CN113978644A - Underwater cleaning robot - Google Patents
Underwater cleaning robot Download PDFInfo
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- CN113978644A CN113978644A CN202111520520.1A CN202111520520A CN113978644A CN 113978644 A CN113978644 A CN 113978644A CN 202111520520 A CN202111520520 A CN 202111520520A CN 113978644 A CN113978644 A CN 113978644A
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- propeller
- cleaning robot
- robot
- bottom plate
- underwater cleaning
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- 238000004140 cleaning Methods 0.000 title claims abstract description 44
- 230000007246 mechanism Effects 0.000 claims abstract description 39
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 15
- 238000001179 sorption measurement Methods 0.000 claims abstract description 9
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 78
- 239000011521 glass Substances 0.000 claims description 30
- 230000001681 protective effect Effects 0.000 claims description 12
- 230000010405 clearance mechanism Effects 0.000 claims description 10
- 230000000087 stabilizing effect Effects 0.000 claims description 9
- 239000007921 spray Substances 0.000 claims description 8
- 230000005484 gravity Effects 0.000 description 7
- 230000001174 ascending effect Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 3
- 230000006698 induction Effects 0.000 description 3
- 238000010030 laminating Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 238000003756 stirring Methods 0.000 description 3
- 230000033228 biological regulation Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000001125 extrusion Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 241000238586 Cirripedia Species 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000006059 cover glass Substances 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
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Classifications
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an underwater cleaning robot, which belongs to the field of ship cleaning and comprises a base, and a control center, a traveling mechanism and a cleaning mechanism which are arranged on the base, wherein the traveling mechanism comprises: a plurality of thrusters mounted to the base; the telescopic mechanism is arranged between the at least one propeller and the base; electromagnetic adsorption mechanism installs in the propeller, and the propeller distributes in pairs in the relative both sides of frame, and at least a pair of propeller includes: the servo motor is connected with the telescopic mechanism; the speed reducer is connected with an output shaft of the servo motor; a propeller; the universal joint is connected between the speed reducer and the propeller, the telescopic mechanism comprises a hydraulic telescopic shaft assembled between the base and the servo motor, the propeller and the walking mechanism can apply steering force to the robot while supporting the robot, and the situation that the work efficiency is reduced due to the fact that the robot is manually driven to walk and steer is reduced.
Description
Technical Field
The invention relates to the field of ship cleaning, in particular to an underwater cleaning robot.
Background
With the development of marine economy, the ship industry is gradually prosperous and developed. However, as the ship sails in the ocean for a long time, various small aquatic organisms and plants are attached to the surface of the ship body, for example, barnacles are adsorbed on the surface of the ship body, so that the resistance of the ship in the running process is increased, and further the oil consumption of the ship in the running process is increased, therefore, people must want to clean the attachments on the ship body;
the existing cleaning work of the surface of the ship body is mainly finished by an underwater robot, the underwater robot is adsorbed on the surface of the ship body through an electromagnet, then various small aquatic organisms and plants attached to the surface of the ship body are cleaned by driving a scraper to rotate, the operation steps of manually cleaning various small aquatic organisms and plants on the surface of the ship body are saved, the underwater robot replaces the manual work, the time for manually moving the ship to and fro for air exchange on the water surface is saved, and the labor efficiency of ship cleaning is improved;
however, the existing underwater robot has poor flexibility and is inconvenient to turn on the outer surface of a ship, so that the underwater robot needs to manually realize the functions of walking and turning, and the working efficiency of the underwater robot is low.
Disclosure of Invention
1. Technical problem to be solved
Aiming at the problems in the prior art, the invention aims to provide an underwater cleaning robot, which can realize that a propeller and a travelling mechanism can apply steering force to the robot while supporting the robot, and reduce the occurrence of the condition that the working efficiency of the robot is reduced due to the fact that the robot is manually driven to travel and steer.
2. Technical scheme
In order to solve the above problems, the present invention adopts the following technical solutions.
The utility model provides an underwater cleaning robot, includes the frame and install in control center, running gear, clearance mechanism on the frame, running gear includes: a plurality of thrusters mounted to the base; the telescopic mechanism is arranged between at least one propeller and the base; and the electromagnetic adsorption mechanism is arranged on the propeller.
