CN212074377U

CN212074377U - Underwater decontamination robot

Info

Publication number: CN212074377U
Application number: CN201922383274.4U
Authority: CN
Inventors: 张桂宇; 陈原; 张发智; 高超起; 陈伟; 鲁欣睿
Original assignee: Shandong University
Current assignee: Shandong University
Priority date: 2019-12-26
Filing date: 2019-12-26
Publication date: 2020-12-04
Anticipated expiration: 2029-12-26

Abstract

The application discloses an underwater decontamination robot, which comprises a robot body, wherein the robot body comprises a carrier frame, an electric bin, a propelling device, a moving device, a cleaning device and an intelligent control device, the carrier frame comprises a first frame, a second frame and a third frame, and the moving device is fixed on the third frame; the propulsion device comprises a plurality of horizontal and vertical propeller thrusters which are symmetrically arranged, and the horizontal and vertical propeller thrusters are respectively fixed on the second frame and the first frame; the cleaning device is fixed on the third frame and comprises a moving and rotating mechanism and a spray head sliding block, and the moving and rotating mechanism respectively drives the spray head sliding block to move and rotate; the electric bin is fixed on the first frame, and the propelling device and the cleaning device are respectively connected with the electric bin; the intelligent control device comprises a sensor and a control system, and the electric bin and the sensor are respectively connected with the control system. The robot replaces the cleaning work of people and has the advantages of flexible movement, high cleaning efficiency, safety, reliability and the like.

Description

Underwater decontamination robot

Technical Field

The application relates to the technical field of cleaning robots, in particular to an underwater decontamination robot.

Background

For offshore equipment, marine fouling organisms can be adsorbed on the underwater part of the equipment, the attached marine organisms not only destroy the aesthetic property, but also increase the total weight of the offshore equipment, so that the fuel cost and the maintenance cost of the equipment are increased, and meanwhile, the marine organisms are attached to the surface of the equipment for a long time, so that the corrosion of marine environment to the offshore equipment is also aggravated, and great threat is brought to safe production. In addition to this, environmental problems of increased carbon dioxide emissions and ecological problems of foreign species intrusion are caused, and therefore the underwater part of the offshore facility needs to be cleaned regularly.

At present, the cleaning work of the underwater part of the offshore equipment mainly depends on that a diver dives into the water bottom, holds a water jet spray gun by hand and adopts high-pressure water jet to clean. However, the labor intensity of manual cleaning is high, the cleaning cost is high, the efficiency is low, the manual cleaning is easily affected by weather, and especially when the manual cleaning is operated in a water area with a complex environment such as a large depth and poor water quality, the manual cleaning seriously threatens the life safety of divers.

SUMMERY OF THE UTILITY MODEL

The application provides an underwater decontamination robot to solve the problem that the current underwater pipeline cleaning operation depends on manual operation, and has dangerousness, low working efficiency and large labor cost.

In order to solve the technical problem, the embodiment of the application discloses the following technical scheme:

the embodiment of the application discloses an underwater decontamination robot, which comprises a robot body and a water control device connected with the robot body, wherein,

the robot body comprises a carrier frame, an electric bin, a propelling device, a moving device, a cleaning device and an intelligent control device, wherein the carrier frame comprises a first frame, a second frame, a frame pipe, a side plate and a third frame, and two ends of the frame pipe are respectively connected with the center positions of the first frame and the second frame; the side plates are symmetrically arranged on two sides of the first frame, and two ends of each side plate are respectively connected with the first frame and the second frame; the third frame is perpendicular to the side plates, and two ends of the third frame are respectively connected with the first frame and the second frame;

the moving device is fixed on the third frame and used for moving on an underwater pipeline;

the propulsion device comprises a plurality of horizontal propeller thrusters and vertical propeller thrusters which are symmetrically arranged, the horizontal propeller thrusters are fixed on the second frame, and the vertical propeller thrusters are fixed on the first frame;

the cleaning device is fixed on the third frame and comprises a moving mechanism, a rotating mechanism and a nozzle sliding block, the moving mechanism drives the nozzle sliding block to move left and right, and the rotating mechanism drives the nozzle sliding block to rotate back and forth;

the electric bin is fixed on one side, close to the second frame, of the first frame, the propelling device and the cleaning device are respectively connected with the electric bin, and the electric bin is connected with the water control equipment;

the intelligent control device comprises a sensor and a control system, the sensor is respectively fixed in the carrier frame and the electric bin, and the electric bin and the sensor are respectively connected with the control system.

