CN206122274U - Cleaning robot under water - Google Patents
Cleaning robot under water Download PDFInfo
- Publication number
- CN206122274U CN206122274U CN201621013300.4U CN201621013300U CN206122274U CN 206122274 U CN206122274 U CN 206122274U CN 201621013300 U CN201621013300 U CN 201621013300U CN 206122274 U CN206122274 U CN 206122274U
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- Prior art keywords
- robot
- conduit
- guide
- guide piece
- pressure wash
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Abstract
The utility model discloses a cleaning robot under water for wash the operation to pipe under water, include: the robot follows the robot is equipped with and holds the workspace of pipe, travel unit, travel unit includes two at least holders, the holder with the robot links to each other, the centre gripping of holder center with pipe central line coincidence, and wherein an at least holder with be equipped with elevating system between the the robot, the elevating system drive the holder or the robot goes up and down, belt cleaning device, belt cleaning device includes the high pressure cleaning head, the high pressure cleaning head install in the robot is last, just high pressure cleaning head orientation the workspace is used for wasing catheter surfaces.
Description
Technical field
This utility model is related to submarine pipeline cleaning device field, and in particular to a kind of underwater cleaning robot.
Background technology
Substantial amounts of marine growth is attached with underwater platform conduit, is taken for conduit cleaning is mainly diver in prior art
Band high-pressure water shot flow device dive carries out operation into water, by high-pressure water shot water outlet pressure about 30～50MPa, but using the dress
Put when being cleaned, the enormous impact of high-pressure water jet can cause great security threat to diver, especially muddy in sea water
Turbid low visibility or the marine site in whirlpool, cannot carry out the cleaning of catheterostat by diver at all.
Utility model content
For defect present in prior art, the purpose of this utility model is to provide a kind of underwater cleaning robot,
Manual cleaning conduit operation under water can be replaced, it is cost-effective while cleaning efficiency is improved, with safe and reliable and
The advantage of efficiency high.
To reach object above, this utility model is adopted the technical scheme that：
A kind of underwater cleaning robot, for carrying out washing and cleaning operation to conduit under water, including：
Robot body, the working area for accommodating the conduit is provided with along the robot body；
Ground-engaging element, the ground-engaging element includes at least two clampers, and the clamper is connected with the robot body,
The Clamping Center of the clamper overlaps with catheter center's line, and the clamper of wherein at least one and the robot body it
Between be provided with elevating mechanism, the elevating mechanism drives the clamper or robot body lifting；
Cleaning device, the cleaning device includes high-pressure wash head, and the high-pressure wash head is installed on the robot sheet
On body, and the high-pressure wash head is towards the working area, for cleaning the catheter surface.
On the basis of above-mentioned technical proposal, rotary apparatuss, it includes guide plate assembly and guide wheel assemblies, the guiding
Wheel assembly is transferred with the guide plate assembly, and the guide plate assembly is connected with the robot body, the directive wheel group
Part is connected with the high-pressure wash head, and the guide wheel assemblies coordinate with the guide plate assembly, and the guide wheel assemblies drive
The high-pressure wash head can make 360 degree of crankmotions around the conduit.
On the basis of above-mentioned technical proposal, the first guide piece of the guide plate assembly including ring-type, the second guide piece,
Gear sheet and the 3rd guide piece, first guide piece, the second guide piece, gear sheet and the 3rd guide piece from top to bottom successively between
Every setting, and the center of first guide piece, the second guide piece, gear sheet and the 3rd guide piece and catheter center's line weight
Close, first guide piece is connected with the robot body；
The guide wheel assemblies include fixed plate, and the fixed plate is located at the lower section of the guide plate assembly, the fixation
Plate is provided with connecting rod and hydraulic motor towards the side panel of the guide plate assembly, and the connecting rod is provided with two guiding
Take turns, and the directive wheel is transferred respectively with second guide piece and the 3rd guide piece, the outfan of the hydraulic motor is provided with
With the gear sheet meshed gears；The opposite side panel of the fixed plate is connected with the high-pressure wash head.
