit, and the collection effect is good; after the collection is finished, the auxiliary pushing-away unit is reset to the initial position, the two L-shaped sleeve-connection pieces 8 rotate to the mutually abutted positions under the action of the tension spring 10, and the opening of the collection bag 6 is closed.
As an embodiment of the invention, the absorbing and pushing unit comprises a baffle 13 installed in the L-shaped collecting box 3, the baffle 13 is arranged perpendicular to the moving direction of the frame 1, and a plurality of water passing grooves 14 are arranged on the baffle 13;
the rear end of the L-shaped collecting box 3 is provided with a plurality of mounting holes 15, and the mounting holes 15 are all provided with propeller blades 16 used for generating water flow in the L-shaped collecting box 3;
a first motor 17 is installed at the bottom of the frame 1, a first sealing cover 18 is sleeved outside the first motor 17, a power output shaft of the first motor 17 extends out of the first sealing cover 18 and is fixedly connected with one end of a first rotating shaft 19, the other end of the first rotating shaft 19 penetrates through the lower surfaces of the frame 1 and the L-shaped collecting box 3 and extends into the L-shaped collecting box 3, a second connecting plate 20 is installed on the second connecting plate 20, a first installing shaft 21 is installed at the other end of the second connecting plate 20, one ends of two third connecting plates 22 are rotatably installed on the first installing shaft 21, the other ends of the two third connecting plates 22 are respectively hinged to two push plates 23 arranged at two sides of the first rotating shaft 19, and the sliding directions of the two push plates 23 are parallel to the baffle 13;
the baffle 13 is close to the upper and lower both ends of push pedal 23 one side all are provided with T shape slide rail 24, and two push pedals 23 are close to two lower both ends of baffle 13 one side all are provided with T shape spout 25, T shape spout 25 slides and sets up on the T shape slide rail 24.
In the embodiment of the invention, the power motor of the propeller blade 16 is electrically connected with the storage battery arranged at the bottom end of the frame 1, negative pressure is generated by the rotation of the propeller blade 16 to suck the cleaned attachments into the L-shaped collection box 3, the attachments are pushed into the collection bags 6 at two sides by the push plates 23 at two sides to be stored, and after the cleaning is finished, the collection bags 6 at two sides are taken down to collect the attachments, so that the collection effect is good.
As an embodiment of the present invention, two walking wheels 42 are installed on both sides of the bottom of the frame 1, the magnetic crawler 2 is sleeved on both the two walking wheels 42 on both sides, and a plurality of tension wheels 26 for tensioning the magnetic crawler 2 are installed on the bottom of the frame 1 between the two walking wheels 42.
In the embodiment of the invention, the magnetic crawler 2 is tensioned by the tensioning wheel 26 during the movement of the frame 1, so that the magnetic crawler 2 is always attached to the hull, and the robot runs stably.
As an embodiment of the present invention, the cleaning unit includes a mounting box 27 mounted at the front end of the frame, and the top end of the mounting box 27 is slidably disposed on a slide rail 28 mounted at the bottom of the frame 1;
the front end of the mounting box 27 is open, one end of a plurality of second mounting shafts 29 is hinged in the mounting box 27, cleaning shovels 30 for shoveling attachments of the ship body are mounted at the other ends of the second mounting shafts 29, which extend out of the front end of the mounting box 27, a pressure spring 31 is arranged between the upper end of each second mounting shaft 29 and the upper surface of the inner side of the mounting box 27, and the lower surfaces of the second mounting shafts 29 are abutted to the lower surface of the inner side of the mounting box 27;
the rear end of the mounting box 27 is hinged with one end of a fourth connecting piece 32, the other end of the fourth connecting piece 32 is hinged with one end of a fifth connecting piece 33, the other end of the fifth connecting piece 33 is fixed on a power output shaft of a second motor 34, the second motor 34 is mounted at the bottom of the frame 1, and a second closed cover 35 is sleeved outside the second motor 34;
the first opening 12 is located above the cleaning blade 30.
In the embodiment of the invention, in the working process of the second motor 34, the fourth connecting piece 32 and the fifth connecting piece 33 are driven to move, the fourth connecting piece 32 drives the mounting box 27 and the cleaning shovel 10 at the front end of the mounting box 27 to reciprocate to clean attachments on the surface of the ship body, meanwhile, the pressure spring 31 is arranged between the second mounting shaft 29 and the upper surface of the inner side of the mounting box 27, when the attachments which are difficult to clean are encountered, the second mounting shaft 29 compresses the pressure spring 31 to avoid, and the protection effect on the robot is better.
