CN206087243U - Multistage crawler -type is intelligent clearing robot under water - Google Patents

Abstract

The utility model discloses a multistage crawler -type is intelligent clearing robot under water, including control organism, the actuator body, multiaspect roller brush clearance system and single degree of freedom washing dish system, wherein control and be connected through rotatory tailstock between organism and the actuator body, multiaspect roller brush clearance system establishes the front end at the actuator body, and single degree of freedom washing dish system establishes between control organism and the actuator body, is equipped with control system on the control organism, and control system is through inside single chip microcomputer control actuator personally experienced sth. Part of the body, clearance system and single degree of freedom washing dish system are brushed to the multiaspect roller work. Beneficial effect: the front and back organism can move alone, can be simply effectual through straight angle area. And the performance is stable. Intelligent clearing robot's application range has been improved. The effect of clearance has been guaranteed. Guarantee the clean degree on important surface, avoided secondary pollution. Can protect and retrieve when taking place the proruption situation the robot. Convenient easy operation.

Description

A kind of multistage crawler type underwater intelligent clears up robot

Technical field

This utility model is related to a kind of cleaning robot, and more particularly to a kind of multistage crawler type underwater intelligent clears up machine People.

Background technology

Currently, the hydraulic engineering of various scales, ocean platform and ship quickly grow, and all kinds of works under water are generated therewith Journey equipment is all attached with a large amount of marine organisms, it is difficult to clear up and have a strong impact on the problem of equipment work, such as sluice of PX pump houses Door guide rail and rectangular seal frame are chronically under sea water, and length has the marine growths such as a large amount of oysters, causes sluice gate to close Position is even blocked, and it is fully sealed so that causing leak, it is therefore desirable to marine growth on guide rail and sealing frame etc. Cleared up.Nowadays mostly using the method for labor cleaning, time-consuming longer, risk is higher.With modern machines man-based development, The cleaning and detection of underwater installation is also just being done step-by-step automatization.Patent 201310545280.X discloses a kind of omnidirectional swims and climbs Wall underwater robot, the robot only possesses detection function, it is impossible to realize that underwater installation is cleared up.Patent 201420494666.2 is public A kind of hull bottom cleaner system is opened, the system includes water surface buoyancy module and cleaner, and cleaner adopts magnetic suck, is only applicable to ferrum Matter surface, use range is limited, while the overall structure of the cleaner also limits its motion and the scope cleared up, it is impossible to complete class It is similar to by compound movements such as 90 degree of corners.Therefore, need badly and provide rational manner of cleaning up for sluice gate guide rail.

The content of the invention

The purpose of this utility model is manually operated used in scale removal process to solve PX pumping plant sluice gates, compares expense When, laborious and dangerous larger problem and a kind of multistage crawler type underwater intelligent cleaning robot for providing.

This utility model provide multistage crawler type underwater intelligent cleaning robot include control body, perform body, Multiaspect roller brush clears up system and single-degree-of-freedom cleaning disc system, wherein control body rotates tailstock phase with to perform pass through between body Connection, multiaspect roller brush cleaning system is located at the front end for performing body, and single-degree-of-freedom cleaning disc system is located at control body and execution Between body, control body is provided with control system, and control system performs body, multiaspect roller brush by internal Single-chip Controlling Cleaning system and single-degree-of-freedom clean the work of disc system.

Control body and execution body are installed on Athey wheel, and Athey wheel is carried out ordering about rotation by track drive motor, is carried out Crawler belt is arranged with outside belt wheel, on control body and execution body malleation adsorption system is additionally provided with, malleation adsorption system is respectively provided at Control body and perform body both sides, by propeller and absorption motor constitute, propeller with adsorb motor be connected and by Absorption motor control work, control body and the chassis upper performed in body are equipped with buoyancy aid, control body and execution body Bottom be provided with chute, chute can be meshed with the angle steel on gate.

Control chamber is provided with the top of control body, control system is located in control chamber, and electric rotating machine is additionally provided with control chamber, The output shaft of electric rotating machine is connected with the rotation tailstock for performing body, and perform body is carried out ordering about rotation by electric rotating machine, is controlled The rear end of case processed is provided with high-definition camera under trailing water, and water proof switch is additionally provided with control chamber, and the rear end of control chamber is connected with water Lower cable, makes control system and each motor in control chamber be connected with auxiliary equipment on the bank by submerged cable, control The rear end of body processed is equipped with taillight.