Further, the propellers are distributed in pairs on two opposite sides of the base, and at least one pair of the propellers comprises: the servo motor is connected with the telescopic mechanism; the speed reducer is connected with an output shaft of the servo motor; a propeller; and the universal joint is connected between the speed reducer and the propeller.
Furthermore, telescopic machanism is including the hydraulic telescoping shaft of assembly between frame and servo motor, connect through being provided with the horizontal pole between hydraulic telescoping shaft output and the servo motor.
Further, clearance mechanism includes a plurality of connecting axles of fixed mounting at the frame lower extreme, the lower extreme fixedly connected with seat bottom plate of connecting axle, the lower extreme of seat bottom plate distributes along the circumference array has a plurality of stabilizing mean, stabilizing mean's lower extreme is equipped with the rotary motor, the output of rotary motor is equipped with the clearance tool bit, the inside of seat bottom plate is provided with water spray mechanism.
Further, stabilizing mean includes the back shaft of fixed mounting at the seat bottom plate lower extreme, the one end fixed mounting that the back shaft is kept away from the seat bottom plate has the mounting panel, one side that the back shaft was kept away from to the mounting panel is equipped with waterproof glass cover, through being provided with a plurality of expanding spring fixed connection between mounting panel and the waterproof glass cover.
Further, electromagnetism adsorption apparatus constructs including the lift cylinder of assembly at the horizontal pole lower extreme, the output of lift cylinder rotates installs chain round pin axle, the outside of chain round pin axle is equipped with the backup pad, the lower extreme of backup pad is provided with electromagnet, electromagnet's inside is provided with interior pterygoid lamina, electromagnet keeps away from one side of backup pad and is equipped with the yoke, electromagnet's the outside is provided with the protection film.
Further, the water spray mechanism is including setting up the inside high pressure water pipe in the current seat bottom plate, the outside of high pressure water pipe is connected with the force (forcing) pump, the one end of high pressure water pipe is equipped with high pressure nozzle, the other end fixedly connected with water sucking mouth of high pressure water pipe, it has a plurality of hydraulic telescoping rod to articulate on the seat bottom plate, the one end that hydraulic telescoping rod keeps away from the seat bottom plate articulates there is cavitation jet lifting disk, and the lower extreme of cavitation jet lifting disk articulates in high pressure water pipe.
Further, the outside symmetry of frame is installed and is balanced the wing, the outside fixed mounting of control center has the control box that is used for supporting the booster pump, the outside of control box is provided with the rubber pad.
Further, one end fixed mounting of frame has the searchlight, the equal fixed mounting of the upper end of balance wing and the lower extreme of control box has the camera.
Furthermore, a pressure-resistant glass cover is arranged on the outer side of the servo motor, and a protective glass cover is fixedly mounted on the outer side of the control box.
Furthermore, a power supply is fixedly installed at one end of the control box, and a sensor group is arranged on the protective glass cover.
3. Advantageous effects
Compared with the prior art, the invention has the advantages that:
(1) this scheme is rotatory through control center control propeller, ascending lift is applyed to the propeller and is given the frame, alleviate the gravity of robot, then put into the aquatic with the robot, stir rivers through the propeller, make the robot receive the reaction force of rivers and remove the surface of hull, simultaneously through control center control propeller and running gear intermittent type nature motion, make propeller and running gear can apply the turning force and give the robot when supporting the robot, it takes place to reduce the artifical condition that drives the robot walking and turn to and lead to its work efficiency to descend, and the attachment of clearance mechanism clearance hull surface on through the frame.
