CN208412067U - A kind of underwater cleaning robot system towards ocean attachment - Google Patents
A kind of underwater cleaning robot system towards ocean attachment Download PDFInfo
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- CN208412067U CN208412067U CN201820698717.1U CN201820698717U CN208412067U CN 208412067 U CN208412067 U CN 208412067U CN 201820698717 U CN201820698717 U CN 201820698717U CN 208412067 U CN208412067 U CN 208412067U
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- carrying platform
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Abstract
The utility model discloses a kind of underwater cleaning robot systems towards ocean attachment, including water-powered control carrying platform and underwater robot, control valve group and driving mechanism are installed on the underwater robot, the bottom of the underwater robot is equipped with cavitation water jet nozzle, the water-powered control carrying platform is connected with control valve group, driving mechanism and cavitation water jet nozzle respectively, and the water outlet of the water-powered control carrying platform and the water inlet end of control valve group connect.The utility model can be adsorbed in hull surface by the driving mechanism and cavitation water jet nozzle of water-powered control carrying platform and underwater robot, and hull outer surface is cleaned, complete the underwater cleaning work of hull, effectively mitigate the workload of staff, cost is reduced, cleaning efficiency is substantially increased.The utility model can be widely applied in hull cleaning.
Description
Technical field
The utility model relates to robotic technology field more particularly to a kind of underwater cleaning machines towards ocean attachment
People's system.
Background technique
Manipulator is widely studied as critical equipment more main in important manufacturing equipment, is mainly used in vapour
Vehicle, ship, naval vessels, aircraft, satellite, rocket, spaceship, heavy duty machine tools, large-scale production line and equipment group and Ferrous Metallurgy
Etc. industries, and Underwater resources explore work, mostly by equipped with manipulator underwater robot or diver complete.
Ship after long-term navigation, will form thick layer dirt on its water line ship outer casing below
Layer, these dirty layers are made of algae, shellfish attachment, are determined to guarantee the normal/cruise of ship and prolong its service life needs
Phase cleans ship, currently, the cleaning of hull is mainly realized by manually diving under water or dock cleaning, because dirty layer is fine and close
And area is big, the underwater cleaning work of hull is often complex, therefore cleaning relatively takes time and effort, at high cost, efficiency
It is low.
Utility model content
In order to solve the above-mentioned technical problem, working efficiency can be improved the purpose of the utility model is to provide a kind of, and towards
The underwater cleaning robot system of ocean attachment.
Technical solution adopted in the utility model is:
A kind of underwater cleaning robot system towards ocean attachment, including water-powered control carrying platform and underwater
Robot, control valve group and driving mechanism are equipped on the underwater robot, and the bottom of the underwater robot is equipped with cavitation
Water jet nozzle, the water-powered control carrying platform respectively with control valve group, driving mechanism and cavitation water jet nozzle phase
Connection, the water outlet of the water-powered control carrying platform and the water inlet end of control valve group connect, and the of the control valve group
The connection of the water inlet end of one water outlet and driving mechanism, the second water outlet of the control valve group and the water inlet of cavitation water jet nozzle
End connection.
As a kind of further improvement of underwater cleaning robot system towards ocean attachment, the driving
Mechanism includes air bag, and the air bag is set to the side of underwater robot, and the air bag and water-powered control carrying platform connect
It connects.
As a kind of further improvement of underwater cleaning robot system towards ocean attachment, the driving
Mechanism further includes multiple hydraulic propellers, and each hydraulic propeller is set on underwater robot, each hydraulic propeller
It is connect with water-powered control carrying platform, the water inlet with each hydraulic propeller respectively of the first water outlet of the control valve group
End connection.
As a kind of further improvement of underwater cleaning robot system towards ocean attachment, the driving
Mechanism further includes crawling wheel, and each crawling wheel is mounted on the bottom of underwater robot, the crawling wheel and water-powered control
Carrying platform connection.
It is described to creep as a kind of further improvement of underwater cleaning robot system towards ocean attachment
Wheel is spoke type crawling wheel.
It is described underwater as a kind of further improvement of underwater cleaning robot system towards ocean attachment
Camera is also equipped at the top of robot, the camera is connect with water-powered control carrying platform.
It is described waterborne as a kind of further improvement of underwater cleaning robot system towards ocean attachment
Dynamic Control carrying platform includes control cabinet and high-pressure hydraulic pump, and the control cabinet is connect with high-pressure hydraulic pump, the control cabinet difference
With control valve group, air bag, hydraulic propeller, crawling wheel and camera by cable connection, the output end of the high-pressure hydraulic pump with
The water inlet end of control valve group is connected by waterway pipe.
The beneficial effects of the utility model are:
A kind of underwater cleaning robot system towards ocean attachment of the utility model is carried by water-powered control
The driving mechanism and cavitation water jet nozzle of platform and underwater robot can be adsorbed in hull surface, and to hull outer surface into
Row cleaning completes the underwater cleaning work of hull, effectively mitigates the workload of staff, reduce cost, substantially increases clear
Wash efficiency.