On the basis of above-mentioned technical proposal, the robot body top is provided with the circular orbit around the conduit,
The track is provided with can be along the slide plate of the slide, the cleaning pipe being connected with the high-pressure wash head and the slide plate phase
Even, the slide plate drives the cleaning pipe to move around the robot body.
On the basis of above-mentioned technical proposal, the ground-engaging element includes upper clamper and lower gripper, the lower clamping
Device is affixed with the robot body, and the upper clamper is connected with the robot body by the elevating mechanism, described
Lower gripper is located at the underface of the upper clamper.
On the basis of above-mentioned technical proposal, the clamper includes：
Clamp body, the clamp body is arcwall face towards the side of the body, the clamp body
Opposite side is provided with a pair of oil cylinders；
A pair of clamping limbs, are hinged respectively with the two ends of the clamp body, and the clamping limb includes bare terminal end and connection
End, the connection end connects the telescopic end of the oil cylinder, and the clamping limb is stretched by the piston rod of the oil cylinder and rotated, two institutes
State clamping limb bare terminal end and the clamp body arcwall face it is concyclic, the bare terminal end is provided with rubber roll, the rubber
The diameter parallel of the axis of roller and the conduit.
On the basis of above-mentioned technical proposal, the elevating mechanism includes slide rail, slide block and hoist cylinder, and the slide rail sets
On the robot body, the slide block is slidably connected with the slide rail, the telescopic end of the hoist cylinder and the slide block
It is connected, drives the relatively described slide rail lifting of the slide block, the slide block to be fixedly connected with the clamper.
On the basis of above-mentioned technical proposal, the cleaning device also includes：
Installation pedestal, the installation pedestal is located at robot body lower section, and is connected with the robot body；
Installing plate, the high-pressure wash head is installed on the installing plate, and the installing plate is slided with the installation pedestal
Dynamic connection；
Hydraulic cylinder, the hydraulic cylinder is fixedly connected with the installing plate, and installing plate is with respect to institute described in the Driven by Hydraulic Cylinder
Installation pedestal slip is stated, the installing plate drives coupled high-pressure wash head rest close or remote from motion, and the high pressure is clear
The motion path of hair washing is the radial direction of the conduit.
On the basis of above-mentioned technical proposal, the high-pressure wash head includes：
Housing, is provided with the first water stream channel on the housing；
Rotary shaft, is provided with black box between the rotary shaft and the housing, the rotation shaft portion is located at described
In housing, the rotary shaft offers in the axial direction the second water stream channel, second water stream channel and first current
Passage UNICOM, and it is provided with black box with the connection position of first water stream channel near the second water stream channel；
Head body, is provided with the 3rd water stream channel with the second water stream channel UNICOM in the head body, described
Head body is connected with one end of the rotary shaft, and the rotary shaft drives the head body rotation；
Shower nozzle, the shower nozzle is installed on the head body.
On the basis of above-mentioned technical proposal, the 3rd water stream channel is Y type circular hole passages, and the circular hole passage is leaned on
One end of the nearly housing connects second water stream channel, shower nozzle described in the other end connection two of the circular hole passage.
Compared with prior art, the utility model has the advantage of：
(1) underwater cleaning robot of the present utility model includes ground-engaging element and cleaning sprayer, and ground-engaging element can be along conduit
Surface is creeped up and down, the high pressure water cleaning catheter surface sprayed by cleaning sprayer while creeping, and this utility model can
Replacement manually carries out underwater cleaning operation, cleaning cleannes height, efficiency high and low cost.
(2) underwater cleaning robot of the present utility model includes rotary apparatuss, and rotary apparatuss drive cleaning sprayer around conduit
Surface rotates, and realization rotate and clean on one side, realizes that 360 degree are cleaned without dead angle and manage on behalf of another surface, clean cleannes height；To prevent
Cleaning pipe rotation winding during cleaning sprayer rotates is provided with circular orbit and the slide plate around circular orbit slip, slide plate band
Dynamic cleaning pipe rotates with the rotation of cleaning sprayer.
(3) underwater cleaning robot of the present utility model is mounted opposite pedestal and slides including drive installation plate so that install
Cleaning sprayer on a mounting board can do the radial motion toward and away from conduit, can prevent cleaning sprayer from touching conduit table
Face, protection cleaning sprayer touches damage.
