CN116691947A - Boats and ships cleaning robot under water of adjustable focus - Google Patents

Abstract

The application discloses a ship underwater cleaning robot with an adjustable gravity center, which comprises a cleaning mechanism, a propelling mechanism, a gravity center adjusting mechanism, a sensing system and a main frame module. By adopting the propulsion mechanism, under the condition that fewer propellers can be used, the motion of each degree of freedom of the robot and the preset navigation and depth setting cleaning function are realized, and meanwhile, the problem that the robot is affected by jet flow to shake during cleaning operation is solved by utilizing a simple directional wheel structure. The gravity center adjusting mechanism is adopted, and the gravity center of the robot is always kept under the floating center by adjusting the gravity center of the robot, so that the stability of the robot is kept, and the cleaning effect and the cleaning efficiency are improved.

Description

Boats and ships cleaning robot under water of adjustable focus

Technical Field

The application belongs to the technical field of ship cleaning, and particularly relates to a ship underwater cleaning robot with an adjustable gravity center.

Background

The ship is used as a main transportation means for freight transportation, and is increasingly important for cleaning, rust removing and paint removing of the bottom surface, the side surface, the top surface, the bilge inclined surface, the side rib plates and the outer wall surface of the ship. The ship sails in the sea for a long time, and has large-area sea water and sea wind corrosion, rust and paint falling, oyster growing on the surface and other sea organisms, so that the surface of the ship body is difficult to remove marine microorganisms, algae and shells. With the lengthening of the working time of the ship cargo, marine microorganisms, algae and shells are more and more on the surface of the ship body, so that the attractive appearance of the ship cargo hold is affected, the running speed of the ship is reduced, the oil consumption is increased, and the transportation cost of the ship is increased. Therefore, the marine microorganism cleaning work of the wall surface of the ship is very important, and the transportation cost and the service life of the ship can be greatly improved.

Currently, the main modes of ship cleaning are manual work and wall climbing robots. In general, most of the marine organisms on the wall surface of the ship are manually cleaned by using a handheld high-pressure water gun or carrying a cleaning brush, and operators are attached to the wall surface of the ship by manually submerging in deepwater with certain anoxic high pressure, so that the marine organisms on the wall surface of the ship are manually cleaned from top to bottom, and the problems of low cleaning efficiency, low cleaning effect, long cleaning period, high risk coefficient, low safety, long time consumption, high labor intensity, high labor cost and the like exist. The part adopts the wall climbing robot with the fixed cleaning structure, but can not automatically adapt to the wall surface of the ship according to the growth condition of marine organisms, can not adaptively change the position of the cleaning mechanism, can not realize stable cleaning after the robot turns on one's side, can not adjust the central position, and has poor cleaning effect and low cleaning efficiency.

The marine underwater cleaning robot has the characteristics of simple structure, convenient disassembly and assembly, good cleaning effect and high cleaning efficiency, replaces manual operation, and is widely applied to the cleaning work of marine microorganisms, algae and shells on the wall surface of a ship.

For example, patent No. CN 112027015A discloses an adsorption type underwater cleaning robot, which adopts a cavitation jet cleaning mode, a propeller, a cavitation jet nozzle, a chain wheel support frame, a camera, a searchlight and a buoyancy material are arranged on a robot frame, a stepping motor, a driving chain wheel, a driven chain wheel, a spring connecting seat, a chain and a crawler are arranged on the chain wheel support frame, and a permanent magnet arranged on the crawler generates magnetic force to be adsorbed on the surface of a ship. But has low cleaning efficiency and poor cleaning effect.

For example, patent No. CN 101695832A discloses an underwater cleaning robot, which comprises a main body and a walking component arranged on the main body, wherein the walking component comprises a left wheel set and a right wheel set which can rotate independently, the left wheel set comprises a left front wheel and a left rear wheel, the right wheel set comprises a right rear wheel and a right front wheel, and the robot is respectively provided with a transmission component of the left wheel set and a transmission component of the right wheel set which are independent. But has low cleaning efficiency and poor cleaning effect.

For example, patent No. CN 112474527A discloses an underwater cleaning robot which comprises a main body frame, a buoyancy module, a propulsion module, a cleaning module and a control power distribution module, wherein the main body frame is divided into a top layer, a middle layer and a bottom layer from top to bottom; the buoyancy module is fixed on the top layer of the main body frame; the propulsion module is fixed on the top layer and the middle layer of the main body frame and is used for driving the underwater cleaning robot to move and adjusting the posture of the underwater robot; the cleaning module comprises a side surface cleaning assembly and a ground cleaning assembly which are respectively used for cleaning a net cage side net and a net cage bottom net; the control power distribution module is fixed at the middle layer of the main body frame and used for providing power for the underwater cleaning robot so as to control the working process of the underwater cleaning robot. But the gravity center of the robot cannot be adjusted, the cleaning speed is low, the cleaning efficiency is low, and the cleaning effect is poor.