Detailed description of the invention
Fig. 1 is a kind of functional-block diagram of the underwater cleaning robot system towards ocean attachment of the utility model；
Fig. 2 is the knot of underwater robot in a kind of underwater cleaning robot system towards ocean attachment of the utility model
Structure schematic diagram；
Fig. 3 is the side of underwater robot in a kind of underwater cleaning robot system towards ocean attachment of the utility model
Face structural schematic diagram.
Specific embodiment
Specific embodiment of the present utility model is described further with reference to the accompanying drawing:
With reference to FIG. 1 to FIG. 3, a kind of underwater cleaning robot system towards ocean attachment of the utility model, including water
Upper dynamic Control carrying platform and underwater robot 1 are equipped with control valve group and driving mechanism on the underwater robot 1, institute
State underwater robot 1 bottom be equipped with cavitation water jet nozzle 2, the water-powered control carrying platform respectively with control valve
Group, driving mechanism are connected with cavitation water jet nozzle 2, the water outlet of the water-powered control carrying platform and control valve group
Water inlet end connection, the water inlet end of the first water outlet of the control valve group and driving mechanism connects, the of the control valve group
Two water outlets are connect with the water inlet end of cavitation water jet nozzle 2.
It is further used as preferred embodiment, the driving mechanism includes air bag 3, and the air bag 3 is set to underwater machine
The side of device people 1, the air bag 3 are connect with water-powered control carrying platform.The air bag 3 not having to change underwater
The displacement of people 1 can change its buoyancy, and greatly reduce the weight of underwater robot 1.
It is further used as preferred embodiment, the driving mechanism further includes multiple hydraulic propellers 4, each water spray
Propeller 4 is set on underwater robot 1, and each hydraulic propeller 4 is connect with water-powered control carrying platform, described
Second water outlet of control valve group is connect with the water inlet end of each hydraulic propeller 4 respectively.
In the present embodiment, multiple hydraulic propellers 4 are separately positioned on each side of underwater robot 1 and face
To all directions, so that underwater robot 1 can control the movement of robot by the reverse drainage of hydraulic propeller 4, in this way
Underwater robot 1 flexibly can be rotated and be moved by hydraulic propeller 4 and air bag 3, guarantee robot up and down,
Advance, retreat and the speed and motor-driven of left and right turning and stability in water and quiet floating capacity, and water spray can also be passed through
The draining of 4 opposite direction of propeller, so that underwater robot 1 is whole close to hull, then carries out control positioning by camera 6, essence
Quasi- is located on hull, sprays cavitating water jet convenient for cavitation water jet nozzle 2 and is cleaned, uses hydraulic propeller in this way
4 reverse drainages are located on hull, it can be achieved that maximizing flexible control, and power can be adjusted with dynamic monitoring.
It is further used as preferred embodiment, the driving mechanism further includes crawling wheel 5, and each crawling wheel 5 is installed
The bottom of robot 1 under water, the crawling wheel 5 are connect with water-powered control carrying platform.
It is further used as preferred embodiment, the crawling wheel 5 is spoke type crawling wheel.Wherein spoke type crawling wheel is not
It is same as general idler wheel, can be realized and freely creep on the attachment of hull surface, crosses the hard attachment such as shell class not
It can be led by card, while be able to achieve effect of creeping, ascending the slips such as algae microbiological materials will not skid, and can be realized underwater machine
The efficiently and accurately of device people 1 is creeped, while spoke type crawling wheel, can preferably be adsorbed on ship surface when robot 1 positions under water
Face prevents robot from shifting.
It is further used as preferred embodiment, the top of the underwater robot 1 is also equipped with camera 6, described to take the photograph
As head 6 is connect with water-powered control carrying platform.The camera 6 can the underwater situation of captured in real-time, facilitate staff
Understand sub-marine situations.
It is further used as preferred embodiment, the water-powered control carrying platform includes control cabinet and high pressure water
Pump, the control cabinet connect with high-pressure hydraulic pump, the control cabinet respectively with control valve group, air bag 3, hydraulic propeller 4, crawling wheel
5 and camera 6 by cable connection, the output end of the high-pressure hydraulic pump and the water inlet end of control valve group pass through waterway pipe company
It connects.
In the present embodiment, the high-pressure hydraulic pump is that driving mechanism and cavitation water jet nozzle 2 provide high pressure water flow, the control
Cabinet processed includes control computer, human-computer interaction device, the hardware devices such as data processing equipment, and the utility model is by main control
Structure and power device such as control cabinet and high-pressure hydraulic pump processed have removed the ontology of underwater robot 1, significantly reduce underwater
The weight of 1 body part of people, so that underwater robot 1 has greater flexibility from mechanical structure, it also can be more in movement
It is light, there is higher environment-adapting ability.The utility model will control computer, the electric/electronic devices such as data processing equipment from
It has been transferred under water waterborne, indispensable equipment is only retained on underwater robot 1, greatly reduces 1 ontology needs of underwater robot
The part for doing waterproof sealing processing not only reduces electric and electronic hardware and intakes the risk that is damaged, and from engineering technology
It is upper to be easier to realize.And since the body part of underwater robot 1 is not easy to generate failure, it is also easy to produce the electrical electricity of failure
Sub- hardware components retain on the water, also facilitate the debugging, maintenance and maintenance of whole system.
