CN216468383U - Underwater robot - Google Patents

Abstract

The utility model discloses an underwater robot which comprises a shell structure, a conjugate cavitation jet disc, a propulsion system and a posture counterweight handle, wherein the shell structure comprises an upper metal plate shell and a lower metal plate shell, four corners of the shell structure are respectively provided with an outer edge circular structural body, the propulsion system is arranged in the outer edge circular structural body, the side edge of the outer edge circular structural body is provided with a buoyancy regulating block, and an inner cavity is arranged in the shell structure. Has the advantages that: the net is prevented from being scratched and intertwisted by two measures to ensure that: firstly, a machine adopts a smooth streamline model, the contact part of equipment and a net adopts a smooth streamline model, and the contact part of the equipment and the net does not have a protrusion; secondly, a corrosion-resistant copper alloy or stainless steel sheet metal shell is adopted, and a Teflon antifriction coating (a fried dish non-stick pan coating) is coated outside the shell, so that the coating is wear-resistant, corrosion-resistant, not easy to fall off, and friction-resistant, can provide minimum friction resistance, and can slide lightly when the machine is attached to a net.

Description

Underwater robot

Technical Field

The utility model relates to the technical field of robots, in particular to an underwater robot.

Background

Marine biofouling organisms are a large group of over 1700 species, over 4000 species, forming a community of soft fouling organisms (including marine algae, and biofilm "slime") and hard-shell calcareous fouling organisms (mussels, barnacles, oysters, etc.), the most harmful of which are barnacles, mussels, oysters, serpentina, etc. In spring and summer, when the condition is mature, larvae of large fouling organisms in the planktonic stage can grow up to form fouling, the fouling is often represented by the phenomenon that fouling varieties with certain advantages such as mussels and barnacles are piled up and gathered, the upper part is often algae, the lower part is mainly hard shell organisms, and even the phenomenon of 'outbreak' is found later. Fouling organisms can block a coastal power plant filtration system, so that mesh blockage, water resistance increase, flow rate reduction, netting deformation and even damage are caused, insufficient cooling circulation water supply is possibly caused, and normal operation of a unit is influenced.

Due to the diversity and complexity of marine biofouling organisms, there is currently no technology available to address all biofouling issues. With the technological development of the times, the mechanical clearing technology driven by an underwater robot becomes feasible, and the principle of the automatic clearing from simple clearing is inevitable.

The function of netting is filtration and isolation, and the position is very important, and auxiliary devices such as support skeleton, body, rope and anchor stone all play supplementary effect around the netting, for example if the deep sea aquaculture net case breaks the loss huge, the fish of breeding for many years can flee a lot of nothing in the twinkling of an eye, consequently there are many special requirements around the function realization of netting when washing the net:

1. because netting knitting lines are thin and are most afraid of abrasion, the robot needs to reduce the direct contact between moving parts and the netting as much as possible, and also needs to prevent scraping and hooking, so as to prevent sharp objects from being collided with each other vigorously.

2. The broken part needs to have a round and smooth appearance, and the net is prevented from being scratched by sharp edges and corners. We have therefore drawn modern manufacturing processes to create better structures to meet current requirements while also meeting power drive requirements.

In order to prevent inertia from breaking through the netting, the weight and volume of the underwater part are also reduced as much as possible.

It is also noted that soft netting deforms irregularly under water flow and is blown by high pressure water flow during washing.

Teflon is the smoothest substance in the world at present, namely polytetrafluoroethylene, is the solid substance with the lowest surface friction coefficient at present, and has the advantages of wear resistance and minimum surface tension, namely the coating layer is not adhered to a pan. So we can use it to reduce the wear of the netting.

In order to reduce the weight, facilitate lifting, loading and unloading and reduce underwater resistance, naval copper or stainless steel sheet metal is selected to be used as a coating base material, particularly the naval copper, and even if a surface coating is damaged, the base material still can achieve rust prevention and wear resistance and is very attractive. Proper water permeable holes are formed in proper positions on the base material, and the resistance is smaller at low speed.

In order to prevent netting and ropes from entering a propeller to be wound, a shaftless hollow propeller is adopted, even if damaged netting and ropes enter the propeller, the broken netting and ropes cannot be wound with the propeller, only a rope twisting effect can be achieved, and the machine can be easily disengaged when moving.

Therefore, the product is a design which is specially combined according to the functional requirements.

The design can meet the field use requirement by combining the following concepts:

1. in order to prevent the net from being scraped, all the places in contact with the net must be in large arc transition, so that the edges are in a circular shape larger than the mesh size.