Optionally, the moving mechanism includes a first driving assembly and a guiding assembly, and two ends of the guiding assembly are provided with fixing brackets;

the guide assembly comprises a reciprocating screw rod and a guide rod which are parallel to each other, and two ends of the guide rod are respectively fixedly connected with the fixed bracket;

the first driving assembly comprises a first motor and a speed reducer, an output shaft of the first motor is connected with an input shaft of the speed reducer, and an output shaft of the speed reducer is connected with the reciprocating screw rod;

the nozzle sliding block is sleeved on the guide rod and the reciprocating screw rod, and the reciprocating screw rod drives the nozzle sliding block to reciprocate along the guide rod.

Optionally, the rotating mechanism includes a second driving assembly, a rotating platform and a plurality of rotating pairs, and the fixed bracket is fixed on the rotating platform;

the second driving assembly comprises a second motor and a transmission shaft, an output shaft of the second motor is connected with the transmission shaft, and the transmission shaft is connected with the revolute pair;

the rotating pair comprises a first rotating pair and a second rotating pair, the first rotating pair is fixed on the third frame, and the second rotating pair is fixed on one side, far away from the moving mechanism, of the rotating platform.

Optionally, a key is arranged on one side, close to the second revolute pair, of the transmission shaft, a key groove is formed in the second revolute pair, and the key is embedded into the key groove.

Optionally, the device further comprises an observation lighting device, wherein the observation lighting device comprises at least two groups of cameras and lighting lamps, and the cameras and the lighting lamps are fixed on the frame pipe through fixing components respectively;

the fixing component comprises a hoop and a fixing plate, and the hoop is clamped on the camera and the illuminating lamp; a rotating rod is arranged on the hoop, and the hoop is installed on the fixing plate through the rotating rod; the fixing plate is fixed on the frame tube.

Optionally, the floating body block is fixed on one side of the first frame far away from the second frame.

Optionally, a mounting hole is formed in the center of the floating body block, a suspension bracket corresponding to the mounting hole is arranged on the first frame, and the suspension bracket penetrates through the mounting hole.

Optionally, the moving device includes a plurality of symmetrically arranged universal wheels, and the universal wheels are respectively fixed around the third frame.

Optionally, the sensor includes an ultrasonic obstacle avoidance sensor, a depth sensor and an angle sensor, and the ultrasonic obstacle avoidance sensor is fixed at a position of the third frame close to the first frame; the depth sensor is fixed on the frame pipe; the angle sensor is fixed in the electric bin.

Optionally, the control system includes a control panel and a PLC controller, and the camera, the illuminating lamp, the ultrasonic obstacle avoidance sensor, the depth sensor, the angle sensor, the propelling device, and the cleaning device are respectively connected to the control panel; the control panel is connected with the PLC.

Compared with the prior art, the beneficial effect of this application is:

the underwater decontamination robot comprises a robot body and an overwater control device connected with the robot body, wherein the robot body comprises a carrier frame, an electric bin, a propelling device, a moving device, a cleaning device and an intelligent control device, the propelling device comprises a plurality of horizontal propeller propellers and vertical propeller propellers which are symmetrically arranged, the cleaning device comprises a moving mechanism, a rotating mechanism and a nozzle slider, the intelligent control device comprises a sensor and a control system, and when the decontamination robot is submerged into the sea, the decontamination robot depends on the plurality of propeller propellers to carry out the attitude adjustment of 360 degrees such as propelling, heaving, traversing, turning, pitching, transverse tilting and the like, so that the decontamination robot is propelled to the position near an underwater pipeline of an oil well platform; then, the dirt removing robot is pressed on the wall surface of the pipeline by utilizing the thrust of the vertical propeller thruster on the back surface of the dirt removing robot, so that the mobile device is in close contact with the pipeline; then, the cleaning device drives the nozzle slide block to reciprocate and rotate by virtue of the moving mechanism and the rotating mechanism, and the high-pressure water jet ejected by the nozzle can clean the arc wall surface within a certain range; and the moving device is propelled by combining with a horizontal propeller and a vertical propeller while jetting, so that the robot can climb on the wall of the pipeline. When other wall surfaces of the pipeline need to be cleaned, the decontamination robot is separated from the wall surface by the propelling device, is pressed on the wall surface of the pipeline to be cleaned again after the position and the posture are adjusted again, and then the next round of cleaning work is carried out. The underwater decontamination robot can replace cleaning work of people, has the advantages of flexible movement, high cleaning efficiency, safety, reliability and the like, and is suitable for complicated and variable marine conditions.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