Perform and be provided with preposition high-definition camera under water at the top of body.

Multiaspect roller brush cleaning system is provided with two groups, the left and right sides of angle steel is respectively provided at, per group by roller brush drive motor Driven by cog belt and be operated, per group of brush body is constituted by end face roller brush, intermediate calender rolls brush and angle steel roller brush, end face roller brush Positioned at outside, periphery and end face have brush filament, for clearing up guide rail bottom surface and vertical seal face；The periphery of intermediate calender rolls brush sets There is brush filament, for clearing up guide rail bottom surface；Angle steel roller brush is located at inner side, and periphery and end face have brush filament, for clearing up guide rail bottom Face and angle steel.

Single-degree-of-freedom cleaning disc system includes carrying empennage, actuating arm, arm, permanent magnet and cleaning disk is performed, wherein carrying Empennage is arranged on rotation tailstock, and its laterally horizontal face offers side groove, and top levels open up top surface groove；Actuating arm is fixed On empennage is carried；Performing under motor of the arm in actuating arm drives to be rotated, the shape after its static and 270 degree of rotation State is limited respectively by top surface groove and side groove, and permanent magnet is arranged on the surface for performing arm, and cleaning disk is arranged on and performs on arm, passes through Performing the motor inside arm drives opposite house lintel to be cleared up, and the head end of execution arm is provided with high definition under laser sensor and central water and takes the photograph As head.

Single-chip microcomputer in control system respectively with high-definition camera and trailing water under preposition high-definition camera under water, central water Lower high-definition camera is connected, wherein preposition high-definition camera under water is used to observe the cleaning situation of body running-surface, while By observation and feedback image is correcting the submarine site of body in differential becomes rail motor process；High-definition camera under central water For observing the cleaning situation and service condition of lintel；High-definition camera is used to observe guide rail, vertical seal face under trailing water With the cleaning situation and service condition of bottom bank, single-chip microcomputer be also associated with attitude transducer, altimeter, laser sensor, absorption use Pressure transducer and protection pressure transducer, wherein attitude transducer are separately mounted to control body and perform the interior of body Portion, for detection control body and execution body movement speed, acceleration and deviation post, makes control body and performs body Realize that differential becomes rail motion and position correction；Altimeter is arranged on inside control chamber, for the position depth on feedback problem surface Degree；Laser sensor is arranged on and performs on arm, by measurement cleaning disk and vertical seal face, the spacing of lintel, and feeds back in addition Amendment, absorption pressure transducer is separately mounted to control body and performs on body, for detecting absorption affinity size, is easy to Malleation adsorption system is controlled by under various water environments, it is ensured that operation stability；During protection pressure transducer is arranged on Between on protection wheel hub by roller brush, the pressure signal for being measured by it and being fed back makes electric rotating machine control perform the rotation of body, Excessive descent is avoided to damage robot.

Operation principle of the present utility model：

First the robot that this utility model is provided is placed on into the position that gate guide is contacted with the water surface by operator, is made Control body coordinates with the chute for performing organism bottom with angle steel.Water proof switch is opened, robot adjust automatically absorption motor turns Speed is reached after predetermined absorption affinity, starts to carry out climbing wall to bottom bank along angle steel to move (as shown in Figure 8), and multiaspect is opened while motion Roller brush clears up system, cleaning gate guide and vertical seal face.

When performing body arrival bottom bank, start the excessively curved motion (as shown in Figure 9) in right angle.Guarantor in multiaspect roller brush cleaning system Shield wheel hub can first contact bottom bank, then measure pressure and feedback signal by protection pressure transducer thereon, and closing is held The adsorbent equipment of row body, drive perform body electric rotating machine drive perform body rotate while, control body continue to Front motion, until when execution body rotates and falls on the bank of bottom, opening the adsorbent equipment for performing body, the suction of closing control body Adsorption device, performs body and continues to move ahead on the bank of bottom, now drives the electric rotating machine reversion for performing body, then control body rotation And slowly restore to the original state, after control body also falls on the bank of bottom, its adsorbent equipment being opened, robot moves forward, together When multiaspect roller brush cleaning system continue to clear up bottom bank and running face.

