CN113320663A

CN113320663A - Underwater intelligent cleaning detection robot

Info

Publication number: CN113320663A
Application number: CN202110589717.4A
Authority: CN
Inventors: 陈晓博; 刘羽菁; 官涛; 车明
Original assignee: Feimabin Qingdao Intelligent Technology Co ltd
Current assignee: Feimabin Qingdao Intelligent Technology Co ltd
Priority date: 2021-05-28
Filing date: 2021-05-28
Publication date: 2021-08-31
Also published as: CN216887173U

Abstract

The invention belongs to the field of underwater cleaning robots, and particularly relates to an underwater intelligent cleaning and detecting robot. The anti-collision device comprises a body structure, wherein the body structure comprises a frame unit, an anti-collision unit and a buoyancy unit; the frame unit is provided with a motion control unit which comprises a roller, a propeller and a control cabin; the top surface and the side surface of the frame unit are provided with a cleaning disc group unit. The underwater intelligent cleaning and detecting robot can quickly and effectively clean an underwater ship body by controlling the underwater intelligent cleaning and detecting robot on the water surface; all be provided with the washing dish on two working faces of robot, can carry out the washing of hull different faces through not overturning the robot, avoid traditional complicated operation.

Description

Underwater intelligent cleaning detection robot

Technical Field

The invention belongs to the field of underwater cleaning robots, and particularly relates to an underwater intelligent cleaning and detecting robot.

Background

In the long-term sailing process of the ocean vessel, shellfish, rusty spots and the like can be attached to the surface of the underwater part of the hull, the sailing speed and the service life of the vessel are seriously influenced, the fuel consumption is increased by nearly 20%, the oil consumption of the vessel can be reduced through cleaning, the operation and maintenance cost is reduced, the coating layer is protected, the service life of the hull is prolonged, and the removal of attached marine organisms is beneficial to reducing the accident risk of the offshore oil platform, and the stability and the storm resistance are enhanced.

However, at present, two modes of docking and manual diving cleaning by divers are adopted for cleaning underwater hulls at home and abroad, the normal navigation period of the ship can be seriously influenced by docking of the ship, and the transportation capacity is greatly wasted; the problem that boats and ships do not dock can be solved in diver's washing, but diver is because dive environment and human physical stamina influence, can't accomplish the hull fast and wash the task, and diver washs under water moreover, can't verify cleaning quality, has caused the difficulty to the acceptance of cleaning performance, and diver uses the cleaning brush to wash most of under water simultaneously, can cause the destruction to ship lacquer, and then influences the hull life-span. The current cleaning robot that has now of contrast adopts single or two cavitation dishes also to have the incomplete problem of washing, moreover, washs the dish setting on a face, when the operation of wasing lateral wall and hull is in turn, just involves the upset operation to the robot body, has both examined operating personnel's operating skill, and operation control is also more complicated simultaneously, causes frequent error, extravagant resource.

Disclosure of Invention

In order to solve the defects mentioned in the background technology, the invention discloses an underwater intelligent cleaning and detecting robot.

In order to achieve the above purpose, the following technical solutions are provided:

an underwater intelligent cleaning and detecting robot comprises

The body structure is used for building a main body structure of the robot and comprises a frame unit, an anti-collision unit and a buoyancy unit;

the motion control unit comprises a roller, a propeller and a control cabin;

the cleaning unit comprises a cleaning disc group unit, is arranged on the top surface and/or the side surface of the robot, and is used for cleaning the bottom of the ship by using the cleaning disc group unit on the top surface and cleaning the side surface of the ship by using the cleaning disc group unit on the side surface; the design solves the problem that the robot is easy to overturn when the posture is adjusted under the water condition of unstable water flow in actual operation, and simultaneously reduces the difficulty degree of operation and control.