The three similar underwater cleaning robots have the advantages that the product structure cannot be automatically adapted to the wall surface of a ship according to the growth condition of marine organisms, the position of a cleaning mechanism cannot be adaptively changed, stable cleaning after the robot turns on one's side cannot be realized, the central position cannot be adjusted, the cleaning effect is poor, and the cleaning efficiency is low. Therefore, the underwater cleaning robot which can automatically adapt to the wall surface of a ship according to the growth condition of marine organisms, can adaptively change the position of a cleaning mechanism, can realize stable cleaning after the robot turns over, can adjust the gravity center position, has good cleaning effect and high cleaning efficiency is designed, and becomes a problem to be solved urgently.

Disclosure of Invention

The application aims to overcome the defects of the prior art and provides a ship underwater cleaning robot with an adjustable gravity center.

In order to achieve the above purpose, the application adopts the following technical scheme:

an adjustable gravity center marine underwater cleaning robot comprises a cleaning mechanism, a propulsion mechanism, a gravity center adjusting mechanism, a sensing system and a main frame module;

the cleaning mechanism is arranged at the lowest end of the middle position of the main frame module and is used for cleaning the wall surface of the ship suitable for different marine organism growth conditions;

the propelling mechanisms are symmetrically arranged on two sides of the middle of the main frame module respectively and are used for providing enough propelling force and adsorption force for traveling on the wall surface of the ship;

the gravity center adjusting mechanism is respectively arranged at the uppermost end and the middle lower end of the main frame module and is used for realizing the stability of each underwater posture of the robot;

the sensing systems are respectively arranged at the left side and the right side of the uppermost end and the lower end of the middle of the main frame module and are used for sensing the underwater state of the robot;

the main frame module is arranged at the middle position of the robot and is used for connecting all components of the robot.

Preferably, the cleaning mechanism comprises a guide shaft, a spring, a knife rest protective shell, a cavitation jet flow rotary knife rest, a universal wheel, an upper mounting plate, a nozzle water outlet, a universal wheel mounting seat and a nut;

the guide shaft penetrates through the spring, one end of the guide shaft is fixed on the upper mounting plate, and the other end of the guide shaft is fixedly arranged on the cutter rest protecting shell through a nut to play a role in guiding;

the cavitation jet flow rotary knife rest is arranged at the lower end of the knife rest protective shell and is used for providing high-pressure water jet flow; the water outlet of the nozzle is arranged at the extreme ends of the two sides of the cavitation jet flow rotary knife rest, and water flows out from the water outlet of the nozzle and acts on marine organisms on the wall surface of the ship;

the universal wheel is fixedly arranged at the bottommost end of the universal wheel mounting seat, and the universal wheel mounting seat is fixedly arranged at the bottommost end of the knife rest protective shell and used for supporting the cleaning mechanism.

Preferably, the propulsion mechanism comprises four vertical propellers, two horizontal propellers, two lateral propellers, four groups of directional wheels, a directional wheel fixing seat, a vertical propeller fixing seat, a horizontal propeller fixing seat and a lateral propeller fixing seat;

the four vertical thrusters are respectively arranged in four directions on the main frame module through the corresponding vertical thruster fixing seats and distributed in a rectangular array, and the four vertical thrusters are vertically upwards;

the horizontal thrusters are fixedly arranged on the horizontal thruster fixing seats, the two horizontal thrusters are arranged on the left side and the right side of the main frame module through the corresponding horizontal thruster fixing seats, and the two horizontal thrusters are symmetrically distributed along the horizontal direction;

the lateral thrusters are fixedly arranged on the lateral thruster fixing seats, the two lateral thrusters are respectively arranged on the front side and the rear side of the main frame module through the corresponding lateral thruster fixing seats, and the two lateral thrusters are symmetrically distributed;

the four groups of directional wheels are respectively arranged in four directions of the bottommost end of the main frame module through the corresponding directional wheel fixing seats and are used for preventing the robot from irregularly shaking due to recoil force generated during the working of the cleaning mechanism.