Robot starts differential and becomes rail motion (as shown in Figure 10) after one section of motion on the bank of bottom.By attitude transducer The signal of single-chip microcomputer is transferred to, control robot both sides track drive motor makes both sides crawler belt form speed difference, and robot starts Gradually to gate mouth medial motion, after one section of preset distance of skew, continue along straight-ahead motion, when opposite side gate guide position When in the preposition visual range of high-definition camera under water, by the relative position for observing gate guide and robot, feedback image And the position to robot is modified, allows the robot to pass through bottom right angle and face upwards along gate mouth inner vertical Carry out climbing wall motion.

Robot total movement rear (as shown in figure 11) on gate mouth inner vertical face, operation single-degree-of-freedom cleaning disk system System cleaning vertical seal face, actuating arm drives and performs 270 degree of arm rotation, and opening cleaning disk rotates it, and by laser sensing Device detection cleaning disk and the spacing in vertical seal face, are modified, it is ensured that cleaning quality after feedback.

Robot gate mouth inner vertical is faced upwards and rises to top right angle, due to controlling body and performing internal body The buoyancy and robot deadweight that produces of buoyancy aid offset, therefore top right angle excessively curved (as shown in figure 12) and the excessively curved fortune of bottom right angle Dynamic identical, robot adsorbs completely after top surface on the inside of gate mouth, and cleaning disk can be cleared up lintel (as shown in figure 13).Such as Shown in Figure 14, opposite side is reached and after corner, then declined along gate mouth inner vertical face, until packing up cleaning after the bank of bottom Disk, closes single-degree-of-freedom cleaning disc system, then becomes preliminary orbit again on the bank of bottom, the figure fed back by preposition high-definition camera under water As amendment robot location, make robot pass through bottom right angle curved, and the water surface is risen to upwards along angle steel in guide rail.

In robot scale removal process, can be by high-definition camera and trailing water under preposition high-definition camera under water, central water Lower high-definition camera is observed surface to be cleaned, if do not cleaned out, robot can back and forth or stop it being carried out specially Item cleaning, it is ensured that cleaning is complete.Meanwhile, high-definition camera can be after the completion of cleaning under high-definition camera and trailing water under central water Surface service condition is checked, if there are the defects such as crackle, the depth under water of the position is fed back by altimeter, wait dimension Repair.

Associated components in control system are the assembling of existing equipment, therefore concrete model and specification are not further entered Row is repeated.

The beneficial effects of the utility model：

1st, underwater intelligent cleaning robot has the function of adsorption wall climbing, and is designed to two-part overall structure, Qian Houji Body can move alone, and internal buoyancy can be conducted oneself with dignity with balanced robot, adopt this kind of structure can be with simple and effective by straight Angular zone.

2nd, robot small volume, compact conformation, in flat, can perch and be moved in guide rail, and when moving under water It is little by resistance, stable performance.

3rd, robot is using malleation suction type and caterpillar drive mode, applicable materials various under water and to a certain degree Move on rugged surface, while intelligence cleaning robot can be improve according to the size of the flow rate regulation absorption affinity of current Use range.

4th, two parts purging system not only can be cleared up surface with travelling forward for robot, while can be with Surface is observed by high-definition camera under water, then cleaning is oriented to some region, it is ensured that the effect of cleaning Really.

5th, three parts of multiaspect roller brush point, it is possible to achieve while to multiple surfaces such as guide rail bottom surface, angle steel face, vertical seal faces Cleaning, while the periphery brush filament of three part roller brushes designs certain angle, incline to robot both sides so that clear up Marine organisms be processed to both sides, it is ensured that the clean level of significant surfaces, it is to avoid secondary pollution.

6th, protection wheel hub is devised at multiaspect roller brush, its diameter is slightly larger than the diameter of multiaspect roller brush, free to rotate, works as machine When device people moves to bottom bank, protection hub contacts bottom bank, and by protection pressure transducer feedback signal, execution machine before control Body rotates, and proceeds by the motion of quarter bend, structure effective protection multiaspect roller brush it is cylindrical.

7th, single-degree-of-freedom cleaning disk can be cleared up lintel and vertical seal face, realize the multiple purposes of mechanism, Permanent magnet can avoid cleaning disk detachment cleaning surface, while being found range by laser sensor, it is ensured that cleaning performance.

8th, powered to robot by submerged cable, power is sufficient, and cruising time is long, and the joint quilt of submerged cable It is fixed, while certain pulling force can be born, robot can be protected and reclaimed when there are emergency situations.