(2) The proposal applies the lifting force in the vertical direction to the base through the servo motor and the reducer to drive the propeller to rotate stably so as to counteract the gravity of part of the underwater robot, then the underwater robot is put into water, the universal joint and the two propellers are driven to rotate by the two servo motors, the angle of the two propellers relative to the base is quantitatively changed by the universal joint, so that the two propellers push the underwater robot to rotate by a certain angle, meanwhile, the servo motor, the reducer, the universal joint and the propeller are driven to move by the hydraulic telescopic shaft, therefore, the angle of the propeller applying a plurality of thrusts is changed, the attitude of the underwater robot in reclaimed water is conveniently adjusted, the underwater robot can advance and turn by being attached to the surface of the ship body, the operation steps of manually adjusting the attitude of the underwater robot are saved, and the situation that the working efficiency of the underwater robot is reduced due to the fact that the attitude is manually adjusted is reduced.
(3) This scheme promotes the electromagnetic chuck in the backup pad through lift cylinder, until the attached hull surface of electromagnetic chuck, the impact force that receives when simultaneously buffering electromagnetic chuck laminating hull through the deformation of protection film self, open electromagnetic chuck, make electromagnetic chuck's magnetic induction line promote and act on the hull through the yoke, and electromagnetic chuck and interior fin enclose chain round pin axle, until underwater robot is attached on the hull surface steadily, open in turn through control electromagnetic chuck afterwards and open the flexible in turn of opening with the hydraulic telescoping shaft, make underwater robot along hull surface translation, make things convenient for underwater robot to remove steadily.
(4) This scheme is when clearance mechanism during operation, the clearance tool bit receives the resistance that various small-size aquatic creatures in hull surface and plant were applyed, waterproof glass cover separates the water in the rotating motor outside simultaneously, the rotating motor is applyed thrust and is given waterproof glass cover, make waterproof glass cover extrusion expanding spring, the resistance that the clearance tool bit received is alleviated to deformation through expanding spring self, expanding spring adjusts the uneven problem that brings in hull bottom, and expanding spring drives the clearance tool bit and rotates around back shaft and mounting panel, until various small-size aquatic creatures of clearance tool bit laminating and plant, the condition that reduces the clearance tool bit and omits various small-size aquatic creatures and plant takes place.
(5) This scheme is when clearance mechanism during operation, water through the force (forcing) pump in the high-pressure water pipe flows, make deformation negative pressure in the high-pressure water pipe, water in the high-pressure water pipe suction water inlet, make water flow into the high-pressure water pipe from the water inlet, and through the pressurization of force (forcing) pump from high pressure nozzle blowout fast, on until high-pressure water jet to the small-size aquatic thing of part and plant, thereby the small-size aquatic thing of part and plant are washed off, reduce the work load of clearance tool bit, slow down the wearing and tearing of clearance tool bit, cavitation efflux lifter plate simultaneously, can be according to the position self-regulation height position of adhering to the living beings, make the clearance position more accurate, the resistance that high-pressure water flow received under water has been reduced.
Drawings
FIG. 1 is a schematic front view of the present invention;
FIG. 2 is a schematic top view of the present invention;
FIG. 3 is a schematic side view of the present invention;
FIG. 4 is a rear view of the present invention;
FIG. 5 is a schematic structural view of an exploded view of the present invention;
FIG. 6 is an enlarged schematic view of the invention at A of FIG. 1;
FIG. 7 is an enlarged view of the structure of FIG. 1 at B according to the present invention;
FIG. 8 is an enlarged view of the structure of FIG. 4 at C in accordance with the present invention;
fig. 9 is a front view of the seat bottom plate of the present invention.
The reference numbers in the figures illustrate:
1. a machine base; 2. a hydraulic telescopic shaft; 3. a cross bar; 4. a servo motor; 5. a speed reducer; 6. a universal joint; 7. a propeller; 8. a control center; 9. a seat bottom plate; 10. a connecting shaft; 11. a rotary motor; 12. cleaning a cutter head; 13. a support shaft; 14. mounting a plate; 15. a waterproof glass cover; 16. a tension spring; 17. a lifting cylinder; 18. a support plate; 19. an inner wing plate; 20. an electromagnetic chuck; 21. a chain pin shaft; 22. a yoke; 23. a protective film; 24. a high pressure water pipe; 25. a pressure pump; 26. a high pressure spray head; 27. a water suction port; 28. a balance wing; 29. a control box; 30. a rubber pad; 31. a searchlight; 32. a camera; 33. a pressure-resistant glass cover; 34. a cover glass; 35. a power source; 36. a sensor group; 37. a hydraulic telescopic rod; 38. cavitation jet lifting disk.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention; it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work are within the scope of the present invention.