Description of the drawings
Fig. 1 is the front view of this utility model embodiment；
Fig. 2 is the side view of this utility model embodiment；
Fig. 3 is the top view of this utility model embodiment；
Fig. 4 is the partial enlarged drawing of A in Fig. 2；
Fig. 5 is the top view of clamper in this utility model embodiment；
Fig. 6 is the side view of clamper in this utility model embodiment；
Fig. 7 is the side view of robot body in this utility model embodiment；
Fig. 8 is the side view of cleaning device in this utility model embodiment；
Fig. 9 is the structural representation of cleaning device in this utility model embodiment；
Figure 10 is the structural representation of the high-pressure wash head of cleaning device in this utility model embodiment；
Figure 11 is the structural representation of elevating mechanism in this utility model embodiment.
In figure：1- conduits, 10- robot bodies, 11- working areas, 12- elevating mechanisms, 121- slide rails, 122- slide blocks,
123- hoist cylinders, 124- clamper fixed plates, 13- tracks, 14- slide plates, 15- hangers, 16- connection sheets；
2- ground-engaging elements, 20- clampers, the upper clampers of 20a-, 20b- lower grippers, 21- clamp bodies, 22- oil cylinders,
23- clamping limbs, 24- bare terminal ends, 25- connection ends, 26- rubber rolls, 27- block rubbers, 28- fixed ear bases, 29- is hinged ear mount；
3- cleaning devices, 30- high-pressure wash heads, 301- housings, the water stream channels of 302- first, 303- rotary shafts, 304- is close
Sealing assembly, the water stream channels of 305- second, 306- head body, the water stream channels of 307- the 3rd, 308- shower nozzles, 309- sleeve pipes, 310-
Drive end bearing bracket, 311- rear end caps, 312- glands, 313- bearings, 314- circular passages, 31- installation pedestals, 32- installing plates, on 321-
Installing plate, 322- rod irons, 323- lower installation boards, 324- connecting plates, 33- hydraulic cylinders, 34- gathering sills, 35- motors, 36- shaft couplings
Device, 37- piston rods, 38- cleaning covers；
4- rotary apparatuss, 40a- guide plate assemblies, the guide pieces of 41a- first, the guide pieces of 42a- second, 43a- gear sheets,
The guide pieces of 44a- the 3rd, 45a- bolts, 40b- guide wheel assemblies, 41b- fixed plates, 42b- connecting rods, 43b- hydraulic motors,
44b- directive wheels, 45b- gears.
Specific embodiment
This utility model is described in further detail below in conjunction with drawings and Examples.
Referring to shown in Fig. 1 to Fig. 7, this utility model embodiment provides a kind of underwater cleaning robot, for leading under water
Pipe 1 carries out washing and cleaning operation, including：
Robot body 10, shown in Figure 7, robot body 10 is steel frame construction, and the structure of hollow out reduces machine
Resistance of the people in water, while material-saving, reduces cost.Steel frame construction is hollow structure, along the abdominal cavity of robot body 10
Centrage is provided with the working area 11 of receiving conduit 1, and under working condition, robot body 10 is placed on outside conduit 1, and conduit 1 is through whole
Individual working area 11, the centrage of working area 11 overlaps with the centrage of conduit 1 so that robot is smoothly along the surface row of conduit 1
Walk.The top of robot body 10 sets up the circular orbit 13 having around conduit 1, and track 13 is provided with what is can slided along track 13
Slide plate 14, slide plate 14 is provided with the ring of the cleaning pipe for being connected with high-pressure wash 30, and slide plate 14 can drive cleaning pipe around machine
Device human body 10 moves.The top of robot body 10 is additionally provided with hanger 15, and hanger 15 is used to connect lifting machine human body 10
Inlet and outlet water, the bottom of robot body 10 has spaced some connection sheets 16.