9th, first from guide rail to water-bed motion, reaching carries out change rail after the bank of bottom for robot, then along the motion of gate medial surface, ring Bottom bank is returned to after a circle, becomes rail to preliminary orbit, finally along guide rail to surface motions, the route is capable of achieving simultaneously to guide rail And rectangular seal frame vertical, bottom bank, lintel make an overall screening, facilitate easy to operate.

Description of the drawings

Fig. 1 is this utility model overall structure diagram.

Fig. 2 is for control body described in the utility model and performs organism internal structure schematic diagram.

Fig. 3 is control chamber internal structure schematic diagram described in the utility model.

Fig. 4 is multiaspect roller brush drive system structure schematic diagram described in the utility model.

Fig. 5 is that single-degree-of-freedom described in the utility model cleans disc system structural representation.

Fig. 6 is control system schematic diagram described in the utility model.

Fig. 7 is gate structure schematic diagram described in the utility model.

Fig. 8 climbs wall motion schematic diagram for robot.

Fig. 9 is the excessively curved motion schematic diagram in robot right angle.

Figure 10 is that robot differential becomes rail motion schematic diagram.

Figure 11 is robot in gate mouth inner vertical face operating diagram.

Figure 12 is the excessively curved schematic diagram in robot top right angle.

Figure 13 carries out cleaning schematic diagram for robot to lintel.

Figure 14 is descending schematic diagram after robot cleaning lintel.

1st, control body 2, perform body 3, multiaspect roller brush cleaning system 4, single-degree-of-freedom cleaning disc system

5th, tailstock 6, single-chip microcomputer 7, Athey wheel 8, track drive motor 9, crawler belt are rotated

10th, propeller 11, absorption motor 12, buoyancy aid 13, chute 14, angle steel 15, control chamber

16th, high-definition camera 18, water proof switch 19, submerged cable under electric rotating machine 17, trailing water

20th, taillight 21, preposition high-definition camera under water 22, roller brush drive motor 23, cog belt

24th, end face roller brush 25, intermediate calender rolls brush 26, angle steel roller brush 27, guide rail bottom surface 28, vertical seal face

29th, empennage 30, actuating arm 31 are carried, arm 32, permanent magnet 33, cleaning disk is performed

34th, side groove 35, top surface groove 36, lintel 37, laser sensor

38th, high-definition camera 39, guide rail 40, bottom bank 41, attitude transducer under central water

42nd, altimeter 43, absorption pressure transducer 44, protection pressure transducer

45th, wheel hub 46, gate mouth inner vertical face 47, gate mouth inner side top surface are protected.

Specific embodiment

Refer to shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6 and Fig. 7：

The multistage crawler type underwater intelligent cleaning robot that this utility model is provided includes control body 1, performs body 2nd, multiaspect roller brush cleaning system 3 and single-degree-of-freedom cleaning disc system 4, wherein by rotation between control body 1 and execution body 2 Tailstock 5 is connected, and multiaspect roller brush cleaning system 3 is located at the front end for performing body 2, and single-degree-of-freedom cleaning disc system 4 is located at control Between body 1 and execution body 2, control body 1 is provided with control system, and control system is held by the internal control of single-chip microcomputer 6 Row body 2, multiaspect roller brush cleaning system 3 and single-degree-of-freedom clean the work of disc system 4.

Control body 1 and execution body 2 are installed on Athey wheel 7, and Athey wheel 7 is carried out ordering about and turned by track drive motor 8 It is dynamic, crawler belt 9 is arranged with outside Athey wheel 7, it is additionally provided with malleation adsorption system, malleation adsorption system on control body 1 and execution body 2 Be respectively provided at control body 1 and perform body 2 both sides, by propeller 10 and absorption motor 11 constitute, propeller 10 with inhale Attached motor 11 is connected and controls work by absorption motor 11, and control body 1 and the chassis upper performed in body 2 are equipped with floating Body 12, the bottom for controlling body 1 and performing body 2 is provided with chute 13, and chute 13 can be meshed with the angle steel 14 on gate.