Preferably, the gravity center adjusting mechanism comprises a waterproof steering engine, a gravity block, a steering engine mounting seat, an upper buoyancy block and a lower buoyancy block;

the waterproof steering engine is fixedly arranged on the steering engine mounting seat, and the gravity block is symmetrically arranged on one side of the waterproof steering engine; the upper buoyancy block is arranged at the uppermost end of the main frame module, the lower buoyancy block is arranged at the center of the main frame module, and the gravity block is controlled to rotate by a specific angle through the waterproof steering engine, so that the overall gravity center of the robot is adjusted.

Preferably, the sensing system comprises a camera, a searchlight, an ultrasonic ranging sensor, an inclinometer, a water immersion sensor, a depth sensor, a sealed cabin fixing seat, a camera fixing seat, a searchlight fixing seat, an ultrasonic ranging sensor fixing seat, an inclinometer fixing seat, a water immersion sensor fixing seat, a depth sensor fixing seat and a sensing system fixing seat;

the camera is fixedly arranged on the camera fixing seat, the searchlight is fixedly arranged on the searchlight fixing seat, the camera fixing seat and the searchlight fixing seat are fixedly arranged at the lower end of the sensing system fixing seat, and the sensing system fixing seat is fixedly arranged at the lower ends of two sides of the main frame module;

the ultrasonic ranging sensor is arranged on an ultrasonic ranging sensor fixing seat, the ultrasonic ranging sensor fixing seat is arranged at the uppermost ends of two sides of the main frame module, the inclinometer is fixedly arranged on an inclinometer fixing seat, the water immersion sensor is fixedly arranged on a water immersion sensor fixing seat, and the depth sensor is fixedly arranged on a depth sensor fixing seat.

The inclinometer, the water logging sensor and the depth sensor are all arranged in the sealed cabin, the sealed cabin is fixedly arranged on a sealed cabin fixing seat, and the sealed cabin fixing seat is arranged at the uppermost end of the middle position of the main frame module.

Preferably, the main frame module comprises a main frame, a protection pad and a cable fixing buckle;

the main frame is arranged at the middle position of the main frame module and is used as a supporting main body of the robot; the protection pad is fixedly arranged on the main frame and plays a role in anti-collision protection for the robot; the cable fixing button is arranged at the lower end of the main frame module and plays a role in fixing the robot cable.

In summary, due to the adoption of the technical scheme, the beneficial effects of the application are as follows:

according to the application, the floating type cleaning mechanism is adopted, so that the optimal distance between the cavitation jet flow rotary tool rest and the wall surface to be cleaned can be kept, and the wall surface of the ship can be automatically adapted according to the growth condition of marine organisms, thereby improving the cleaning effect and the cleaning efficiency. By adopting the propulsion mechanism, under the condition that fewer propellers can be used, the motion of each degree of freedom of the robot and the preset navigation and depth setting cleaning function are realized, and meanwhile, the problem that the robot is affected by jet flow to shake during cleaning operation is solved by utilizing a simple directional wheel structure. By adopting the gravity center adjusting mechanism, when the robot with the cleaning mechanism arranged at the bottom is subjected to cleaning operation after side turning, the gravity center of the robot is always kept under the floating center by adjusting the gravity center of the robot, so that the stability of the robot is maintained, and the cleaning effect and the cleaning efficiency are improved.

Drawings

FIG. 1 is a schematic view of the overall structure of the present application;

FIG. 2 is a schematic view of a cleaning mechanism of the present application;

FIG. 3 is a schematic view of the propulsion mechanism of the present application;

FIG. 4 is a schematic view of a center of gravity adjustment mechanism of the present application;

FIG. 5 is a schematic diagram of a sensing system of the present application;

FIG. 6 is a schematic diagram of a mainframe module of the present application;

FIG. 7 is a schematic elevational view of the overall structure of the present application;

FIG. 8 is a schematic view of the operational mode of the propulsion mechanism of the present application;

FIG. 9 is a schematic illustration of a robot pose setup of the present application;

fig. 10 is a schematic view of the waterproof steering engine angle setting of the robot of the present application;

FIG. 11 is a schematic diagram of the operation modes of the waterproof steering engine and the propeller corresponding to cleaning of each part of the application;