Ground-engaging element 2, ground-engaging element 2 includes at least two clampers 20, and clamper 20 is installed on the direction of robot body 10
On the side inwall of working area, the Clamping Center of clamper 20 overlaps with the centrage of conduit 1, and the clamper 20 of wherein at least one with
Elevating mechanism 12 is provided between robot body 10, elevating mechanism 12 drives clamper 20 or robot body 10 to lift.This reality
In applying example, ground-engaging element 2 includes that upper clamper 20a and lower gripper 20b, lower gripper 20b are fixed in robot body 10
Wall is connected between upper clamper 20a and the inwall of robot body 10 at bottom by elevating mechanism 12, elevating mechanism 12
Clamper 20a is lifted along the inwall of robot body 10 in drive, and lower gripper 20b is located at the underface of upper clamper 20a.Ginseng
As shown in Fig. 1, Fig. 2 and Fig. 3, when 1 surface clean operation of conduit is carried out, lower gripper 20b clamps conduit 1, elevating mechanism 12
Clamper 20a rises after a certain distance in driving, and upper clamper 20a is clamped after conduit 1, and lower gripper 20b unclamps conduit 1,
Elevating mechanism 12 drives and move on robot body 10 after certain distance, and lower gripper 20b is clamped after conduit 1, and so on and real
Existing robot creeps rising on conduit 1, and vice versa with decline of creeping.
Two groups of elevating mechanisms 12, shown in Figure 11, elevating mechanism includes slide rail 121, slide block 122 and hoist cylinder 123,
Relative position of two slide rails 121 on robot body 10 constitutes a part for robot body 10, and slide rail 121 is towards work
The side for making area 11 is provided with gathering sill, and the part of slide block 122 is located in slide rail 121, can slide along track 121, hoist cylinder 123
Inside slide rail 121, and the telescopic direction of hoist cylinder 123 extends along the length direction of slide rail 121, and hoist cylinder 123
Telescopic end is connected with slide block 122, drives the relative slide rail 121 of slide block 122 to lift, and slide block 122 is provided with for fixation clamp holder 20
Clamper fixed plate 124.
Referring to shown in Fig. 5 and Fig. 6, in the present embodiment, clamper 20 includes：Clamp body 21, clamp body 21
In half arc, and it is arcwall face towards the side of body, and when in working order, the arcwall face is encircled in the surface of conduit 1, folder
The opposite side of holder body 21 is provided with a pair of fixed ear bases 28, and two fixed ear bases 28 symmetrically set along the centrage of clamp body 21
Put, and the fixed ear base 28 connects the fixing end of oil cylinder 22.The both sides up and down of clamp body are provided with 21 block rubbers 27, block rubber
27 are located in the extended surface up and down of arcwall face, and when in working order, block rubber 27 is brought into close contact the surface with conduit 1, increase folder
Frictional force between holder body 21 and conduit 1, it is ensured that firm clamping；
A pair of clamping limbs 23, the side on clamp body 21 positioned at fixed ear base 28 is provided with and is hinged ear mount 29, hinged ear
Seat 29 is located on same circumference with fixed ear base 28.The middle part of clamping limb 23 is hinged ear mount by rotating shaft and clamp body 21
29 are hinged, and clamping limb 23 includes bare terminal end 24 and connection end 25, and connection end 25 connects the telescopic end of oil cylinder 22, clamping limb 23 with
The piston rod of oil cylinder 22 stretches and rotates, and the bare terminal end 24 of two clamping limbs 23 and the arcwall face of clamp body 21 are concyclic, jointly
The surface of anchor ear conduit is clamped, bare terminal end 24 is provided with rubber roll 26, the axis of rubber roll 26 and the diameter parallel of conduit 1,
Frictional force between increase clamp body 21 and conduit 1, it is ensured that firm clamping.
Rotary apparatuss 4, it includes guide plate assembly 40a and guide wheel assemblies 40b, guide wheel assemblies 40b and guide-rail plate group
Part 40a transfers, and guide plate assembly 40a is connected with robot body 10, directive wheel 44b components 40b and the phase of high-pressure wash 30
Even, guide wheel assemblies 40b coordinate with guide plate assembly 40a, and guide wheel assemblies 40b drive high-pressure wash 30 to make around conduit 1
360 degree of crankmotions.