Example 1:
referring to fig. 1-9, an underwater cleaning robot includes a base 1, and a control center 8, a traveling mechanism and a cleaning mechanism mounted on the base 1, wherein the traveling mechanism includes: a plurality of thrusters mounted to the base 1; the telescopic mechanism is arranged between the at least one propeller and the base 1; electromagnetic adsorption mechanism, install in the propeller, in operation, it is rotatory through 8 control propeller of control center, the propeller applys ascending lift for frame 1, alleviate the gravity of robot, then put into the aquatic with the robot, stir rivers through the propeller, make the robot receive the reaction force of rivers and remove the surface of hull, simultaneously through 8 control propeller of control center and running gear intermittent type nature motions, make propeller and running gear can apply the turning force for the robot when supporting the robot, it takes place to reduce the condition that the manual work drove the walking of robot and turn to lead to its work efficiency to descend, and the attachment of clearance mechanism clearance hull surface through on the frame 1.
Example 2:
referring to fig. 1 and 3, the thrusters are distributed on two opposite sides of the base 1 in pairs, at least one pair of thrusters includes a plurality of servo motors 4 arranged on the outer side of the base 1, one end of each servo motor 4 is connected to the telescoping mechanism, the output end of each servo motor 4 is equipped with a reducer 5, one end of each reducer 5 far away from the servo motor 4 is rotatably provided with a propeller 7, the two reducers 5 and the propellers 7 are rotatably connected by universal joints 6, the control center 8 is electrically connected to the servo motors 4, the lower end of the base 1 and positioned on the outer side of the control center 8 is provided with a cleaning mechanism, the lower end of the cross bar 3 is provided with an adsorption mechanism, during operation, the work and parking of the servo motors 4 are controlled by the control center 8, so that the servo motors 4 drive the propellers 7 to rotate smoothly by the reducers 5, and the propellers 7 apply a lift force in the vertical direction to the base 1, the gravity of a part of the underwater robot is offset, then the underwater robot is placed into water, the universal joint 6 and the two propellers 7 are driven to rotate through the two servo motors 4, and the angle of the two propellers 7 relative to the base 1 is quantitatively changed by the universal joint 6, so that the two propellers 7 push the underwater robot to rotate by an angle.
Referring to fig. 1 and 3, telescopic machanism is including assembling the hydraulic telescoping shaft 2 between frame 1 and servo motor 4, connect through being provided with horizontal pole 3 between 2 output ends of hydraulic telescoping shaft and the servo motor 4, simultaneously through the extension of hydraulic telescoping shaft 2 with shorten the displacement of drive horizontal pole 3, horizontal pole 3 promotes servo motor 4, reduction gear 5, universal joint 6 and screw 7 displacement, thereby the angle change of a plurality of thrusts is applyed to screw 7, thereby underwater robot can laminate the hull surface and marc and turn, conveniently adjust the gesture of underwater robot at the normal water, practice thrift the operating procedure of manual regulation underwater robot gesture, it leads to the circumstances that work efficiency descends to reduce underwater robot because of the manual regulation gesture takes place.
Referring to fig. 1, 3 and 7, the balance wings 28 are symmetrically installed on the outer side of the machine base 1, the control box 29 is fixedly installed on the outer side of the control center 8, the rubber pad 30 is arranged on the outer side of the control box 29, when the underwater robot enters water, the control center 8 is isolated through the control box 29 and the rubber pad 30, the situation that water enters the control center 8 is reduced, and when the underwater robot leaves water, the balance wings 28 are subjected to buoyancy applied by a water body, so that the underwater robot is supported by the balance wings 28 from two sides, and the balance of the underwater robot is improved.
Referring to fig. 2, a searchlight 31 is fixedly installed at one end of the base 1, a camera 32 is fixedly installed at each of the upper end of the trim tab 28 and the lower end of the control box 29, and when the underwater robot travels along the surface of the hull, image information of the surface of the hull is collected by the camera 32, and at the same time, a light beam is emitted by the searchlight 31 to irradiate the surface of the hull, so that the surface of the hull is clearly exposed to a shooting range of the camera 32.