Furthermore, the cable connecting points connected with the robot are arranged on the side face of the robot, and meanwhile, the gravity center of the overall structure of the robot is inclined downwards, so that the self-stability of the robot is improved, the phenomenon of ' flying kites ' caused by the influence of water flow in an operation water area is avoided, and meanwhile, the robot can automatically turn around even though turning on one's side due to the inclined gravity center.

Furthermore, the buoyancy unit is made of buoyancy materials and is arranged at the upper part of the whole frame unit of the robot, so that the whole floating center is in an upper position.

Furthermore, the frame unit material chooses one of metal plate groove and square tubular construction for use, and the metal plate groove structure is the open type, and the wiring of being convenient for, and this structure can avoid depositing the water condition, and light easy installation reduces the resistance when weight is less. Hardware wiring can be conveniently distributed on the water pipeline by using the metal plate groove space; square tubular construction can realize walking the whole parcel of line, and two kinds of structures all can the different degree reduce the inside turbulent flow influence of walking the line formation.

Furthermore, the overall appearance of the robot body structure is mainly a front-back surface structure, one of two modes of forehead inclination angle and forehead vertical installation is adopted, and the forehead inclination angle installation can avoid internal turbulence, carry out negative pressure and increase the adsorption force of the cavitation disc. The vertical installation resistance is small, and the vertical installation resistance can be matched with a buoyancy material to form streamline drainage.

Furthermore, the cleaning disc group unit comprises 1-4 cleaning discs, the cleaning discs can be separately and fixedly arranged on the robot frame and can also be uniformly arranged on the fixing plate, and the cleaning discs are connected with the robot frame unit through holes uniformly arranged on the fixing plate.

Furthermore, the fixed plate is connected with the frame unit through a pressure spring, a lifting ring is installed on a corner of the fixed plate, and a tension spring is installed on the lifting ring and connected with the frame unit.

Furthermore, the cleaning disc group unit is provided with a rotating shaft structure, so that the position of the disc group between the top surface and the side surface and on the single surface can be moved. The rotating shaft structure is realized by one or more of a servo motor, a rolling shaft, a slideway and a bracket.

Furthermore, the propellers are arranged on the frame unit and are arranged in three directions of advancing, vertical pushing and lateral pushing, and meanwhile, the respective flow channels are not overlapped and staggered, the design improves the power utilization rate of the propellers by more than eight times, and in consideration of the fact that in actual operation, the power utilization rate of the propellers is inevitably consumed due to the water environment, the self-shaking of the robot, the lack of power voltage, the error of the installation angle and the like, the description of the eight-component utilization rate is conservative description, and the situation is possibly higher in practice.

Furthermore, the cleaning unit also comprises a pump body unit and a filtering unit which are integrated in the robot, the pump body unit and the filtering unit are connected with the cleaning disc, water is taken in situ after cleaning is started, the water is filtered by two stages of the filtering unit to reach the pump body for pressurization, and finally cleaning operation is realized through the cleaning disc set.

Furthermore, the sealing structure of the control cabin combines the radial surface sealing and the end surface sealing, and is provided with a pressure measuring and pressurizing device; the design avoids the blindness of the sealing test in the cabin, and once the phenomena of untight sealing, air leakage and water leakage exist, the whole control cabin plate block is possibly scrapped to cause unnecessary loss; the device is set up, can accomplish sealed test through observing the change of cabin internal pressure value under the circumstances of not launching, also can monitor the change of cabin internal pressure value in real time when underwater operation, in case the gas leakage, all can suppress the remedy before reaching the critical value of intaking, effectively protects the interior facility of cabin.

The invention has the beneficial effects that:

1. the underwater intelligent cleaning and detecting robot can quickly and effectively clean an underwater ship body by controlling on the water surface.

2. The underwater intelligent cleaning and detecting robot can realize the cleaning discs on two working surfaces of the robot, can clean different surfaces of a ship body by the robot without turning over, and avoids the traditional complex operation.