From the foregoing it can be that a kind of underwater cleaning robot system towards ocean attachment of the utility model passes through water
The driving mechanism and cavitation water jet nozzle 2 of upper dynamic Control carrying platform and underwater robot 1 can be adsorbed in hull surface,
And hull outer surface is cleaned, complete hull underwater cleaning work, effectively mitigate staff workload, reduce at
This, substantially increases cleaning efficiency.
It is to be illustrated to the preferable implementation of the utility model, but the utility model creation is not limited to institute above
State embodiment, those skilled in the art can also make various etc. without departing from the spirit of the present invention
With deformation or replacement, these equivalent deformations or replacement are all included in the scope defined by the claims of the present application.
Claims (7)
1. a kind of underwater cleaning robot system towards ocean attachment, it is characterised in that: carried including water-powered control
Platform and underwater robot are equipped with control valve group and driving mechanism, the bottom of the underwater robot on the underwater robot
Portion be equipped with cavitation water jet nozzle, the water-powered control carrying platform respectively with control valve group, driving mechanism and cavitation water
Jet nozzle is connected, and the water outlet of the water-powered control carrying platform and the water inlet end of control valve group connect, the control
First water outlet of valve group processed and the water inlet end of driving mechanism connect, the second water outlet of the control valve group and cavitating water jet
The water inlet end of nozzle connects.
2. a kind of underwater cleaning robot system towards ocean attachment according to claim 1, it is characterised in that: institute
Stating driving mechanism includes air bag, and the air bag is set to the side of underwater robot, and the air bag and water-powered control carry
Platform connection.
3. a kind of underwater cleaning robot system towards ocean attachment according to claim 2, it is characterised in that: institute
Stating driving mechanism further includes multiple hydraulic propellers, and each hydraulic propeller is set on underwater robot, each water spray
Propeller is connect with water-powered control carrying platform, the first water outlet of the control valve group respectively with each hydraulic propeller
Water inlet end connection.
4. a kind of underwater cleaning robot system towards ocean attachment according to claim 3, it is characterised in that: institute
Stating driving mechanism further includes crawling wheel, and each crawling wheel is mounted on the bottom of underwater robot, and the crawling wheel is moved with waterborne
Power controls carrying platform connection.
5. a kind of underwater cleaning robot system towards ocean attachment according to claim 4, it is characterised in that: institute
Stating crawling wheel is spoke type crawling wheel.
6. a kind of underwater cleaning robot system towards ocean attachment according to claim 4, it is characterised in that: institute
It states and is also equipped with camera at the top of underwater robot, the camera is connect with water-powered control carrying platform.
7. a kind of underwater cleaning robot system towards ocean attachment according to claim 6, it is characterised in that: institute
Stating water-powered control carrying platform includes control cabinet and high-pressure hydraulic pump, and the control cabinet is connect with high-pressure hydraulic pump, the control
Cabinet respectively with control valve group, air bag, hydraulic propeller, crawling wheel and camera by cable connection, the high-pressure hydraulic pump it is defeated
The water inlet end of outlet and control valve group is connected by waterway pipe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820698717.1U CN208412067U (en) | 2018-05-10 | 2018-05-10 | A kind of underwater cleaning robot system towards ocean attachment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820698717.1U CN208412067U (en) | 2018-05-10 | 2018-05-10 | A kind of underwater cleaning robot system towards ocean attachment |
Publications (1)
| Publication Number | Publication Date |
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| CN208412067U true CN208412067U (en) | 2019-01-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201820698717.1U Active CN208412067U (en) | 2018-05-10 | 2018-05-10 | A kind of underwater cleaning robot system towards ocean attachment |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108423138A (en) * | 2018-05-10 | 2018-08-21 | 深圳市智能机器人研究院 | A kind of underwater cleaning robot system towards ocean attachment |
| CN110375891A (en) * | 2019-07-17 | 2019-10-25 | 西湖大学 | A kind of underwater cleaning disk acting force test device and Force measurement method |
-
2018
- 2018-05-10 CN CN201820698717.1U patent/CN208412067U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108423138A (en) * | 2018-05-10 | 2018-08-21 | 深圳市智能机器人研究院 | A kind of underwater cleaning robot system towards ocean attachment |
| CN110375891A (en) * | 2019-07-17 | 2019-10-25 | 西湖大学 | A kind of underwater cleaning disk acting force test device and Force measurement method |
| CN110375891B (en) * | 2019-07-17 | 2021-05-11 | 西湖大学 | Underwater cleaning disc acting force testing device and acting force measuring method |
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