Referring to fig. 1 and 3, a pressure-resistant glass cover 33 is arranged on the outer side of the servo motor 4, a protective glass cover 34 is fixedly mounted on the outer side of the control box 29, meanwhile, a water body is separated by the pressure-resistant glass cover 33 and the protective glass cover 34, damage of the water body to the servo motor 4 and the control box 29 is reduced, and air stored in the pressure-resistant glass cover 33 and the protective glass cover 34 is subjected to buoyancy applied by the water body to counteract partial gravity of the underwater robot, so that balance of the underwater robot in water is conveniently maintained.
Referring to fig. 1 and 3, a power source 35 is fixedly installed at one end of the control box 29, the power source 35 is made of a waterproof battery pack, the waterproofness of the power source 35 is conveniently improved, a sensor group 36 is arranged on the protective glass cover 34, the sensor group 36 comprises a positioning system, a posture sensor, a laser sensor, a height sensor and a pressure sensor, the technical scheme is the prior art, the sensor group is not shown in the figure, the power source 35 is used for providing energy for the servo motor 4, the control box 29 and the sensor group 36, meanwhile, the sensor group 36 is used for collecting the posture, the position, the pressure and the distance to an obstacle of the underwater robot, and the collected information is transmitted to a remote service terminal through wireless communication signals, so that a user can remotely operate the underwater robot, and the intelligence of the underwater robot is improved.
Referring to fig. 1 and 5, the electromagnetic adsorption mechanism includes a lifting cylinder 17 assembled at the lower end of the cross bar 3, a chain pin 21 is rotatably installed at the output end of the lifting cylinder 17, a support plate 18 is assembled at the outer side of the chain pin 21, an electromagnetic chuck 20 is arranged at the lower end of the support plate 18, an inner wing plate 19 is arranged inside the electromagnetic chuck 20, a yoke 22 is assembled at one side of the electromagnetic chuck 20 away from the support plate 18, a protective film 23 is arranged at the outer side of the electromagnetic chuck 20, when the underwater robot needs to be fixed, the electromagnetic chuck 20 on the support plate 18 is pushed by the lifting cylinder 17 until the electromagnetic chuck 20 is attached to the surface of the ship body, and the impact force applied when the electromagnetic chuck 20 is attached to the ship body is buffered through the deformation of the protective film 23 itself, the electromagnetic chuck 20 is opened, so that the magnetic induction line of the electromagnetic chuck 20 is lifted through the yoke 22 and acts on the ship body, and the electromagnetic chuck 20 and the inner wing plate 19 surround the chain pin 21, until the underwater robot is stably attached to the surface of the ship body, the underwater robot is enabled to move horizontally along the surface of the ship body by controlling the alternate start and stop of the electromagnetic chucks 20 and the alternate extension and retraction of the hydraulic telescopic shafts 2, so that the underwater robot can move stably.
Referring to fig. 3 and 4, the cleaning mechanism includes a plurality of connecting shafts 10 fixedly installed at the lower end of the base 1, the lower end of the connecting shafts 10 is fixedly connected with a base bottom plate 9, a plurality of stabilizing mechanisms are distributed at the lower end of the base bottom plate 9 along a circumferential array, a rotating motor 11 is assembled at the lower end of the stabilizing mechanisms, a cleaning bit 12 is assembled at the output end of the rotating motor 11, a water spraying mechanism is arranged inside the base bottom plate 9, when the adsorption mechanism works, the base 1 is close to the surface of the ship body through shortening of a lifting cylinder 17 until the cleaning bit 12 contacts the surface of the ship body, then the cleaning bit 12 is driven to rotate through the output end of the rotating motor 11, the cleaning bit 12 peels off various small aquatic organisms and plants attached to the surface of the ship body, the operation steps of manually cleaning various small aquatic organisms and plants are saved, and the rotating motor 11 is supported by the connecting shafts 10 and the base bottom plate 9, the cleaning tool bit 12 is driven to rotate by the rotating motor 11 conveniently and stably.