As an embodiment of the present invention, the door lock unit includes sliding grooves 36 formed on two sides of the rectangular opening, two door plates 37 slidably disposed in the sliding grooves 36 on the two sides, front ends of the two door plates 37 are attached to each other, rear ends of the two door plates 37 are respectively connected to side walls of the sliding grooves 36 through first springs 38, upper ends of the two door plates 37 are fixedly connected to limit plates 39, and the auxiliary push-open unit drives the two door plates 37 to move to two sides by pushing the limit plates 39.
In the present embodiment, when the screw blade 16 absorbs the adsorbate cleaned up at the first opening 12, the door plates 37 at the two sides are closed under the action of the first spring 38, so as to prevent the water outside the first rectangular opening from being sucked into the L-shaped collection box 3, which affects the absorption efficiency of the adsorbate; when the push plate 23 is required to push the attachments at the baffle 13 into the collecting bag 6, the door plates 37 at the two sides are opened under the action of the auxiliary push-open unit to facilitate the collection of the attachments, and when the auxiliary push-open unit is reset, the door plates 37 at the two sides are reset and closed under the action of the first spring 38.
As an embodiment of the invention, the auxiliary push-away unit comprises first sliding rods 40 which are arranged on the L-shaped collecting box 20 in parallel, and two first sliding rods 40 are symmetrically arranged above the first rectangular opening 11;
sliding plates 41 are arranged on the two first sliding rods 40 in a sliding manner, the sliding direction of each sliding plate 41 is the same as that of the corresponding push plate 23, a second rectangular opening 43 is formed in the middle of each sliding plate 41, a second sliding rod 44 is arranged on each sliding plate 41, two ends of each second sliding rod 44 are respectively located on two sides of each second rectangular opening 43, one ends of the two push-open plates 45 are arranged on the second sliding rods 44 in a sliding manner, the other ends of the two push-open plates 45 penetrate through the second rectangular openings 43, and a slotting tool 46 is arranged on the outer sides of the two push-open plates 45;
one end of each of the two push-open plates 45 slidably disposed on the second sliding rod 44 is hinged to one end of a sixth connecting piece 47, the other end of each of the two sixth connecting pieces 47 is hinged to two ends of a seventh connecting piece 48, the side wall of the seventh connecting piece 48 far away from the push-open plate 45 is provided with a telescopic end of an electric telescopic rod 49, and the electric telescopic rod 49 is mounted on the L-shaped collecting box 3.
In the embodiment of the invention, when the electric telescopic rod 49 extends, the sliding plate 41 is pushed to slide along the first sliding rod 40, the two push-open plates 45 penetrate into the middle of the two first connecting pieces 7 and the middle of the two limiting plates 38, when the sliding plate 41 slides to the foremost end of the first sliding rod 40, the seventh connecting piece 48 extrudes the sixth connecting pieces 47 at the two sides, the push-open plates 45 at the two sides are driven by the sixth connecting pieces 47 at the two sides to slide away from each other, the push-open plates 45 push the first connecting pieces 7 at the two sides to open, the L-shaped socket-connection piece 8 hinged at the upper end of the first connecting piece 7 is driven to open by the first connecting piece 7, the collection bag 6 is driven to open for collection, the slotting tool 46 on the push-open plates 45 pushes the limiting plates 38, and the limiting plates drive the door plates 37 to open.
As an embodiment of the present invention, a third motor 50 for driving the conveyor belts 5 on both sides to move is further installed on the top of the L-shaped collection box 3, a third enclosed cover 51 is sleeved on the third motor 50, a power output end of the third motor 50 is provided with a first bevel gear 52 and the third enclosed cover 51, the first bevel gear 52 is in meshing transmission with a second bevel gear 53, the second bevel gear 53 is installed on the second rotating shaft 54, and both ends of the second rotating shaft 54 respectively transmit the conveyor belts 5 on both sides.
In the present embodiment, the third motor 50 rotates to drive the two side belts 5, so that the collecting bags on the two side belts are aligned with the first rectangular opening in sequence for convenient collection.
As an embodiment of the invention, the top of the L-shaped collecting box 3 is provided with a submerged driver 4 for driving the vehicle frame 1 to move.
In the present example, the underwater drive 47 is operative to drive the cleaning robot in motion during cleaning.
As an embodiment of the invention, the collecting bag 6 is a flexible web-like collecting bag and the opening of the collecting bag 6 is an elastically constricting opening.