reference numerals: 1. a cleaning mechanism; 1-1, a guide shaft; 1-2, a spring; 1-3, a knife rest protective shell; 1-4, cavitation jet flow rotating a tool rest; 1-5, universal wheels; 1-6, an upper mounting plate; 1-7, a nozzle water outlet; 1-8, a universal wheel mounting seat; 1-9, nuts; 2. a propulsion mechanism; 2-1, a vertical propeller; 2-2, a horizontal propeller; 2-3, a lateral propeller; 2-4, orientation wheels; 2-5, fixing the directional wheel; 2-6, fixing seats of vertical thrusters; 2-7, a horizontal propeller fixing seat; 2-8, fixing seats of the lateral thrusters; 3. a gravity center adjusting mechanism; 3-1, a waterproof steering engine; 3-2, a gravity block; 3-3, a steering engine mounting seat; 3-4, floating blocks; 3-5, a lower buoyancy block; 4. a sensing system; 4-1, a camera; 4-2, searchlight; 4-3, an ultrasonic ranging sensor; 4-4, an inclinometer; 4-5, a water immersion sensor; 4-6, a depth sensor; 4-7, sealing the cabin; 4-8, a sealed cabin fixing seat; 4-9, a camera fixing seat; 4-10, a searchlight fixing seat; 4-11, an ultrasonic ranging sensor fixing seat; 4-12, a inclinometer fixing seat; 4-13, a water immersion sensor fixing seat; 4-14, a depth sensor fixing seat; 4-15, a sensing system fixing seat; 5. a main frame module; 5-1, a main frame; 5-2, a protective pad; 5-3, cable fixing buckles.

Detailed Description

An embodiment of the adjustable center of gravity marine cleaning robot according to the present application will be further described with reference to fig. 1 to 11. The gravity center adjustable marine vessel underwater cleaning robot of the present application is not limited to the description of the following embodiments.

Example 1:

the embodiment provides a specific implementation mode of a ship underwater cleaning robot with an adjustable gravity center, which is shown in figures 1-11 and comprises a cleaning mechanism 1, a propulsion mechanism 2, a gravity center adjusting mechanism 3, a sensing system 4 and a main frame module 5;

the cleaning mechanism 1 is arranged at the lowest end of the middle position of the main frame module 5 and is used for cleaning the wall surface of the ship suitable for different marine organism growth conditions;

the propulsion mechanisms 2 are symmetrically arranged on two sides of the middle of the main frame module 5 respectively and are used for providing enough propulsion and adsorption force for the ship to walk on the wall surface;

the gravity center adjusting mechanism 3 is respectively arranged at the uppermost end and the middle lower end of the main frame module 5 and is used for realizing the stability of each underwater posture of the robot;

the sensing systems 4 are respectively arranged at the left and right sides of the uppermost end and the lower end of the middle of the main frame module 5 and are used for sensing the underwater state of the robot;

the main frame module 5 is installed in the middle of the robot and is used for connecting all components of the robot to form an integral structure, so as to play a supporting role on the robot.

In one possible embodiment, the cleaning mechanism 1 comprises a guide shaft 1-1, a spring 1-2, a tool rest protecting shell 1-3, a cavitation jet rotary tool rest 1-4, a universal wheel 1-5, an upper mounting plate 1-6, a nozzle water outlet 1-7, a universal wheel mounting seat 1-8 and a nut 1-9;

the guide shaft 1-1 passes through the spring 1-2, one end of the guide shaft is fixed on the upper mounting plate 1-6, and the other end of the guide shaft is fixedly arranged on the cutter rest protective shell 1-3 through the nut 1-9, so that the guide shaft plays a role in guiding;

the cavitation jet flow rotary knife rest 1-4 is arranged at the lower end of the knife rest protective shell 1-3 and is used for providing high-pressure water jet flow; the nozzle water outlet 1-7 is arranged at the extreme ends of the two sides of the cavitation jet rotary knife rest 1-4, and water flows out from the nozzle water outlet 1-7 and acts on marine organisms on the wall surface of the ship;

the universal wheel 1-5 is fixedly arranged at the bottommost end of the universal wheel mounting seat 1-8, and the universal wheel mounting seat 1-8 is fixedly arranged at the bottommost end of the knife rest protective shell 1-3 and is used for supporting the cleaning mechanism 1.

By adopting the technical scheme:

after the robot is laterally turned over and attached, the vertical propeller 2-1 of the propulsion mechanism 2 rotates positively to provide adsorbed thrust, and the spring 1-2 of the cleaning mechanism 1 enables the cavitation nozzle rotary knife rest 1-4 and the wall surface of the ship to be kept parallel. When the robot encounters an uneven wall surface in a forward state, the spring 1-2 can be compressed or extended in a self-adaptive manner according to the condition of the wall surface of the ship, so that the distance between the cavitation nozzle rotating tool rest 1-4 and the surface to be cleaned is kept constant, and the cleaning mechanism 1 can achieve the optimal cleaning effect.