Referring to fig. 1 and 6, the stabilizing mechanism includes a supporting shaft 13 fixedly installed at the lower end of the seat bottom plate 9, a mounting plate 14 is fixedly installed at one end of the supporting shaft 13 far away from the seat bottom plate 9, a waterproof glass cover 15 is installed at one side of the mounting plate 14 far away from the supporting shaft 13, the mounting plate 14 and the waterproof glass cover 15 are fixedly connected through a plurality of telescopic springs 16, when the cleaning mechanism works, the cleaning blade 12 is subjected to resistance exerted by various small aquatic organisms and plants on the surface of the ship body, meanwhile, the waterproof glass cover 15 separates water outside the rotary motor 11, the rotary motor 11 applies thrust to the waterproof glass cover 15, so that the waterproof glass cover 15 extrudes the telescopic springs 16, the resistance exerted by the cleaning blade 12 is relieved through the deformation of the telescopic springs 16, and the telescopic springs 16 drive the cleaning blade 12 to rotate around the supporting shaft 13 and the mounting plate 14 until the cleaning blade 12 is attached to various small aquatic organisms and plants, the condition that various small-sized aquatic organisms and plants are missed by the cleaning tool bit 12 is reduced.
Referring to fig. 4 and 7, the water spraying mechanism comprises a high-pressure water pipe 24 arranged inside a seat bottom plate 9, a pressure pump 25 is connected to the outer side of the high-pressure water pipe 24, a control box 29 is used for supporting the pressure pump 25, a high-pressure nozzle 26 is assembled at one end of the high-pressure water pipe 24, a water suction port 27 is fixedly connected to the other end of the high-pressure water pipe 24, a plurality of hydraulic telescopic rods 37 are hinged to the seat bottom plate 9, a cavitation jet flow lifting disc 38 is hinged to one end of each hydraulic telescopic rod 37 far away from the seat bottom plate 9, the lower end of each cavitation jet flow lifting disc 38 is hinged to the high-pressure water pipe 24, when the cleaning mechanism works, water in the high-pressure water pipe 24 is driven by the pressure pump 25 to flow, the high-pressure water pipe 24 sucks water in the water suction port 27, so that the water flows into the high-pressure water pipe 24 from the water suction port 27 and is rapidly sprayed out from the high-pressure nozzle 26 by the pressure pump 25 until the high-pressure water flows onto a part of small aquatic organisms and plants, thereby small-size aquatic thing of part and plant are washed and fall, reduce the work load of clearance tool bit 12, slow down the wearing and tearing of clearance tool bit 12, promote cavitation jet lifting disk 38 through hydraulic telescoping rod 37 simultaneously, cavitation jet lifting disk 38 drives high pressure nozzle 26 and changes the gesture, can adjust the height position by oneself according to the position of adhering to biology for the clearance position is more accurate, has reduced the resistance that high-pressure water flow received under water.
Example 3:
the propeller is "ten" font and distributes, and two universal joint 6 set up respectively at two diagonal angles of frame 1, when the robot need turn, change the gesture that corresponds the propeller through two universal joint 6 for two relative propellers support the suspension of robot, and another two relative propellers apply the turning force and give the robot, until the robot rotates to the assigned position, and rethread universal joint 6 resets the propeller to initial position, and finally all propellers apply buoyancy and give the robot.
The working principle is as follows: the during operation, it is rotatory to control the propeller through control center 8, the propeller applys ascending lift for frame 1, alleviate the gravity of robot, then put into the aquatic with the robot, stir rivers through the propeller, make the robot receive the reaction force of rivers and remove the surface to the hull, simultaneously through control center 8 control propeller and running gear intermittent type nature motion, make propeller and running gear can apply the turning force for the robot when supporting the robot, it takes place to reduce the artifical condition that drives the robot walking and turn to and lead to its work efficiency to descend, and the attachment of hull surface is cleared up to clearance mechanism on through frame 1.