The top of control body 1 is provided with control chamber 15, and control system is located in control chamber 15, and in control chamber 15 rotation is additionally provided with Rotating motor 16, the output shaft of electric rotating machine 16 is connected with the rotation tailstock 5 for performing body 2, performs body 2 by electric rotating machine 16 Carry out ordering about rotation, the rear end of control chamber 15 is provided with high-definition camera 17 under trailing water, on control chamber 15 water proof switch is additionally provided with 18, the rear end of control chamber 15 is connected with submerged cable 19, and by submerged cable 19 control system in control chamber 15 and each is made Motor is connected with auxiliary equipment on the bank, and the rear end for controlling body 1 is equipped with taillight 20.

The top for performing body 2 is provided with preposition high-definition camera 21 under water.

Multiaspect roller brush cleaning system 3 is provided with two groups, is respectively provided at the left and right sides of angle steel 14, and electricity is driven by roller brush per group Machine 22 is driven by cog belt 23 and is operated, and per group of brush body is by end face roller brush 24, intermediate calender rolls brush 25 and angle steel roller brush 26 Composition, end face roller brush 24 is located at outside, and periphery and end face have brush filament, for clearing up guide rail bottom surface 27 and vertical seal face 28；The periphery of intermediate calender rolls brush 25 is provided with brush filament, for clearing up guide rail bottom surface 27；Angle steel roller brush 26 be located at inner side, periphery and End face has brush filament, for clearing up guide rail bottom surface 27 and angle steel 14.

Single-degree-of-freedom cleaning disc system 4 includes carrying empennage 29, actuating arm 30, performs arm 31, permanent magnet 32 and cleaning disk 33, wherein carry empennage 29 being arranged on rotation tailstock 5, its laterally horizontal face offers side groove 34, and top levels are opened up Top surface groove 35；Actuating arm 30 is fixed on carrying empennage 29；Performing under motor of the arm 31 in actuating arm 30 drives to be carried out Rotation, the state after its static and 270 degree of rotation is limited respectively by top surface groove 35 and side groove 34, and permanent magnet 32 is arranged on and performs The surface of arm 31, cleaning disk 33 is arranged on and performs on arm 31, drives opposite house lintel 36 to carry out by the motor inside execution arm 31 clear Reason, the head end for performing arm 31 is provided with high-definition camera 38 under laser sensor 37 and central water.

Single-chip microcomputer 6 in control system respectively with high-definition camera 38 under preposition high-definition camera under water 21, central water and High-definition camera 17 is connected under trailing water, wherein preposition high-definition camera under water 21 is used to observe the cleaning of body running-surface Situation, while by observation and feedback image is correcting the submarine site of body in differential becomes rail motor process；Under central water High-definition camera 38 is used to observe the cleaning situation and service condition of lintel 36；High-definition camera 17 is used to observe under trailing water The cleaning situation of guide rail 39, vertical seal face 28 and bottom bank 40 and service condition, single-chip microcomputer 6 be also associated with attitude transducer 41, Altimeter 42, laser sensor 37, wherein absorption pressure transducer 43 and protection pressure transducer 44, attitude transducer 41 It is separately mounted to control the inside of body 1 and execution body 2, to control body 1 for detection and perform the movement velocity of body 2, add Speed and deviation post, make control body 1 and execution body 2 realize that differential becomes rail motion and position correction；Altimeter 42 Inside control chamber 15, for the depth on feedback problem surface；Laser sensor 37 is arranged on and performs on arm 31, leads to Measurement cleaning disk 33 and vertical seal face 28, the spacing of lintel 36 are crossed, and feedback is corrected, 43 points of pressure transducer of absorption Body 1 An Zhuan not controlled and performed on body 2, for detecting absorption affinity size, be easy under various water environments to malleation Adsorption system is controlled by, it is ensured that operation stability；Protection is arranged on the protection wheel on the side of intermediate calender rolls brush 25 with pressure transducer 44 On hub 45, the pressure signal for being measured by it and being fed back makes the control of electric rotating machine 16 perform the rotation of body 2, it is to avoid under excessively Drop damages robot.

Operation principle of the present utility model：

First the robot that this utility model is provided is placed on into the position that gate guide 39 is contacted with the water surface by operator, Control body 1 is set to coordinate with angle steel 14 with the chute 13 for performing the bottom of body 2.Open water proof switch 18, robot adjust automatically The absorption rotating speed of motor 11 is reached after predetermined absorption affinity, starts to carry out climbing wall to bottom bank 40 along angle steel 14 to move (as shown in Figure 8), fortune Multiaspect roller brush cleaning system 3, cleaning gate guide 39 and vertical seal face 28 are opened while dynamic.