Referring to shown in Fig. 1 and Fig. 4, in the present embodiment, guide plate assembly 40a include the first guide piece 41a of ring-type, second
Guide piece 42a, gear sheet 43a and the 3rd guide piece 44a, the first guide piece 41a, the second guide piece 42a, gear sheet 43a and
The external diameter of three guide pieces 44a is identical, and the first guide piece 41a, the second guide piece 42a, gear sheet 43a and the 3rd guide piece 44a
If from top to bottom successively interval setting is connected by bolt stem 45a, bolt 45a along the circumferential direction interval settings successively, first leads
The cylindrical space and working area 11 that rail piece 41a, the second guide piece 42a, gear sheet 43a and the 3rd guide piece 44a are formed runs through,
And the axis of cylindrical space overlaps with the centrage of conduit 1, the phase of connection sheet 16 of the first guide piece 41a and robot body 10
Even；
Directive wheel 44b components 40b includes fixed plate 41b, and fixed plate 41b is located at the lower section of guide plate assembly 40a, fixed plate
41b is provided with connecting rod 42b and hydraulic motor 43b towards the side panel of guide plate assembly 40a, and connecting rod 42b is provided with two
Directive wheel 44b, and directive wheel 44b transfers respectively with the second guide piece 42a and the 3rd guide piece 44a, the output of hydraulic motor 43b
End is provided with and gear sheet 43a meshed gears 45b；The opposite side panel of fixed plate 41b is connected with high-pressure wash 30.Hydraulic pressure horse
Rotate up to 43b band moving gear 45b, gear 45b is rotated along the path of action engaged with gear sheet 43a, and directive wheel 44b leads along second
Rail piece 42a and the 3rd guide piece 44a are rotated, fixed plate 41b unitary rotation, drive coupled high-pressure wash 30 to rotate,
Cleaning is surround to the surface 360 of conduit 1, during high-pressure wash 30 is moved, the cleaning being connected with high-pressure wash 30
Pipe is dragged, drives slide plate 14 to slide along track 13, prevents cleaning pipe twist ties, it is to avoid pipeline of knowing clearly builds the pressure situation about popping
Occur.
Referring to shown in Fig. 8 and Fig. 9, cleaning device 3, including：
Shown in Figure 10, high-pressure wash 30 includes：
Housing 301, housing 301 includes cylindrical sleeve 309, drive end bearing bracket 310 and rear end cap 311, drive end bearing bracket 310 and rear end
Lid 311 encapsulates respectively integral with the front and back end of sleeve pipe 309, and drive end bearing bracket 310, rear end cap 311 and sleeve pipe 309 are offered along axis
The accommodating chamber of insertion, the middle part of sleeve pipe 309 is provided perpendicular to the first water stream channel 302 of the axis of sleeve pipe 309, the inwall of sleeve pipe 309
A ring annular groove is provided with the first water stream channel 302.
Rotary shaft 303, rotary shaft 303 is through drive end bearing bracket 310, rear end cap 311 and sleeve pipe 309 and part is located at the accommodating chamber
In, the rotary shaft 303 is arranged with gland 312 at drive end bearing bracket 310 and rear end cap 311, and gland 312 is away from the first current
The side of passage 302 is provided with bearing 313, the connection rotary shaft 303 of bearing 313 and sleeve pipe 309, and rotary shaft 303 is interior with sleeve pipe 309
Black box 304 is provided between chamber, black box 304 is located at gland 312 near the side of the first water stream channel 302, sealing
Component 304 includes being located at the right angle sealing ring and O-ring seal of the side of gland 312, between right angle sealing ring and rotary shaft closely
Coordinate, right angle sealing ring and O-ring seal are compressed on the sealing surface of rotary shaft 303 and sleeve pipe 309, and pressure is higher, sealing effectiveness
It is better, realize the effect of dynamic sealing.
Rotary shaft 303 offers the second water stream channel 305 along axis, and the one end open of the second water stream channel 305 is located at rotation
Rotating shaft 303 is located at the first water stream channel 302 near one end center of drive end bearing bracket 310, the other end of the second water stream channel 305
Place, and rotary shaft 303 is also equipped with some waist type deep gouges with annular groove relative position, waist type deep gouge is docked with annular groove
The circular passage 314 of UNICOM's the first water stream channel 302 and the second water stream channel 305 is formed, is radially provided with and ring at waist type deep gouge
The communicating passage of the insertion of 314 and second water stream channel of shape passage 305.