In one possible embodiment, propulsion mechanism 2 comprises four vertical propellers 2-1, two horizontal propellers 2-2, two lateral propellers 2-3, four sets of directional wheels 2-4, a directional wheel holder 2-5, a vertical propeller holder 2-6, a horizontal propeller holder 2-7, a lateral propeller holder 2-8;

the vertical thrusters 2-1 are fixedly arranged on the vertical thruster fixing seats 2-6, the four vertical thrusters (2-1) are respectively arranged in four directions on the main frame module 5 through the corresponding vertical thruster fixing seats 2-6 and distributed in a rectangular array, and the four vertical thrusters (2-1) are vertically upwards;

the horizontal thrusters 2-2 are fixedly arranged on the horizontal thruster fixing seats 2-7, the two horizontal thrusters 2-2 are arranged on the left side and the right side of the main frame module 5 through the corresponding horizontal thruster fixing seats 2-7, and the two horizontal thrusters 2-2 are symmetrically distributed along the horizontal direction;

the lateral thrusters 2-3 are fixedly arranged on the lateral thruster fixing seats 2-8, the two lateral thrusters 2-3 are respectively arranged on the front side and the rear side of the main frame module 5 through the corresponding lateral thruster fixing seats 2-8, and the two lateral thrusters 2-3 are symmetrically distributed;

the directional wheels 2-4 are fixedly arranged on the directional wheel fixing seats 2-5, and the four groups of directional wheels 2-4 are respectively arranged in four directions of the bottommost end of the main frame module 5 through the corresponding directional wheel fixing seats 2-5 and are used for preventing the robot from being irregularly swayed by recoil force generated during the working of the cleaning mechanism 1.

By adopting the technical scheme:

as shown in fig. 8, the vertical propeller 2-1, the horizontal propeller 2-2 and the lateral propeller 2-3 are numbered 01-08, 01.02.03.04 is the vertical propeller 2-1, 05.07 is the lateral propeller 2-3, 06.08 is the horizontal propeller 2-2, and proper positive and negative paddles are arranged to balance the additional torque generated by the rotation of propeller blades. In order to realize the motion of each degree of freedom of the robot under water, a working propeller number and a propeller working mode corresponding to each motion of the robot are set. When the 01.02.03.04 four vertical thrusters 2-1 all perform forward rotation, the robot takes a sinking posture; when the 01.02.03.04 four vertical thrusters 2-1 are all reversed, the robot is in a floating posture; when the 01.02 vertical propeller 2-1 rotates reversely and the 03.04 vertical propeller 2-1 rotates positively, the robot takes a left-turning posture; when the 01.02 vertical propeller 2-1 rotates positively and the 03.04 vertical propeller 2-1 rotates negatively, the robot takes a right-turning posture; when the 01.04 vertical propeller 2-1 rotates reversely and the 02.03 vertical propeller 2-1 rotates positively, the robot takes an upward posture; when the 01.04 vertical propeller 2-1 rotates positively and the 02.03 vertical propeller 2-1 rotates negatively, the robot takes a bending-over posture; when the 05.07 lateral thrusters 2-3 are all reversed, the robot takes a forward gesture; when the 05.07 lateral thrusters 2-3 all rotate positively, the robot takes a backward posture; when the No. 06 horizontal propeller 2-2 rotates reversely and the No. 8 horizontal propeller 2-2 rotates positively, the robot takes a left-turning posture; when the No. 06 horizontal propeller 2-2 rotates positively and the No. 08 horizontal propeller 2-2 rotates negatively, the robot takes a right-turning posture; when the No. 06 horizontal propeller 2-2 and the No. 08 horizontal propeller 2-2 both rotate positively, the robot takes a left-moving posture; when the No. 06 horizontal propeller 2-2 and the No. 08 horizontal propeller 2-2 are both rotated positively, the robot takes a right-moving posture.

The following table shows:

in one possible implementation, the gravity center adjusting mechanism 3 comprises a waterproof steering engine 3-1, a gravity block 3-2, a steering engine mounting seat 3-3, an upper buoyancy block 3-4 and a lower buoyancy block 3-5;

the waterproof steering engine 3-1 is fixedly arranged on the steering engine mounting seat 3-3, and the gravity block 3-2 is symmetrically arranged on one side of the waterproof steering engine 3-1; the upper buoyancy block 3-4 is arranged at the uppermost end of the main frame module 5, the lower buoyancy block 3-5 is arranged at the center of the main frame module 5, and the gravity block 3-2 is controlled to rotate by a specific angle through the waterproof steering engine 3-1, so that the overall gravity center of the robot is adjusted.

By adopting the technical scheme:

the positions of the gravity center and the floating center of the robot are adjusted by setting the sizes of the upper buoyancy block 3-4 and the lower buoyancy block 3-5. When the robot is not provided with the gravity block 3-2, the gravity center and the floating center are coincident.