In the embodiment of the invention, the collection bag 6 is a flexible netted collection bag, so that water can be conveniently drained during collection, the collection amount is increased, and meanwhile, the opening of the collection bag 6 is designed to be an elastic opening, so that the collection bag 6 can be conveniently opened before collection and closed after collection.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications and equivalents may be made to the embodiments of the invention without departing from the spirit and scope of the invention, which is to be covered by the claims.
Claims (9)
1. The underwater cleaning robot with the collecting function is characterized by comprising a frame (1), wherein a magnetic crawler (2) is arranged on the bottom end face of the frame (1), the advancing direction of the frame (1) is the length direction of the frame (1), and a cleaning unit for cleaning ship attachments is arranged at the front end of the bottom end face of the frame;
the frame (1) is provided with an L-shaped collecting box (3), two sides above the L-shaped collecting box (3) are provided with conveyor belts (5), the moving direction of the conveyor belts is the same as that of the frame (1), and the conveyor belts (5) are provided with a plurality of groups of collecting units at equal intervals for sleeving collecting bags (6);
the collecting unit comprises two first connecting pieces (7) with one ends hinged to the side wall of the conveying belt (5), the middle parts of the two first connecting pieces (7) are connected through a tension spring (9), the other ends of the first connecting pieces (7) are respectively hinged with one end of an L-shaped sleeve piece (8), a torsion spring (10) is sleeved on a hinged shaft of the first connecting piece (7) and the L-shaped sleeve piece (8), one end of the torsion spring (10) is fixedly connected with the L-shaped sleeve piece (8), the other end of the torsion spring (10) is fixedly connected with the first connecting piece (7), when the torsion spring (10) is in a free state, the first connecting piece (7) and the L-shaped sleeve piece (8) are parallel to each other, and a collecting bag (6) for collecting attachments is sleeved on the two L-shaped sleeve pieces (8);
two side walls of the L-shaped collecting box (3) are respectively provided with a first rectangular opening (11), a door lock unit capable of being opened and closed in a sliding mode is arranged at the position of the first rectangular opening (11), and two sides of the upper end of the L-shaped collecting box (3) are also provided with an auxiliary push-open unit for enabling the door lock unit, two L-shaped socket pieces (8) positioned on the outer sides of the first rectangular opening (11) and a collecting bag (6) sleeved on the L-shaped socket pieces (8) to be opened;
the front end of the L-shaped collecting box (3) is provided with a first opening (12), the first opening (12) is positioned above the cleaning unit, and an absorbing and pushing unit which is used for absorbing attachments into the L-shaped collecting box (3) and pushing the attachments in the L-shaped collecting box (3) into the collecting bag (6) is arranged in the L-shaped collecting box (3).
2. An underwater cleaning robot with a collecting function as claimed in claim 1, wherein the absorbing and pushing unit comprises a baffle (13) installed in the L-shaped collecting box (3), the baffle (13) is arranged perpendicular to the moving direction of the vehicle frame (1), and a plurality of water passing grooves (14) are arranged on the baffle (13);
the rear end of the L-shaped collecting box (3) is provided with a plurality of mounting holes (15), and propeller blades (16) used for generating water flow in the L-shaped collecting box (3) are mounted in the mounting holes (15);
a first motor (17) is arranged at the bottom of the frame (1), a first sealing cover (18) is sleeved outside the first motor (17), the power output shaft of the first motor (17) extends out of the first sealing cover (18) and is fixedly connected with one end of a first rotating shaft (19), the other end of the first rotating shaft (19) penetrates through the frame (1) and the lower surfaces of the L-shaped collecting boxes (3) to extend into the L-shaped collecting boxes (3) and is provided with a second connecting plate (20), a first mounting shaft (21) is mounted at the other end of the second connecting plate (20), one ends of two third connecting plates (22) are rotatably mounted on the first mounting shaft (21), the other ends of the two third connecting plates (22) are respectively hinged to two push plates (23) arranged on two sides of the first rotating shaft (19), and the sliding directions of the two push plates (23) are parallel to the baffle (13);
baffle (13) are close to the upper and lower both ends of push pedal (23) one side all are provided with T shape slide rail (24), and two push pedals (23) are close to both ends all are provided with T shape spout (25) under two of baffle (13) one side, T shape spout (25) slide to be set up on T shape slide rail (24).
3. The underwater cleaning robot with the collecting function as claimed in claim 2, wherein two walking wheels (42) are mounted on two sides of the bottom of the frame (1), the two walking wheels (42) on two sides are sleeved with the magnetic crawler belt (2), and a plurality of tension wheels (26) for tensioning the magnetic crawler belt (2) are mounted on the bottom of the frame (1) between the two walking wheels (42).