In order to more clearly explain the technical solution of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic working diagram of an underwater decontamination robot provided by an embodiment of the present application;

FIG. 2 is a schematic structural diagram of an underwater decontamination robot provided by an embodiment of the application;

fig. 3 is a schematic structural diagram of a carrier frame in an underwater decontamination robot provided by an embodiment of the application;

FIG. 4 is a schematic structural diagram of a cleaning device in an underwater decontamination robot provided by an embodiment of the application;

FIG. 5 is a schematic structural diagram of a rotating mechanism of a cleaning device in the underwater decontamination robot according to an embodiment of the application;

fig. 6 is a schematic structural diagram of a second revolute pair of the cleaning device in the underwater decontamination robot provided by the embodiment of the application;

fig. 7 is an installation structure diagram of a camera in the underwater decontamination robot provided by the embodiment of the application;

fig. 8 is a control block diagram of an intelligent control device in an underwater decontamination robot according to an embodiment of the present application.

Detailed Description

In order to make those skilled in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The underwater pipeline cleaning work is a field with great technical difficulty and great market potential, the field still depends on a diver to dive into the sea floor for operation at present, and the manual operation has the defects of high danger, low working efficiency, high labor cost and the like. To prior art defect, this application provides an underwater decontamination robot, and it can replace people's cleaning, has advantages such as the motion is nimble, cleaning efficiency is high, safe and reliable.

As shown in fig. 1, the underwater cleaning robot provided by the embodiment of the present application includes a robot body 20 and a marine control device 10 connected to the robot body 20, wherein,

the marine control device 10 can be connected with the robot body 20 through a belt cable 40, and is used for controlling the robot body 20 to clean the underwater pipeline 30; the water control device 10 can also wirelessly control the robot body 20 to realize the automatic cleaning work of the robot body 20.

As shown in fig. 2, the robot body 20 includes a carrier frame 1, an electric cabin 7, a propulsion device 2, a moving device 3, a cleaning device 4, and an intelligent control device, wherein,

as shown in fig. 3, the carrier frame 1 includes a first frame 11, a second frame 12, frame pipes 13, side plates 14 and a third frame 16, the carrier frame 1 has two frame pipes 13, and both ends of each frame pipe 13 are welded to the center positions of the first frame 11 and the second frame 12, respectively, for supporting and fixing the first frame 11 and the second frame 12. The side plates 14 are symmetrically arranged on two sides of the first frame 11, two ends of the side plates 14 are respectively connected with the first frame 11 and the second frame 12, the side plates 14 are made of High Density Polyethylene (HDPE) and used for supporting and protecting the machine body, and the material is good in wear resistance, electric insulation, toughness and cold resistance. The third frame 16 is perpendicular to the side plate 14, two ends of the third frame 16 are respectively connected with the first frame 11 and the second frame 12, and the cleaning device 4 is installed on the third frame 16.

The first frame 11, the second frame 12 and the third frame 16 are made of 304 stainless steel, have good corrosion resistance, heat resistance, low-temperature strength and mechanical properties, good hot workability such as stamping, bending and the like, do not have the heat treatment hardening phenomenon (the use temperature is-196 ℃ to 800 ℃), and are suitable for the undersea working environment.

The moving means 3 is fixed to the third frame 16 for movement over the underwater pipeline 30. The mobile device 3 comprises 4 symmetrical universal nylon wheels, the universal nylon wheels are fixed around the third frame 16, the universal wheels are propelled by the combination with the propulsion device 2, the climbing of the robot body 20 on the pipeline wall is realized, and the collision between the robot body 20 and the pipeline wall can be prevented.