In one possible embodiment, the sensing system 4 includes a camera 4-1, a floodlight 4-2, an ultrasonic ranging sensor 4-3, an inclinometer 4-4, a water immersion sensor 4-5, a depth sensor 4-6, a capsule 4-7, a capsule holder 4-8, a camera holder 4-9, a floodlight holder 4-10, an ultrasonic ranging sensor holder 4-11, an inclinometer holder 4-12, a water immersion sensor holder 4-13, a depth sensor holder 4-14, and a sensing system holder 4-15;

the camera 4-1 is fixedly arranged on the camera fixing seat 4-9, the searchlight 4-2 is fixedly arranged on the searchlight fixing seat 4-10, the camera fixing seat 4-9 and the searchlight fixing seat 4-10 are fixedly arranged at the lower end of the sensing system fixing seat 4-15, and the sensing system fixing seat 4-15 is fixedly arranged at the lower ends of two sides of the main frame module 5;

the ultrasonic ranging sensor 4-3 is arranged on the ultrasonic ranging sensor fixing seat 4-11, the ultrasonic ranging sensor fixing seat 4-11 is arranged at the uppermost ends of two sides of the main frame module 5, the inclinometer 4-4 is fixedly arranged on the inclinometer fixing seat 4-12, the water immersion sensor 4-5 is fixedly arranged on the water immersion sensor fixing seat 4-13, and the depth sensor 4-6 is fixedly arranged on the depth sensor fixing seat 4-14.

The inclinometer 4-4, the water immersion sensor 4-5 and the depth sensor 4-6 are all arranged in the sealed cabin 4-7, the sealed cabin 4-7 is fixedly arranged on the sealed cabin fixing seat 4-8, and the sealed cabin fixing seat 4-8 is arranged at the uppermost end of the middle position of the main frame module 5.

By adopting the technical scheme:

the camera 4-1 transmits images of the robot before and after cleaning to an onshore control platform, the searchlight 4-2 ascertains the underwater operation environment, the ultrasonic ranging sensor 4-3 feeds back the distance between the head and tail parts of the robot and the ship wall, the inclinometer 4-4 provides gesture information of the robot, the water immersion sensor 4-5 monitors whether the sealed cabin leaks water or not, and the depth sensor 4-6 measures the depth of the robot under water. The whole sensing system 4 integrates the real-time state of the robot and feeds the state back to an operator, and the operator is assisted to control the robot by issuing a control instruction on the shore.

In one possible embodiment, the main frame module 5 includes a main frame 5-1, a protective pad 5-2, and a cable fixing clasp 5-3;

the main frame 5-1 is arranged at the middle position of the main frame module 5 and is used as a supporting main body of the robot; the protection pad 5-2 is fixedly arranged on the main frame 5-1 and plays a role in anti-collision protection for the robot; the cable 5-3 is fixedly buckled at the lower end of the main frame module 5, and plays a role in fixing the robot cable.

Working principle: as shown in fig. 1-11, during actual cleaning operation, the underwater part of the ship is divided into a side wall, an inclined wall and a bottom, the side wall is further divided into a flat surface and a front-to-rear curved surface of the ship, the cleaning sequence is to clean the flat surface of the side wall firstly, then clean the front-to-rear curved surface of the ship of the side wall, continue to clean the inclined wall and finally clean the bottom. The water-proof steering engine 3-1 of the gravity center adjusting mechanism 3 and the vertical propeller 2-1 of the propulsion mechanism 2 are required to execute different instructions for cleaning different parts. When the side wall is cleaned, the robot is adjusted to be in a side posture from a positive posture, the waterproof steering engine 3-1 is rotated to 90 degrees or 270 degrees at first, and then the vertical propeller 2-1 executes a left turning or right turning instruction. When the inclined wall is cleaned, the robot is adjusted from a positive posture to an inclined posture, the waterproof steering engine 3-1 is rotated to 90-180 degrees or 180-270 degrees, and then the vertical propeller 2-1 executes a left turning or right turning instruction. When the ship bottom is cleaned, the robot is adjusted to a turning posture from a positive posture, firstly, the waterproof steering engine 3-1 is turned to 180 degrees, and then the vertical propeller 2-1 executes a left turning or right turning instruction. After the corresponding gesture is reached, the vertical propeller 2-1 of the robot is operated to realize adherence, the horizontal propeller 2-2 is controlled to realize forward and backward movement, and the advancing direction of the robot is adjusted through the lateral propeller 2-3 to realize navigation work. Robot pose setting as shown in fig. 9; the angle setting of the waterproof steering engine 3-1 is shown in figure 10; the corresponding waterproof steering engine 3-1 and vertical propeller 2-1 are cleaned at each part, and the working modes are shown in figure 11.