Sealing shroud is located at the head body 306 of the end of rotary shaft 303, and rotary shaft drives head body 306 to rotate, shower nozzle sheet
The 3rd water stream channel 307 with the UNICOM of the second water stream channel 305 is provided with body 306, the 3rd water stream channel 307 is logical for Y types circular hole
Road, one end of the close housing 301 of circular hole passage connects the second water stream channel 305, and the other end of circular hole passage connects two shower nozzles
308。
Installation pedestal 31, installation pedestal 31 is located at the lower section of robot body 10, and with the opposite side panel phase of fixed plate 41b
Even, installation pedestal 31 is provided with gathering sill 34；
Installing plate 32, installing plate 32 includes upper mounting plate 321, rod iron 322, the lower installation board 323 being located in gathering sill 34
With connecting plate 324, upper mounting plate 321 is relatively fixed by rod iron 322 with lower installation board 323 and is connected；Connecting plate 324 includes a water
Flat board and two risers, the horizontal plate is fixedly connected by the lower installation board 323 of bolt one, the opposing parallel setting of two risers, respectively with
Horizontal plate is fixedly connected；High-pressure wash 30 is installed on connecting plate 324；
Hydraulic cylinder 33, hydraulic cylinder 33 is fixedly connected with upper mounting plate 321, piston rod 37 and the installation pedestal 31 of hydraulic cylinder 33
It is fixedly connected, hydraulic cylinder 33 drives upper mounting plate 321 to be mounted opposite pedestal 31 in gathering sill 34 and slides, and drives and connecting plate
324 connected high-pressure wash 30 do the radial motion closer or far from conduit 1, in washing and cleaning operation, the piston of hydraulic cylinder 33
Bar 37 bounces back, and drives hydraulic cylinder 33 to the side shifting of installation pedestal 31 1, so as to drive high-pressure wash 30 towards leading near to be cleaned
Pipe surface is moved, and the piston rod 37 of hydraulic cylinder 33 stretches out, and hydraulic cylinder 33 is promoted to away from the side shifting of installation pedestal 31 1, so as to drive
Dynamic high-pressure wash 30 can prevent high-pressure wash 30 from touching catheter surface towards away from catheter surface to be cleaned movement, protect
High-pressure wash 30 touches damage.
Motor 35, it is installed on a wherein riser of connecting plate 324, and motor 35 is located near the side of hydraulic cylinder 33
Lower section, the outfan of motor 35 is provided with shaft coupling 36, and shaft coupling 36 is located between two risers of connecting plate 324 and hangs down with riser
Directly.
Cleaning cover 38, cleaning cover 38 is installed on another riser of connecting plate 324, and the assembly of high-pressure wash 30 is in cleaning cover 38
It is interior.
This utility model is not limited to above-mentioned embodiment, for those skilled in the art, not
On the premise of departing from this utility model principle, some improvements and modifications can also be made, these improvements and modifications are also considered as this reality
Within new protection domain.The content not being described in detail in this specification belongs to known to professional and technical personnel in the field
Prior art.
Claims (10)
1. a kind of underwater cleaning robot, for carrying out washing and cleaning operation to conduit under water (1), it is characterised in that include：
Robot body (10), the working area (11) for accommodating the conduit (1) is provided with along the robot body (10)；
Ground-engaging element (2), the ground-engaging element (2) includes at least two clampers (20), the clamper (20) and the machine
Human body (10) is connected, and the Clamping Center of the clamper (20) overlaps with the conduit (1) centrage, and wherein at least one is pressed from both sides
Elevating mechanism (12) is provided between holder (20) and the robot body (10), the elevating mechanism (12) drives the clamping
Device (20) or the robot body (10) are lifted；
Cleaning device (3), the cleaning device (3) includes high-pressure wash head (30), and the high-pressure wash head (30) is installed on institute
State on robot body (10), and the high-pressure wash head (30) is towards the working area (11), for cleaning the conduit (1)
Surface.