The propulsion device 2 comprises a plurality of symmetrically arranged horizontal propeller thrusters and vertical propeller thrusters, the horizontal propeller thrusters are fixed on the second frame 12, and the vertical propeller thrusters are fixed on the first frame 11. In this example, the propulsion device 2 includes 4 horizontal propeller propellers and 4 vertical propeller propellers, and the horizontal propeller propellers and the vertical propeller propellers are combined to propel the robot body 20 to rotate 360 degrees. The second frame 12 is symmetrically provided with a plurality of propeller supports 17 towards one side of the first frame 11, and the horizontal propeller propellers are fixed on the second frame 12 through the propeller supports 17, so that the robot body 20 can be pushed to perform posture adjustment such as horizontal propelling, transverse moving and the like. Similarly, the vertical propeller is fixed to the first frame 11 through a propeller bracket, and can push the robot body 20 to perform attitude adjustment such as heave, bow turning and the like. When the horizontal propeller thruster and the vertical propeller thruster work simultaneously, the robot body 20 can be pushed to perform posture adjustment such as pitching and heeling. Therefore, under the action of the horizontal propeller thruster and the vertical propeller thruster, the robot body 20 can perform 360-degree posture adjustment, so that the robot body 20 is convenient to be close to the underwater pipeline 30.

The propulsion device 2 adopts a PF1015-N-AL type underwater propeller which has a rated working voltage of 310VDC and an output power of 850W and can provide forward 15Kgf of underwater thrust and reverse 6Kgf of underwater thrust. The power transmission part applies a magnetic coupling technology, the transmission efficiency is ensured, the dynamic seal is converted into the static seal, and the working reliability is greatly improved.

As shown in fig. 4, the cleaning device 4 includes a moving mechanism, a rotating mechanism and a nozzle slider, the moving mechanism includes a first driving assembly and a guiding assembly, and two ends of the guiding assembly are provided with fixing brackets 45. The guide assembly comprises a reciprocating screw rod 42 and a guide rod 44 which are parallel to each other, and two ends of the guide rod 44 are respectively fixedly connected with a fixed bracket 45. The first driving assembly comprises a first motor 41 and a speed reducer, an output shaft of the first motor 41 is connected with an input shaft of a reduction gearbox, and an output shaft of the reduction gearbox is connected with a reciprocating screw rod 42. The spray head sliding block 43 is sleeved on the guide rod 44 and the reciprocating screw rod 42, the first motor 41 drives the reciprocating screw rod 42 to rotate, and the reciprocating screw rod 42 drives the spray head sliding block 43 to reciprocate along the guide rod 44, so that the spray head sliding block 43 moves left and right on the guide assembly.

The rotating mechanism comprises a second driving assembly, a rotating platform 46 and a plurality of rotating pairs 49, and the fixed bracket 45 is fixed on the rotating platform 46. The second driving assembly comprises a second motor 47 and a transmission shaft 48, a first gear is sleeved on an output shaft of the second motor 47, a second gear is sleeved on the transmission shaft 48, the first gear is meshed with the second gear, and the second motor 47 drives the transmission shaft 48 to rotate through the first gear and the second gear.

As shown in fig. 5 and 6, the rotating pair 49 includes a first rotating pair 491 and a second rotating pair 492, the first rotating pair 491 and the second rotating pair 492 are both sleeved on the transmission shaft 48, the first rotating pair 491 is fixed on the third frame 16, and the second rotating pair 492 is fixed on one side of the rotating platform 46 away from the moving mechanism. The first revolute pair 491 does not rotate along with the transmission shaft 48, and only plays a role in supporting the transmission shaft 48; one side that transmission shaft 48 is close to second revolute pair 492 is equipped with the key, is equipped with keyway 493 on the second revolute pair 492, and the key inlays in keyway 493 for second revolute pair 492 rotates along with transmission shaft 48, thereby drives rotating platform 46 and rotates, and then drives shower nozzle slider 43 and be circular arc motion, makes things convenient for the high-pressure water jet of shower nozzle slider 43 transmission to wash the arc surface of certain extent.

Because the underwater pipeline is complicated and complicated, the requirement on the performance of the underwater decontamination robot is higher, the cleaning method is firstly researched and selected, and the high-pressure water gun has the characteristics that: the back acting force is large, and the high-pressure water pump has high requirement on water quality; mechanical scraping mode characteristics: the efficiency is high, but the required control precision is high, the outer surface of the underwater pipeline is easy to damage, and the structure is complex; the air traffic jet flow cleaning mode has the characteristics that: the dirt is removed by the explosion force of the bubbles sprayed by the spray gun, and the back acting force is small.

In this example, the robot body 20 further includes an observation lighting device 8, the observation lighting device includes at least two sets of cameras and lighting lamps, the cameras and the lighting lamps are fixed on the frame pipe 13 through the fixing component respectively, one set of cameras and lighting lamps face the first frame 11, the other set of cameras and lighting lamps face the second frame 12, namely, one set of cameras and horizontal direction are inclined upwards, the other set of cameras and horizontal direction are inclined downwards, and the working environment of the upper part and the lower part of the robot body can be monitored simultaneously.