3. The underwater intelligent cleaning detection robot has the advantages that the gravity center is lower, the floating center is upper, the self-stability is good, meanwhile, cables are connected from the side, and the problem of 'flying a kite' underwater is solved to a great extent.

4. The underwater intelligent cleaning and detecting robot selects plate groove and square tube structure materials, reduces weight, facilitates wiring, and reduces turbulence influence caused by wiring.

Drawings

FIG. 1 is a schematic perspective view of an underwater intelligent cleaning and detecting robot 1;

FIG. 2 is a front view of a cleaning disc set unit of an underwater intelligent cleaning and detecting robot;

FIG. 3 is a rear view and an enlarged view of a lifting ring of a cleaning disc group unit of the underwater intelligent cleaning and detecting robot;

FIG. 4 is a top view of a cleaning disc set unit of the underwater intelligent cleaning detection robot;

FIG. 5 is a schematic diagram of a middle compression spring of a cleaning disc group unit of an underwater intelligent cleaning detection robot;

FIG. 6 is a schematic diagram of an underwater intelligent cleaning and detecting robot with two cleaning discs;

FIG. 7 is a schematic perspective view of a single-sided rotating shaft structure of a cleaning disc set of an underwater intelligent cleaning and detecting robot;

FIG. 8 is a forehead inclination streamline design of an underwater intelligent cleaning and detection robot;

wherein 1, the structure of the body; 11. a frame unit; 12. an anti-collision unit; 13. a buoyancy unit; 2. a motion control unit; 21. a roller; 22. a propeller; 3. a cleaning unit; 31. cleaning the disc group unit; 311. cleaning the disc; 312. a triangular fixing plate; 313. a hoisting ring; 314. a middle pressure spring; 32. a pump body unit; 33. and a filtering unit.

Detailed Description

In order to make the technical solution of the present invention more clear and definite for those skilled in the art, the technical solution of the present invention is described in detail below with reference to the accompanying drawings, but the embodiments of the present invention are not limited thereto.

An underwater intelligent cleaning and detecting robot comprises

The anti-collision device comprises a body structure 1, wherein the body structure 1 comprises a frame unit 11, an anti-collision unit 12 and a buoyancy unit 13; the frame unit 11 is provided with a motion control unit which comprises a roller 21, a propeller 22 and a control cabin; the top and side surfaces of the frame unit 11 are provided with a cleaning disc group unit 31.

The cleaning unit 3 comprises a cleaning disc group unit 31, the cleaning disc group unit 31 is arranged on the top surface and/or the side surface of the robot, the cleaning disc group unit 31 on the top surface is used for cleaning the bottom of the ship, and the cleaning disc group unit 31 on the side surface is used for cleaning the side wall of the ship; the design solves the problem that the robot is easy to overturn when the posture is adjusted under the water condition of unstable water flow in actual operation, and simultaneously reduces the difficulty degree of operation and control.

With the cable tie point setting that the robot is connected is in the side of robot, and the overall structure focus of robot is inclined to the lower simultaneously, has improved the self-stability of robot, avoids producing the phenomenon of "kiteflying" because of operation waters rivers influence, and even if turn on one's side also can automatic gyration because the focus is inclined to the lower simultaneously.

The buoyancy unit 13 is made of buoyancy material, and the buoyancy unit 13 is arranged at the upper part of the robot integral frame unit 11 to realize that the integral buoyancy center is in an upper position.

The frame unit 11 is made of one of a metal plate groove structure and a square tube structure, and the metal plate groove structure is open and is convenient for wiring; the square tube structure can realize the whole wrapping of the wiring, and the two structures can reduce the turbulence influence formed by the internal line in different degrees.

The cleaning disc group unit 31 comprises 1-4 cleaning discs 311, and the cleaning discs 311 can be separately and fixedly mounted on the robot frame or uniformly arranged on the fixing plate and are connected with the robot frame unit 11 through holes uniformly arranged on the fixing plate.

As shown in fig. 1-5, the structure of 3 cleaning discs 311 is shown, and the fixing plate is triangular.