When the propeller works, the control center 8 controls the work and the stop of the servo motors 4, so that the two servo motors 4 drive the two propellers 7 to rotate stably through the speed reducer 5, the two propellers 7 apply lifting force in the vertical direction to the base 1 to offset partial gravity of the underwater robot, then the underwater robot is put into water, the two servo motors 4 drive the universal joint 6 and the two propellers 7 to rotate, the two propellers 7 drive the underwater robot to rotate by angle, meanwhile, the hydraulic telescopic shaft 2 extends and shortens to drive the cross rod 3 to displace, the cross rod 3 drives the servo motors 4, the speed reducer 5, the universal joint 6 and the propellers 7 to displace, the propellers 7 apply a plurality of thrust angle changes, the underwater robot can be attached to the surface of a ship body to advance and turn, and the underwater robot can conveniently adjust the posture of the underwater robot in the reclaimed water, the operation steps of manually adjusting the posture of the underwater robot are saved, and the situation that the working efficiency of the underwater robot is reduced due to the fact that the posture of the underwater robot is manually adjusted is reduced.
When the underwater robot needs to be fixed, the electromagnetic chuck 20 on the supporting plate 18 is pushed through the lifting cylinder 17 until the electromagnetic chuck 20 is attached to the surface of a ship body, meanwhile, the impact force applied when the electromagnetic chuck 20 is attached to the ship body is buffered through the deformation of the protective film 23, the electromagnetic chuck 20 is opened, the magnetic induction line of the electromagnetic chuck 20 is lifted through the yoke 22 and acts on the ship body, the electromagnetic chuck 20 and the inner wing plate 19 surround the chain pin shaft 21 until the underwater robot is stably attached to the surface of the ship body, and then the underwater robot is enabled to move horizontally along the surface of the ship body by controlling the alternate start and stop of the electromagnetic chuck 20 and the alternate extension and retraction of the hydraulic telescopic shaft 2, so that the underwater robot can move stably.
When clearance mechanism during operation, clearance tool bit 12 receives the resistance that various small-size aquatic creatures in hull surface and plant were applyed, waterproof glass cover 15 separates the water in the rotary motor 11 outside simultaneously, rotary motor 11 exerts thrust for waterproof glass cover 15, make waterproof glass cover 15 extrusion expanding spring 16, alleviate the resistance that clearance tool bit 12 received through the deformation of expanding spring 16 self, and expanding spring 16 drives clearance tool bit 12 and rotates around back shaft 13 and mounting panel 14, until various small-size aquatic creatures of clearance tool bit 12 laminating and plant, it takes place to reduce the condition that various small-size aquatic creatures and plant are omitted to clearance tool bit 12.
When the cleaning mechanism works, water in the high-pressure water pipe 24 is driven to flow by the pressure pump 25, the high-pressure water pipe 24 attracts water in the water suction port 27, so that the water flows into the high-pressure water pipe 24 from the water suction port 27 and is quickly sprayed out from the high-pressure spray nozzle 26 by the pressurization of the pressure pump 25 until the high-pressure water flows to part of small aquatic organisms and plants, so that the part of the small aquatic organisms and the plants are washed down, the workload of the cleaning tool bit 12 is reduced, the abrasion of the cleaning tool bit 12 is reduced, meanwhile, the cavitation jet lifting disc 38 is pushed by the hydraulic telescopic rod 37, the cavitation jet lifting disc 38 drives the high-pressure spray nozzle 26 to change the posture, the height position can be automatically adjusted according to the position of the attached organisms, the cleaning position is more accurate, and the resistance of the high-pressure water flow under water is reduced.
The foregoing is only a preferred embodiment of the present invention; the scope of the invention is not limited thereto. Any person skilled in the art should be able to cover the technical scope of the present invention by equivalent or modified solutions and modifications within the technical scope of the present invention.
Claims (10)
1. The utility model provides an underwater cleaning robot, includes frame (1) and install in control center (8), running gear, clearance mechanism on frame (1), its characterized in that, running gear includes:
a plurality of thrusters mounted to the housing (1);
the telescopic mechanism is arranged between at least one propeller and the base (1);
and the electromagnetic adsorption mechanism is arranged on the propeller.