As shown in fig. 7, the fixing assembly includes a clip and a fixing plate 82, the fixing plate 82 is fixed on the frame tube 13, and the clip is clipped on the camera 81 and the illuminating lamp; be equipped with the rotary rod 83 on the clamp, the clamp passes through rotary rod 83 to be installed on fixed plate 82 for camera 81 can incline 180 rotations, and 360 unlimited circulations of translation cooperate the ELS-Q01S light, can clearly transmit the operation image of trying on off to go to water controlgear 10, and the image that shows on the LCD screen of operating personnel accessible on water controlgear 10 on water controls robot 20.

In this example, the camera 81 adopts an OBS-03 deep water network camera, the OBS-03 deep water network camera is a practical observation product developed for underwater equipment, the waterproof depth of the product can reach 300 meters, the surface of the product is made of an aluminum alloy material and is subjected to anodic oxidation treatment, the product adopts a 200-ten-thousand-pixel high-definition digital camera, and the image output can reach 1080P (1920 x 1080) output and has an automatic zooming function.

The ELS-Q01S light is that a section is surveyd to the underwater installation and is for providing sufficient illumination and research and development's underwater light, and it adopts the aluminum alloy material, and the black processing of surface oxidation, the product does not have the screw, avoids rustting, recommends that waterproof degree of depth reaches 300 meters, adopts the toughened glass lens, and the printing opacity is good, and collision and fish tail are resistant, utilizes the shell heat dissipation, and the radiating effect is outstanding, and accessible PWM adjusts luminance, provides 3500 at most and flows bright luminous flux, and the illumination angle is wide to 130.

The robot body 20 further comprises a floating body block 5, and the floating body block 5 is fixed on one side of the first frame 11 far away from the second frame 12; the central position of the floating body block 5 is provided with a mounting hole, the first frame 11 is provided with a suspension bracket 15 corresponding to the mounting hole, and the suspension bracket 15 passes through the mounting hole. The floating block 5 is placed on top of the robot body 20, i.e. above the first frame 11, leaving a gap in the middle for the suspension 15 on top of the first frame 11. In order to ensure that the robot body 20 is kept horizontal in water, the floating body block 5 is made of 0.08g/cm²And 0.424g/cm²Is spliced, one end close to the third frame 16 is made of a foam material, and the other end is made of glass beads.

The floating body blocks 5 are used for increasing the buoyancy of the robot body 20, the auxiliary propulsion device 2 is used for realizing the sinking and floating of the robot body 20, and after the decontamination robot finishes cleaning work, the robot body 20 can float upwards according to the floating body blocks, and the robot body 20 can be retracted without driving the propulsion device 2.

In this example, the electric bin 7 is fixed on one side of the first frame 11 close to the second frame 12, the propelling device 2 and the cleaning device 4 are respectively connected with the electric bin 7, and the electric bin 7 is connected with the water control device 10 through a belt cable 40. Install the sensor and the control element of robot body 20 in the electric storehouse 7 for horizontal screw propeller and the perpendicular screw propeller of controlling advancing device 2, drive robot body 20 and carry out 360 degrees attitude adjustments, be used for controlling cleaning device 4's motor, order about shower nozzle slider 43 reciprocating motion, wash the arc surface of certain limit.

The intelligent control device comprises a sensor 6 and a control system, the sensor 6 comprises an ultrasonic wave obstacle avoidance sensor, a depth sensor and an angle sensor, the robot body 20 collects information through various sensors such as a camera 81, the ultrasonic wave obstacle avoidance sensor, the depth sensor and the angle sensor, and an operator can conveniently master the working condition of the robot in real time.

The ultrasonic obstacle avoidance sensor is fixed at the position of the third frame 16 close to the first frame 11, and can return the distance between the robot body 20 and the underwater pipeline 30 to the water control device 10, so that the distance operation between the robot body 20 and the underwater pipeline 30 is realized. The depth sensor (pressure transmitter) is installed on the frame pipe 13, and it uses OEM pressure sensor of stainless steel isolation diaphragm as signal measuring element, and through computer automatic test, uses laser resistance-adjusting technology to make zero point and sensitivity temperature compensation of wide temperature range, and converts the sensor signal into standard output signal, and the signal is fed back to the above-water control equipment 10, and can display the submergence depth of the robot body 20. The angle sensor (three-dimensional electronic compass) is arranged in the electric bin 7, and the hard magnetic and soft magnetic calibration algorithm is adopted, so that the compass can eliminate the influence of the underwater magnetic field through the calibration algorithm in the environment with magnetic field interference, and feed back the working angle of the robot body 20.