2. a kind of underwater cleaning robot as claimed in claim 1, it is characterised in that also include：
Rotary apparatuss (4), it includes guide plate assembly (40a) and guide wheel assemblies (40b), the guide wheel assemblies (40b) with
The guide plate assembly (40a) is transferred, and the guide plate assembly (40a) is connected with the robot body (10), described to lead
It is connected with the high-pressure wash head (30) to wheel (44b) component (40b), the guide wheel assemblies (40b) and the guide-rail plate group
Part (40a) coordinates, and the guide wheel assemblies (40b) drive the high-pressure wash head (30) past around 360 degree of the conduit (1) work
Multiple rotary motion.
3. a kind of underwater cleaning robot as claimed in claim 2, it is characterised in that：
The guide plate assembly (40a) includes the first guide piece (41a), the second guide piece (42a), the gear sheet (43a) of ring-type
With the 3rd guide piece (44a), first guide piece (41a), the second guide piece (42a), gear sheet (43a) and the 3rd guide piece
(44a) interval setting successively from top to bottom, and first guide piece (41a), the second guide piece (42a), gear sheet (43a)
Overlap with the conduit (1) centrage with the center of the 3rd guide piece (44a), first guide piece (41a) and the machine
Human body (10) is connected；
The directive wheel (44b) component (40b) includes fixed plate (41b), and the fixed plate (41b) is located at the guide plate assembly
(40a) lower section, the fixed plate (41b) is provided with connecting rod (42b) towards the side panel of the guide plate assembly (40a)
With hydraulic motor (43b), the connecting rod (42b) is provided with two directive wheels (44b), and the directive wheel (44b) respectively with institute
The second guide piece (42a) and the switching of the 3rd guide piece (44a) are stated, the outfan of the hydraulic motor (43b) is provided with and the tooth
Wheel piece (43a) meshed gears (45b)；The opposite side panel of the fixed plate (41b) is connected with the high-pressure wash head (30).
4. a kind of underwater cleaning robot as claimed in claim 1, it is characterised in that：Robot body (10) top sets
There is the circular orbit (13) (13) around the conduit (1), the track (13) is provided with what is can slided along the track (13)
Slide plate (14) (14), the cleaning pipe being connected with the high-pressure wash head (30) is connected with the slide plate (14), the slide plate (14)
Drive the cleaning pipe mobile around the robot body (10).
5. a kind of underwater cleaning robot as claimed in claim 1, it is characterised in that：
The ground-engaging element (2) includes upper clamper (20a) and lower gripper (20b), the lower gripper (20b) and the machine
Device human body (10) is affixed, and the upper clamper (20a) is with the robot body (10) by the elevating mechanism (12) phase
Even, the lower gripper (20b) is located at the underface of the upper clamper (20a).
6. a kind of underwater cleaning robot as claimed in claim 1, it is characterised in that the clamper (20) includes：
Clamp body (21), the clamp body (21) towards the body side be arcwall face, the clamper sheet
The opposite side of body (21) is provided with a pair of oil cylinders (22)；
A pair of clamping limbs (23), are hinged respectively with the two ends of the clamp body (21), and the clamping limb (23) is including clamping
End (24) and connection end (25), the connection end (25) connects the telescopic end of the oil cylinder (22), and the clamping limb (23) is by institute
The piston rod for stating oil cylinder (22) stretches and rotates, the bare terminal end (24) and the clamp body (21) of clamping limb described in two (23)
Arcwall face it is concyclic, the bare terminal end (24) is provided with rubber roll (26), the axis and the conduit of the rubber roll (26)
(1) diameter parallel.
7. a kind of underwater cleaning robot as claimed in claim 1, it is characterised in that：
The elevating mechanism (12) includes slide rail (121), slide block (122) and hoist cylinder (123), and the slide rail (121) is located at
On the robot body (10), the slide block (122) is slidably connected with the slide rail (121), the hoist cylinder (123)
Telescopic end is connected with the slide block (122), drives relatively described slide rail (121) lifting of the slide block (122), the slide block
(122) it is fixedly connected with the clamper (20).