When performing body arrival bottom bank 40, start the excessively curved motion (as shown in Figure 9) in right angle.In multiaspect roller brush cleaning system 3 Protection wheel hub 45 can first contact bottom bank 40, then pressure and feedback letter are measured by protection pressure transducer 44 thereon Number, the adsorbent equipment of execution body 2 is closed, while driving the drive of electric rotating machine 16 for performing body 2 to perform the rotation of body 2, Control body 1 moves forward, until when execution body 2 rotates and falls on bottom bank 40, opening the absorption dress for performing body 2 Put, the adsorbent equipment of closing control body 1, perform body 2 and continue to move ahead on bottom bank 40, now drive the rotation for performing body 2 Rotating motor 16 is inverted, then control the rotation of body 1 and slowly restore to the original state, and after control body 1 also falls on bottom bank 40, opens it Adsorbent equipment, robot moves forward, while multiaspect roller brush cleaning system 3 continues to clear up bottom bank 40 and running face.

Robot starts differential and becomes rail motion (as shown in Figure 10) after one section of motion on bottom bank 40.Sensed by attitude Device 41 is transferred to the signal of single-chip microcomputer 6, control robot both sides track drives motor 8, makes both sides crawler belt 9 form speed difference, machine Device people starts gradually to gate mouth medial motion, after one section of preset distance of skew, continues along straight-ahead motion, when opposite side lock It is relative with robot by observing gate guide 39 when door guide rail 39 is located in the preposition visual range of high-definition camera under water 21 Position, feedback image and the position to robot are modified, and allow the robot to pass through bottom right angle and along gate mouth Inner vertical face 46 carries out climbing wall motion upwards.

Robot total movement rear (as shown in figure 11) on gate mouth inner vertical face 46, operation single-degree-of-freedom cleaning disk The cleaning vertical seal of system 4 face 28, actuating arm 30 drives and performs 270 degree of the rotation of arm 31, and opening cleaning disk 33 rotates it, and leads to The detection of laser sensor 37 cleaning disk 33 and the spacing in vertical seal face 28 are crossed, is modified after feedback, it is ensured that cleaning quality.

Robot gate mouth inner vertical face 46 rises to upwards top right angle, due to controlling body 1 and performing body 2 The buoyancy that internal buoyancy aid 12 is produced and robot deadweight counteracting, therefore top right angle excessively curved (as shown in figure 12) and bottom right angle Cross it is curved motion it is identical, robot adsorbs completely on the inside of gate mouth after top surface 47, cleaning disk 33 lintel 36 can be cleared up (such as Shown in Figure 13).As shown in figure 14, reach opposite side and after corner, then decline along gate mouth inner vertical face 46, until bottom Cleaning disk 33 is packed up after bank 40, single-degree-of-freedom cleaning disc system 4 is closed, then preliminary orbit is become again on bottom bank 40, by preposition water The image correction robot location of lower high-definition camera 21 feedback, makes robot pass through bottom right angle curved, and in guide rail 39 It is middle to rise to the water surface upwards along angle steel 14.

In robot scale removal process, can by high-definition camera 38 under preposition high-definition camera under water 21, central water and after Put high-definition camera 17 under water to observe surface to be cleaned, if do not cleaned out, robot can back and forth or stop to it Carry out special cleaning, it is ensured that cleaning is complete.Meanwhile, high-definition camera 17 can be under high-definition camera 38 and trailing water under central water Surface service condition is checked after the completion of cleaning, if there are the defects such as crackle, the water of the position is fed back by altimeter 42 Lower depth, waits to be repaired.

Claims (7)

1. a kind of multistage crawler type underwater intelligent clears up robot, it is characterised in that：Include control body, perform body, many Face roller brush cleaning system and single-degree-of-freedom cleaning disc system, wherein control body be connected by rotating tailstock between body with being performed Connect, multiaspect roller brush cleaning system is located at the front end for performing body, single-degree-of-freedom cleaning disc system is located at control body and execution machine Between body, control body is provided with control system, and it is clear that control system performs body, multiaspect roller brush by internal Single-chip Controlling Reason system and single-degree-of-freedom clean the work of disc system.