The application has the following advantages:

1) The device can automatically adapt to the wall surface of the ship according to the growth condition of marine organisms, can adaptively change the position of the cleaning mechanism, can realize stable cleaning after the robot turns on one's side, and has high cleaning efficiency and good cleaning effect;

2) By adopting the floating type cleaning mechanism, the cavitation jet flow rotating tool rest and the wall surface to be cleaned can keep the optimal distance, and the wall surface of the ship can be automatically adapted according to the growth condition of marine organisms, so that the cleaning effect and the cleaning efficiency are improved.

3) By adopting the propulsion mechanism, under the condition that fewer propellers can be used, the motion of each degree of freedom of the robot and the preset navigation and depth setting cleaning function are realized, and meanwhile, the problem that the robot is affected by jet flow to shake during cleaning operation is solved by utilizing a simple directional wheel structure.

4) By adopting the gravity center adjusting mechanism, the robot with the cleaning mechanism arranged at the bottom can always keep the gravity center of the robot under the floating center by adjusting the gravity center of the robot when the robot turns on one's side to perform cleaning operation, so that the stability of the robot is kept, and the cleaning effect and the cleaning efficiency are improved.

5) The ship underwater cleaning robot with the adjustable gravity center, which is designed by the application, has been verified in batches, each performance index and service life test have reached the design index, the field test effect is good, and the requirements of users on each function and service life of the product are met.

The foregoing is a further detailed description of the application in connection with the preferred embodiments, and it is not intended that the application be limited to the specific embodiments described. It will be apparent to those skilled in the art that several simple deductions or substitutions may be made without departing from the spirit of the application, and these should be considered to be within the scope of the application.

Claims (6)

1. The utility model provides a but adjusting gravity center's boats and ships cleaning robot under water which characterized in that: the device comprises a cleaning mechanism (1), a propulsion mechanism (2), a gravity center adjusting mechanism (3), a sensing system (4) and a main frame module (5);

the cleaning mechanism (1) is arranged at the lowest end of the middle position of the main frame module (5) and is used for cleaning the wall surface of the ship suitable for different marine organism growth conditions;

the propelling mechanisms (2) are symmetrically arranged at two sides of the middle of the main frame module (5) respectively and are used for providing enough propelling force and adsorption force when the ship walks on the wall surface;

the gravity center adjusting mechanism (3) is respectively arranged at the uppermost end and the middle lower end of the main frame module (5) and is used for realizing the stability of each underwater posture of the robot;

the sensing systems (4) are respectively arranged at the left side and the right side of the uppermost end and the lower end of the middle of the main frame module (5) and are used for sensing the state of the robot under water;

the main frame module (5) is arranged at the middle position of the robot and is used for connecting all components of the robot.

2. An adjustable center of gravity marine cleaning robot according to claim 1, wherein: the cleaning mechanism (1) comprises a guide shaft (1-1), a spring (1-2), a tool rest protective shell (1-3), a cavitation jet flow rotary tool rest (1-4), a universal wheel (1-5), an upper mounting plate (1-6), a nozzle water outlet (1-7), a universal wheel mounting seat (1-8) and a nut (1-9);

the guide shaft (1-1) penetrates through the spring (1-2), one end of the guide shaft is fixed on the upper mounting plate (1-6), and the other end of the guide shaft is fixedly arranged on the tool rest protective shell (1-3) through the nut (1-9) to play a guide role;

the cavitation jet flow rotary knife rest (1-4) is arranged at the lower end of the knife rest protective shell (1-3) and is used for providing high-pressure water jet flow; the water outlets (1-7) of the nozzles are arranged at the extreme ends of the two sides of the cavitation jet rotary knife rest (1-4), and water flows out from the water outlets (1-7) of the nozzles and acts on marine organisms on the wall surface of the ship;

the universal wheel (1-5) is fixedly arranged at the bottommost end of the universal wheel mounting seat (1-8), and the universal wheel mounting seat (1-8) is fixedly arranged at the bottommost end of the tool rest protective shell (1-3) and used for supporting the cleaning mechanism (1).