The control system comprises a control panel and a PLC (programmable logic controller), as shown in FIG. 8, a camera 81, a lighting lamp, an ultrasonic obstacle avoidance sensor, a depth sensor, an angle sensor, a propulsion device 2 and a cleaning device 4 are respectively connected with the control panel, and the control panel is connected with the PLC, wherein the ultrasonic obstacle avoidance sensor is used for measuring distance information and pipe wall information and assisting to ensure that the robot body 20 keeps a proper distance from the pipe wall, so that a fuzzy neural network is formed; the camera 81 captures and processes images with the aid of illuminating lamps.

The control system takes an embedded control chip STC8A8K64S4A12C as a core, mainly comprises a control circuit (an upper computer), a working circuit (a lower computer) and a console, and can realize multi-directional convenient functions such as visual data display, one-key start/stop control, fault alarm detection, console control and the like.

Take clearance oil well platform jacket as an example, the operating principle of the underwater decontamination robot who this application embodiment provides is:

the host computer keeps away the data that many sensors such as barrier sensor, depth sensor, angle sensor gathered through camera, ultrasonic wave, and operation user controls the scrubbing robot and carries out the clearance of petroleum pipeline attachment. When the underwater decontamination robot is submerged into the sea, the underwater decontamination robot is pushed to the vicinity of an underwater pipeline of an oil well platform by means of 360-degree posture adjustment such as pushing, heaving, traversing, bow turning, trim, heeling and the like by 8 propeller propellers; then, the underwater decontamination robot is pressed on the wall surface of the pipeline by utilizing the thrust of four vertical propeller thrusters on the back surface of the underwater decontamination robot, so that four universal wheels are in close contact with the pipeline; then, the cleaning device drives the reciprocating screw rod and the transmission shaft to rotate by means of the motor, so that the nozzle sliding block moves and rotates on the guide rod in a reciprocating mode, and high-pressure water jet ejected by the nozzle can clean an arc surface within a certain range; simultaneously, the outward wheel is propelled through the combination with 4 horizontal screw propellers, 4 perpendicular screw propellers, realizes the climbing of robot body on the pipeline wall. When other wall surfaces of the pipeline need to be cleaned, the robot body is separated from the wall surface by virtue of the propelling device, the position and the posture are adjusted again, and then the robot body is attached to the wall surface of the pipeline needing to be cleaned again to perform the next round of cleaning work.

The underwater decontamination robot which takes the cleaning of the underwater attached marine organisms as an application target needs to overcome the motion resistance when operating on an underwater pipeline, also needs to carry loads such as instruments, cables and the like, needs to complete the actions such as obstacle crossing and the like when encountering obstacles, needs an adsorption mechanism to provide enough adsorption force, and has higher requirements on the adsorption technical performance compared with the common wall climbing robot. The application provides a scrubbing robot has designed a non-contact variation of magnetic force adsorption technique, and advancing combination drive robot of advancing device is close to the pipe wall, realizes the climbing motion of robot body by moving mechanism again to, the reciprocating type clearance of shower nozzle slider that this application adopted can obtain bigger clearance scope, washs high efficiency that saves time more.

The adsorption technology provided by the application ensures that the robot has small moving and steering resistance and good movement flexibility, and the robot has good load capacity, thereby ensuring the reliability and stability of wall surface movement and improving the movement capacity of the robot.

And the environment is complicated changeable under water, for answering complicated operational environment, the environmental detection system that the robot is perfect as far as possible need be assembled to the operation under water, this application adopts multisensor such as camera, ultrasonic wave obstacle avoidance sensor, depth sensor, angle sensor as monitoring facilities, except can obtaining the accurate location of robot, can also follow multidimension degree observation such as sound wave, image, acquire information such as environment image under water and data, robot motion state, make the operator know the operation condition under water comprehensively.

In addition, this application still is furnished with intelligent control device, and each sensor is connected with the host computer, and the host computer reaches the PC end with the data of collecting, through the visual processing of data, demonstrates dynamic data and aquatic operation image at the PC end, and the all-round operation situation that presents helps the operator to accomplish the cleaning task with remote operation robot more accurately. When emergency occurs, the intelligent control device can also realize one-key start/stop control, fault alarm detection, console control and other emergency measures, and the machine operation risk is reduced to the minimum.