2. An underwater cleaning robot as claimed in claim 1, wherein: the propellers are distributed in pairs on opposite sides of a stand (1), and at least one pair of the propellers comprises:
the servo motor (4) is connected with the telescopic mechanism;
the speed reducer (5) is connected with an output shaft of the servo motor (4);
a propeller (7);
and the universal joint (6) is connected between the speed reducer (5) and the propeller (7).
3. An underwater cleaning robot as claimed in claim 2, wherein: the telescopic mechanism comprises a hydraulic telescopic shaft (2) assembled between a machine base (1) and a servo motor (4), and the output end of the hydraulic telescopic shaft (2) is connected with the servo motor (4) through a cross rod (3).
4. An underwater cleaning robot as claimed in claim 1, wherein: clearance mechanism includes a plurality of connecting axles (10) of fixed mounting at frame (1) lower extreme, the lower extreme fixedly connected with seat bottom plate (9) of connecting axle (10), the lower extreme of seat bottom plate (9) distributes along the circumference array has a plurality of stabilizing mean, stabilizing mean's lower extreme is equipped with rotating motor (11), the output of rotating motor (11) is equipped with clearance tool bit (12), the inside of seat bottom plate (9) is provided with water spray mechanism.
5. An underwater cleaning robot as claimed in claim 4, wherein: stabilizing mean includes back shaft (13) of fixed mounting at seat bottom plate (9) lower extreme, the one end fixed mounting that back shaft (13) keep away from seat bottom plate (9) has mounting panel (14), one side that back shaft (13) were kept away from in mounting panel (14) is equipped with waterproof glass cover (15), through being provided with a plurality of expanding spring (16) fixed connection between mounting panel (14) and waterproof glass cover (15).
6. An underwater cleaning robot as claimed in claim 3, wherein: electromagnetism adsorption apparatus constructs including assembly at lift cylinder (17) of horizontal pole (3) lower extreme, the output of lift cylinder (17) is rotated and is installed chain round pin axle (21), the outside of chain round pin axle (21) is equipped with backup pad (18), the lower extreme of backup pad (18) is provided with electromagnet (20), the inside of electromagnet (20) is provided with interior pterygoid lamina (19), one side that backup pad (18) were kept away from in electromagnet (20) is equipped with yoke (22), the outside of electromagnet (20) is provided with protection film (23).
7. An underwater cleaning robot as claimed in claim 4, wherein: the water spray mechanism comprises a high-pressure water pipe (24) arranged inside a seat bottom plate (9), a pressure pump (25) is arranged on the outer side of the high-pressure water pipe (24), a high-pressure spray head (26) is assembled at one end of the high-pressure water pipe (24), a water suction port (27) is fixedly connected to the other end of the high-pressure water pipe (24), a plurality of hydraulic telescopic rods (37) are hinged to the seat bottom plate (9), one ends, far away from the seat bottom plate (9), of the hydraulic telescopic rods (37) are hinged to a cavitation jet lifting disc (38), and the lower ends of the cavitation jet lifting disc (38) are hinged to the high-pressure water pipe (24).
8. An underwater cleaning robot as claimed in claim 7, wherein: the upper end of frame (1) is equipped with balanced wing (28), the outside fixed mounting of control center (8) has control box (29) that are used for supporting force (forcing) pump (25), the outside of control box (29) is provided with rubber pad (30), the one end fixed mounting of frame (1) has searchlight (31), the equal fixed mounting of the lower extreme of the upper end of balanced wing (28) and control box (29) has camera (32).
9. An underwater cleaning robot as claimed in claim 8, wherein: the outer side of the servo motor (4) is provided with a pressure-resistant glass cover (33), and the outer side of the control box (29) is fixedly provided with a protective glass cover (34).
10. An underwater cleaning robot as claimed in claim 9, wherein: one end of the control box (29) is fixedly provided with a power supply (35), and a sensor group (36) is arranged on the protective glass cover (34).
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| CN202111520520.1A CN113978644A (en) | 2021-12-14 | 2021-12-14 | Underwater cleaning robot |
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| CN202111520520.1A CN113978644A (en) | 2021-12-14 | 2021-12-14 | Underwater cleaning robot |
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