3. An adjustable center of gravity marine cleaning robot according to claim 1, wherein: the propulsion mechanism (2) comprises four vertical propellers (2-1), two horizontal propellers (2-2), two lateral propellers (2-3), four groups of directional wheels (2-4), a directional wheel fixing seat (2-5), a vertical propeller fixing seat (2-6), a horizontal propeller fixing seat (2-7) and a lateral propeller fixing seat (2-8);

the four vertical thrusters (2-1) are respectively arranged in four directions on the main frame module (5) through the corresponding vertical thruster fixing seats (2-6) and distributed in a rectangular array, and the four vertical thrusters (2-1) are vertically upwards;

the horizontal thrusters (2-2) are fixedly arranged on the horizontal thruster fixing seats (2-7), the two horizontal thrusters (2-2) are arranged on the left side and the right side of the main frame module (5) through the corresponding horizontal thruster fixing seats (2-7), and the two horizontal thrusters (2-2) are symmetrically distributed along the horizontal direction;

the lateral thrusters (2-3) are fixedly arranged on the lateral thruster fixing seats (2-8), the two lateral thrusters (2-3) are respectively arranged on the front side and the rear side of the main frame module (5) through the corresponding (2-8) lateral thruster fixing seats, and the two lateral thrusters (2-3) are symmetrically distributed;

the four groups of directional wheels (2-4) are respectively arranged in four directions at the bottommost end of the main frame module (5) through the corresponding directional wheel fixing seats (2-5) and are used for preventing the recoil force generated during the working of the cleaning mechanism (1) from pushing the robot to irregularly shake.

4. An adjustable center of gravity marine cleaning robot according to claim 1, wherein: the gravity center adjusting mechanism (3) comprises a waterproof steering engine (3-1), a gravity block (3-2), a steering engine mounting seat (3-3), an upper buoyancy block (3-4) and a lower buoyancy block (3-5);

the waterproof steering engine (3-1) is fixedly arranged on the steering engine mounting seat (3-3), and the gravity block (3-2) is symmetrically arranged on one side of the waterproof steering engine (3-1); the upper buoyancy block (3-4) is arranged at the uppermost end of the main frame module (5), the lower buoyancy block (3-5) is arranged at the center of the main frame module (5), and the gravity block (3-2) is controlled to rotate by a specific angle through the waterproof steering engine (3-1), so that the overall gravity center of the robot is adjusted.

5. An adjustable center of gravity marine cleaning robot according to claim 1, wherein: the sensing system (4) comprises a camera (4-1), a searchlight (4-2), an ultrasonic ranging sensor (4-3), an inclinometer (4-4), a water immersion sensor (4-5), a depth sensor (4-6), a sealed cabin (4-7), a sealed cabin fixing seat (4-8), a camera fixing seat (4-9), a searchlight fixing seat (4-10), an ultrasonic ranging sensor fixing seat (4-11), an inclinometer fixing seat (4-12), a water immersion sensor fixing seat (4-13), a depth sensor fixing seat (4-14) and a sensing system fixing seat (4-15);

the camera (4-1) is fixedly arranged on the camera fixing seat (4-9), the searchlight (4-2) is fixedly arranged on the searchlight fixing seat (4-10), the camera fixing seat (4-9) and the searchlight fixing seat (4-10) are fixedly arranged at the lower end of the sensing system fixing seat (4-15), and the sensing system fixing seat (4-15) is fixedly arranged at the lower ends of two sides of the main frame module (5);

the ultrasonic ranging sensor (4-3) is arranged on the ultrasonic ranging sensor fixing seat (4-11), the ultrasonic ranging sensor fixing seat (4-11) is arranged at the uppermost ends of two sides of the main frame module (5), the inclinometer (4-4) is fixedly arranged on the inclinometer fixing seat (4-12), the water immersion sensor (4-5) is fixedly arranged on the water immersion sensor fixing seat (4-13), and the depth sensor (4-6) is fixedly arranged on the depth sensor fixing seat (4-14).

The inclinometer (4-4), the water immersion sensor (4-5) and the depth sensor (4-6) are all arranged in the sealed cabin (4-7), the sealed cabin (4-7) is fixedly arranged on the sealed cabin fixing seat (4-8), and the sealed cabin fixing seat (4-8) is arranged at the uppermost end of the middle position of the main frame module (5).

6. An adjustable center of gravity marine cleaning robot according to claim 1, wherein: the main frame module (5) comprises a main frame (5-1), a protection pad (5-2) and a cable fixing buckle (5-3);

the main frame (5-1) is arranged at the middle position of the main frame module (5) and is used as a supporting main body of the robot; the protection pad (5-2) is fixedly arranged on the main frame (5-1) and plays a role in anti-collision protection for the robot; the cable (5-3) is fixedly buckled at the lower end of the main frame module (5) and plays a role in fixing the robot cable.