8. a kind of underwater cleaning robot as claimed in claim 1, it is characterised in that the cleaning device (3) also includes：
Installation pedestal (31), the installation pedestal (31) positioned at the robot body (10) lower section, and with the robot sheet
Body (10) is connected；
Installing plate (32), the high-pressure wash head (30) is installed on the installing plate (32), and the installing plate (32) and institute
State installation pedestal (31) to be slidably connected；
Hydraulic cylinder (33), the hydraulic cylinder (33) is fixedly connected with the installing plate (32), and the hydraulic cylinder (33) drives described
The relatively described installation pedestal (31) of installing plate (32) is slided, and the installing plate (32) drives coupled high-pressure wash head (30)
Closer or far from motion, and the motion path of the high-pressure wash head (30) is the radial direction of the conduit (1).
9. a kind of underwater cleaning robot as claimed in claim 1, it is characterised in that the high-pressure wash head (30) includes：
Housing (301), on the housing (301) the first water stream channel (302) is provided with；
Rotary shaft (303), between the rotary shaft (303) and the housing (301) black box (304), the rotation are provided with
Rotating shaft (303) is partly located in the housing (301), and the rotary shaft (303) offers in the axial direction the second water stream channel
(305), second water stream channel (305) and the first water stream channel UNICOM (302), and near the second water stream channel
(305) it is provided with black box (304) with the connection position of first water stream channel (302)；
The 3rd water with the second water stream channel (305) UNICOM is provided with head body (306), the head body (306)
Circulation road (307), the head body (306) is connected with one end of the rotary shaft (303), and the rotary shaft (303) drives
Head body (306) rotation；
Shower nozzle (308), the shower nozzle (308) is installed on the head body (306).
10. a kind of underwater cleaning robot as claimed in claim 9, it is characterised in that：3rd water stream channel (307) is
Y type circular hole passages, one end of the close described housing (301) of the circular hole passage connects second water stream channel (305), institute
State shower nozzle (308) described in the other end connection two of circular hole passage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201621013300.4U CN206122274U (en) | 2016-08-30 | 2016-08-30 | Cleaning robot under water |
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| CN201621013300.4U CN206122274U (en) | 2016-08-30 | 2016-08-30 | Cleaning robot under water |
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| CN206122274U true CN206122274U (en) | 2017-04-26 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106216331A (en) * | 2016-08-30 | 2016-12-14 | 中船重工特种设备有限责任公司 | A kind of underwater cleaning robot |
| CN107737755A (en) * | 2017-11-07 | 2018-02-27 | 太仓红码软件技术有限公司 | A kind of intelligent mobile based on water generating is removed contamination system and its control method |
| CN110665881A (en) * | 2019-10-18 | 2020-01-10 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Automatic cleaning device and cleaning method for underwater anchor chain |
| CN114537611A (en) * | 2022-03-08 | 2022-05-27 | 江南造船(集团)有限责任公司 | Positioning tool of anchor chain flushing device and using method |
-
2016
- 2016-08-30 CN CN201621013300.4U patent/CN206122274U/en not_active Withdrawn - After Issue
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106216331A (en) * | 2016-08-30 | 2016-12-14 | 中船重工特种设备有限责任公司 | A kind of underwater cleaning robot |
| CN106216331B (en) * | 2016-08-30 | 2019-03-08 | 中船重工特种设备有限责任公司 | A kind of underwater cleaning robot |
| CN107737755A (en) * | 2017-11-07 | 2018-02-27 | 太仓红码软件技术有限公司 | A kind of intelligent mobile based on water generating is removed contamination system and its control method |
| CN110665881A (en) * | 2019-10-18 | 2020-01-10 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Automatic cleaning device and cleaning method for underwater anchor chain |
| CN110665881B (en) * | 2019-10-18 | 2020-09-25 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Automatic cleaning device and cleaning method for underwater anchor chain |
| CN114537611A (en) * | 2022-03-08 | 2022-05-27 | 江南造船(集团)有限责任公司 | Positioning tool of anchor chain flushing device and using method |
| CN114537611B (en) * | 2022-03-08 | 2022-12-20 | 江南造船(集团)有限责任公司 | Positioning tool of anchor chain flushing device and using method |
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