The fixed plate is connected with the frame unit 11 through a pressure spring, a hanging ring 313 is installed on a corner of the fixed plate, and a tension spring is installed on the hanging ring 313 and connected with the frame unit 11.

The cleaning disk stack unit 31 may also be provided with a spindle structure to effect positional displacement of the disk stack between the top and side surfaces and on a single surface, as shown in fig. 7.

The thruster 22 is arranged on the frame unit 11 and is divided into advancing, vertical pushing and lateral pushing non-included-angle arrangement, and meanwhile, the respective flow channels are not overlapped and staggered, the design improves the power utilization rate of the thruster 22 by at least over eight times, and in consideration of the fact that in actual operation, the power utilization rate of the thruster 22 is inevitably consumed due to the water environment, the self-shaking of the robot, the lack of power voltage, the error of the installation angle and the like, the description of the eight-component utilization rate is conservative description, and the actual possibility is higher.

The sealing structure of the control cabin combines the radial surface sealing and the end surface sealing, and is provided with a pressure measuring and pressurizing device; the design avoids the blindness of the sealing test in the cabin, and once the phenomena of untight sealing, air leakage and water leakage exist, the whole control cabin plate block is possibly scrapped to cause unnecessary loss; the device is set up, can accomplish sealed test through observing the change of cabin internal pressure value under the circumstances of not launching, also can monitor the change of cabin internal pressure value in real time when underwater operation, in case the gas leakage, all can suppress the remedy before reaching the critical value of intaking, effectively protects the interior facility of cabin.

As shown in fig. 8, the overall shape of the robot body structure is mainly a front-back surface structure, and one of two ways of forehead inclination angle and forehead vertical installation is adopted, and the forehead inclination angle installation can avoid internal turbulence, perform negative pressure and increase the adsorption force of the cavitation disk. The vertical installation resistance is small, and the vertical installation resistance can be matched with a buoyancy material to form streamline drainage

While the invention has been described with respect to the preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. The utility model provides an intelligent cleaning detection robot under water which characterized in that: the anti-collision device comprises a body structure, wherein the body structure comprises a frame unit, an anti-collision unit and a buoyancy unit; the frame unit is provided with a motion control unit which comprises a roller, a propeller and a control cabin; the top surface and/or the side surface of the frame unit is provided with a cleaning disc group unit.

2. The underwater intelligent cleaning and detecting robot as claimed in claim 1, wherein: the buoyancy unit is made of buoyancy materials and arranged at the upper part of the robot frame unit, so that the integral buoyancy center is in an upper position.

3. The underwater intelligent cleaning and detecting robot as claimed in claim 1, wherein: the frame unit is made of an open type plate groove structure or a square tube structure.

4. The underwater intelligent cleaning and detecting robot as claimed in claim 1, wherein: the propellers are arranged on the frame unit and are distributed in three directions of advancing, vertical pushing and lateral pushing, and the respective flow channels are not overlapped and staggered.

5. The underwater intelligent cleaning and detecting robot as claimed in claim 1, wherein: the sealing structure of the control cabin combines the radial surface sealing and the end surface sealing, and is provided with a pressure measuring and pressurizing device.

6. The underwater intelligent cleaning and detecting robot as claimed in claim 1, wherein: the cleaning disc group unit comprises 1-4 cleaning discs, the cleaning discs can be separately and fixedly arranged on the robot frame or uniformly arranged on the fixing plate, and the cleaning discs are connected with the robot frame unit through holes uniformly arranged on the fixing plate.

7. The underwater intelligent cleaning and detecting robot as claimed in claim 6, wherein: the pump body unit and the filtering unit are integrated in the frame unit and connected with the cleaning disc group unit.

8. The underwater intelligent cleaning and detecting robot as claimed in claim 6, wherein: the cleaning disc group unit is provided with a rotating shaft structure, so that the disc group can move between the top surface and the side surface and on a single surface.