4. An underwater cleaning robot with a collecting function as claimed in claim 2, characterized in that the cleaning unit comprises a mounting box (27) mounted at the front end of the frame, the top end of the mounting box (27) is slidably arranged on a slide rail (28) mounted at the bottom of the frame (1);
the front end of the mounting box (27) is opened, one end of a plurality of second mounting shafts (29) is hinged in the mounting box (27), cleaning shovels (30) used for shoveling ship attachment are mounted at the front ends of the other ends of the second mounting shafts (29) extending out of the mounting box (27), a pressure spring (31) is arranged between the upper end of each second mounting shaft (29) and the upper surface of the inner side of the mounting box (27), and the lower surface of each second mounting shaft (29) is abutted to the lower surface of the inner side of the mounting box (27);
the rear end of the mounting box (27) is hinged with one end of a fourth connecting piece (32), the other end of the fourth connecting piece (32) is hinged with one end of a fifth connecting piece (33), the other end of the fifth connecting piece (33) is fixed on a power output shaft of a second motor (34), the second motor (34) is mounted at the bottom of the frame (1), and a second closed cover (35) is sleeved outside the second motor (34);
the first opening (12) is located above the cleaning blade (30).
5. The underwater cleaning robot with the collection function according to claim 2, wherein the door lock unit comprises sliding grooves (36) formed in two sides of the rectangular opening, two door plates (37) are slidably disposed in the sliding grooves (36) formed in the two sides, front ends of the two door plates (37) are attached to each other, rear ends of the two door plates (37) are respectively connected with side walls of the sliding grooves (36) through first springs (38), upper ends of the two door plates (37) are fixedly connected with limiting plates (39), and the auxiliary push-open unit drives the two door plates (37) to move towards two sides through pushing the limiting plates (39).
6. An underwater cleaning robot with a collecting function according to claim 2, characterized in that the auxiliary push-away unit comprises first slide bars (40) mounted parallel to each other on the L-shaped collecting box (20), two first slide bars (40) being symmetrically arranged above the first rectangular opening (11);
sliding plates (41) are arranged on the two first sliding rods (40) in a sliding mode, the sliding direction of the sliding plates (41) is the same as that of the push plate (23), a second rectangular opening (43) is formed in the middle of each sliding plate (41), a second sliding rod (44) is installed on each sliding plate (41), two ends of each second sliding rod (44) are located on two sides of the corresponding second rectangular opening (43), one ends of the two push-open plates (45) are arranged on the corresponding second sliding rods (44) in a sliding mode, the other ends of the two push-open plates (45) penetrate through the corresponding second rectangular openings (43), and an inserting knife (46) is installed on the outer side of each push-open plate;
two push-open plates (45) are slidably arranged at one ends of the second sliding rods (44) and are hinged to one end of a sixth connecting piece (47), the other ends of the two sixth connecting pieces (47) are hinged to two ends of a seventh connecting piece (48), the seventh connecting piece (48) is far away from the side wall of the push-open plates (45), the telescopic end of an electric telescopic rod (49) is installed on the side wall of the push-open plates (45), and the electric telescopic rod (49) is installed on the L-shaped collecting box (3).
7. The underwater cleaning robot with the collecting function as claimed in claim 2, wherein a third motor (50) for driving the conveyor belts (5) on both sides to move is further installed on the top of the L-shaped collecting box (3), a third closed cover (51) is sleeved outside the third motor (50), a power output end of the third motor (50) is the third closed cover (51) and is provided with a first bevel gear (52), the first bevel gear (52) is in meshing transmission with a second bevel gear (53), the second bevel gear (53) is installed on the second rotating shaft (54), and both ends of the second rotating shaft (54) respectively drive the conveyor belts (5) on both sides.
8. An underwater cleaning robot with a collecting function as claimed in claim 2, characterized in that the top of the L-shaped collecting tank (3) is fitted with an underwater drive (4) for driving the movement of the carriage (1).
9. An underwater cleaning robot with collecting function according to claim 1, characterized in that the collecting bag (6) is a flexible mesh-like collecting bag and the collecting bag (6) opening is an elastically constricted opening.
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| CN202110493393.4A CN113173229B (en) | 2021-05-07 | 2021-05-07 | Underwater cleaning robot with collecting function |
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| CN113173229B CN113173229B (en) | 2022-10-25 |
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Cited By (1)
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| NO20220801A1 (en) * | 2022-07-15 | 2024-01-16 | Ecosubsea As | Tornado macrofouling collector |
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|---|---|
| CN113173229B (en) | 2022-10-25 |
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