2. a kind of multistage crawler type underwater intelligent according to claim 1 clears up robot, it is characterised in that：Described control Body processed and execution body are installed on Athey wheel, and Athey wheel is carried out ordering about rotation, the outer winding of Athey wheel by track drive motor Have a crawler belt, control body and perform malleation adsorption system is additionally provided with body, malleation adsorption system be respectively provided at control body and The both sides of body are performed, is made up of propeller and absorption motor, propeller is connected and by absorption motor control with absorption motor Work processed, the chassis upper for controlling body and performing in body is equipped with buoyancy aid, and the bottom for controlling body and performing body is provided with Chute, chute can be meshed with the angle steel on gate.

3. a kind of multistage crawler type underwater intelligent according to claim 1 clears up robot, it is characterised in that：Described control Control chamber is provided with the top of body processed, control system is located in control chamber, electric rotating machine is additionally provided with control chamber, electric rotating machine Output shaft is connected with the rotation tailstock for performing body, and perform body is carried out ordering about rotation, the rear end of control chamber by electric rotating machine High-definition camera under trailing water is provided with, water proof switch is additionally provided with control chamber, the rear end of control chamber is connected with submerged cable, passes through Submerged cable makes the control system in control chamber and each motor be connected with auxiliary equipment on the bank, controls the rear end of body It is equipped with taillight.

4. a kind of multistage crawler type underwater intelligent according to claim 1 clears up robot, it is characterised in that：Described holds Preposition high-definition camera under water is provided with the top of row body.

5. a kind of multistage crawler type underwater intelligent according to claim 1 clears up robot, it is characterised in that：Described is more Face roller brush cleaning system is provided with two groups, is respectively provided at the left and right sides of angle steel, and cog belt is passed through by roller brush drive motor per group Drive is operated, and per group of brush body is constituted by end face roller brush, intermediate calender rolls brush and angle steel roller brush, and end face roller brush is located at outside, Periphery and end face have brush filament, for clearing up guide rail bottom surface and vertical seal face；The periphery of intermediate calender rolls brush is provided with brush filament, uses In cleaning guide rail bottom surface；Angle steel roller brush is located at inner side, and periphery and end face have brush filament, for clearing up guide rail bottom surface and angle steel.

6. a kind of multistage crawler type underwater intelligent according to claim 1 clears up robot, it is characterised in that：Described list Degree of freedom cleaning disc system includes carrying empennage, actuating arm, arm, permanent magnet and cleaning disk is performed, wherein carry empennage being arranged on On rotation tailstock, its laterally horizontal face offers side groove, and top levels open up top surface groove；Actuating arm is fixed on carrying empennage On；Performing under motor of the arm in actuating arm drives to be rotated, and the state after its static and 270 degree of rotation is respectively by pushing up Face groove and side groove are limited, and permanent magnet is arranged on the surface for performing arm, and cleaning disk is arranged on and performs on arm, by performing inside arm Motor drive opposite house lintel cleared up, perform arm head end be provided with high-definition camera under laser sensor and central water.

7. a kind of multistage crawler type underwater intelligent according to claim 1 clears up robot, it is characterised in that：Described control Single-chip microcomputer in system processed respectively with high-definition camera under high-definition camera under preposition high-definition camera under water, central water and trailing water Head is connected, wherein preposition high-definition camera under water is used to observe the cleaning situation of body running-surface, while becoming rail in differential By observation and feedback image is correcting the submarine site of body in motor process；High-definition camera is used to observe door under central water The cleaning situation of lintel and service condition；High-definition camera is used to observe the clear of guide rail, vertical seal face and bottom bank under trailing water Reason situation and service condition, single-chip microcomputer is also associated with attitude transducer, altimeter, laser sensor, absorption pressure transducer With protection pressure transducer, wherein attitude transducer is separately mounted to control body and performs the inside of body, for detecting Control body and execution body movement speed, acceleration and deviation post, make control body and execution body realize that differential becomes Rail is moved and position correction；Altimeter is arranged on inside control chamber, for the depth on feedback problem surface；Laser sensing Device is arranged on and performs on arm, is corrected with vertical seal face, the spacing of lintel, and feedback by measurement cleaning disk, and absorption is used Pressure transducer is separately mounted to control body and performs on body, for detecting absorption affinity size, is easy in various current rings Malleation adsorption system is controlled by under border, protection pressure transducer is arranged on the protection wheel hub by intermediate calender rolls brush, is passed through Its pressure signal for measuring and feeding back, makes electric rotating machine control perform the rotation of body.