The cleaning work of the marine underwater pipeline in China mainly depends on that a diver dives into the sea bottom and adopts high-pressure water jet to clean, the body bearing capacity of the diver is considered, the continuous work within 15m of water depth can not exceed 4 hours, the work can only be carried out for 1.5 hours when the water depth exceeds 20m, the operation time can not exceed 40 minutes when the water depth exceeds 40m, particularly, the water temperature of a northern water area is low, the diver can only work for 1 hour a day when the water depth exceeds 20m, and the cleaning work is carried out for 4-5m per hour on average²The underwater decontamination robot provided by the application is not limited by natural climate conditions, and can clean 8-10m per hour in a peaceful way²And the cleaning efficiency is greatly improved.

The application provides a scrubbing robot is through 10 camera remote monitoring that zoom, and the operation personnel only need operate on land, compares with current artifical clearance mode, has both reduced the pollution that causes the human body when the sand blasting handled, has reduced the threat of high-pressure squirt to dive personnel again, has still thoroughly avoided the risk that complicated sea water environment brought, has improved the security performance greatly.

The application provides a scrubbing robot has improved the clearance precision through the closed control of penetrating force, because the incomplete problem of clearance that the sea water is turbid when having avoided manual work and leads to, and the obstinate marine organism attachment and the hard dirt in jacket surface can thoroughly be cleared up through powerful little jet impact force to the simultaneous air-talk water jet, have improved the clearance quality greatly.

The application provides a scrubbing robot cleaning in-process does not cause the pollution, and can directly use the sea water to wash, compares with the high pressure water jet cleaning technique that requires to the quality of water strict, and the water resource has not been wasted, has protected marine environment.

The application provides a scrubbing robot bursts the microjet that produces through cavitation jet bubble and strikes ocean attachment, and the pressure ratio is little than current handheld high-pressure squirt, and the less washing efflux of pressure can guarantee to remove the dirt, can protect again by the varnish on the processing surface and the antifouling anticorrosive coating of paint, does not harm the pipeline.

It is noted that, in this specification, relational terms such as "first" and "second," and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.

Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

The above-described embodiments of the present application do not limit the scope of the present application.

Claims

1. An underwater decontamination robot is characterized by comprising a robot body and a water control device connected with the robot body, wherein,

2. The underwater scrubbing robot of claim 1, wherein said moving mechanism comprises a first driving assembly and a guiding assembly, said guiding assembly having a fixed bracket at each end;

3. The underwater scrubbing robot of claim 2, wherein said rotating mechanism includes a second drive assembly, a rotating platform, and a plurality of revolute pairs, said stationary bracket being fixed to said rotating platform;

4. The underwater decontamination robot of claim 3, wherein a key is disposed on a side of the transmission shaft adjacent to the second revolute pair, and a key slot is disposed on the second revolute pair, and the key is embedded in the key slot.

5. The underwater decontamination robot of claim 1, further comprising an observation illumination device, wherein the observation illumination device comprises at least two sets of cameras and illumination lamps, and the cameras and the illumination lamps are respectively fixed on the frame tube by fixing components;

6. The underwater scrubbing robot of claim 1, further comprising a float block secured to a side of said first frame remote from said second frame.

7. The underwater robot of claim 6, wherein a mounting hole is formed at a central position of the floating body block, and a suspension bracket corresponding to the mounting hole is provided on the first frame, and the suspension bracket passes through the mounting hole.

8. The underwater scrubbing robot of claim 1, wherein said moving means comprises a plurality of symmetrically disposed universal wheels, said universal wheels being secured about said third frame, respectively.

9. The underwater scrubbing robot of claim 5, wherein said sensors include an ultrasonic obstacle avoidance sensor, a depth sensor and an angle sensor, said ultrasonic obstacle avoidance sensor being secured to said third frame at a location proximate to said first frame; the depth sensor is fixed on the frame pipe; the angle sensor is fixed in the electric bin.

10. The underwater decontamination robot of claim 9, wherein the control system comprises a control board and a PLC controller, and the camera, the illumination lamp, the ultrasonic obstacle avoidance sensor, the depth sensor, the angle sensor, the propulsion device, and the cleaning device are respectively connected to the control board; the control panel is connected with the PLC.