2. Should be easy to assemble and open for maintenance, and therefore should have a reasonable parting plane, the symmetrical structure is favorable for reducing the cost, so the parting plane should generally be the middle line.

3. In order to facilitate taking and placing in water and reduce weight, the common structure is made into a hollow structure.

4. The surface must be smooth, and the most slippery solid matter found at present is teflon, generally as the coating, and the substrate can adopt the sheet metal structure such as copper alloy or stainless steel, even if the coating grinds away, the bottom layer still can be sturdy and wear-resisting, and provide the meter and carry the support.

At present, the domestic netting cleaning is mainly manual cleaning and is divided into net changing cleaning and manual diving cleaning. The screen changing and cleaning needs to be carried out by launching for disassembly, the cleaning and airing on the bank is carried out by launching for installation, the long period of disassembly and assembly is high in working strength, but the underwater installation cost is very high when torrent and deep water exist, so that the screen changing and cleaning device is suitable for small-sized and conveniently-moved netting; the manual diving cleaning needs a diver to hold a spray gun to perform water launching operation, the cost is very high, and the cleaning distance and the cleaning depth are very limited; the most convenient way of large-scale netting is the most economical way of underwater net washing, so that the trend is to replace a diver with an underwater robot.

Most of the mainstream of the existing foreign net washing equipment is a simple high-pressure water cleaning device, and the cavitation jet effect is better than that of the simple high-pressure water, and the net washing effect is good without being damaged by softness.

The primary cavitation jet gun cannot be used independently underwater, and huge reaction force enables a diver to be unable to stand stably, so that two cavitation jet disks which are symmetrically distributed on the gun are formed, a part of reaction force is counteracted, the effect is improved, and the diver can conveniently operate. An effective solution to the problems in the related art has not been proposed yet.

SUMMERY OF THE UTILITY MODEL

The utility model provides an underwater robot aiming at the problems in the related art, and aims to overcome the technical problems in the related art.

Therefore, the utility model adopts the following specific technical scheme:

an underwater robot comprises a shell structure, a conjugate cavitation jet disc, a propulsion system and an attitude counterweight handle, wherein the shell structure comprises an upper metal plate shell and a lower metal plate shell, four corners of the shell structure are respectively provided with an outer edge circular structural body, the propulsion system is arranged in the outer edge circular structural body, the side edge of the outer edge circular structural body is provided with a buoyancy regulating block, an inner cavity is arranged in the shell structure, two middle cross beams are arranged at the center of the inner cavity, the middle cross beams are fixedly connected with the inner cavity through cross beam fixing plates, the two middle cross beams are connected through a plurality of longitudinal connecting pipes, the longitudinal connecting pipes are connected with the middle cross beams through connecting retaining sleeves, a working space is formed between the two middle cross beams, a support column is arranged in the middle of one side of the bottom of the working space, and a reducer fixing plate is arranged at the top of the support column, the top of the reducer fixing plate is provided with an adjusting reducer, the bottom output end of the adjusting reducer is provided with a driving shaft, the other end of the driving shaft is connected with a driving gear, two sides of the bottom of the working space are respectively provided with a conjugate cavitation jet disc, two sides of the working space are respectively provided with a power supply cylinder component and an electronic control bin assembly, the middle parts of two sides of the inner wall of the inner cavity are respectively provided with an illuminating lamp, the illuminating lamp is connected with the inner cavity through a lamp fixing plate, the side edge of the illuminating lamp is provided with a camera, two sides of the illuminating lamp are respectively provided with a plurality of transverse connecting pipes, the transverse connecting pipes at the top are provided with a front sonar, the middle parts of two sides of the shell mechanism are respectively provided with a posture counterweight handle, two sides of the top of the shell mechanism are respectively provided with a distance measuring and collision preventing sonar, and the center of the top of the shell mechanism is provided with a beam cushion block, the improved water supply device is characterized in that an upper beam is arranged on the beam cushion block, a water inlet pipe beam is arranged on the upper beam, a rotary joint unit is arranged at the top of the water inlet pipe beam, a composite high-pressure and control pipeline is arranged at the top of the rotary joint unit, the top center of the shell structure is located on the outer side of the upper beam, an inner paneling is arranged on each of two sides of the inner paneling, and an underwater positioning response beacon penetrating through the outer side of the outer paneling is arranged in each inner paneling.

Preferably, the propulsion system comprises four vector thrusters and four vertical thrusters, the four vector thrusters are distributed in the outer circular structure in a rhombic shape, the four vertical thrusters are distributed in the four outer circular structures in parallel, and the vertical thrusters are perpendicular to the vector thrusters.

Preferably, the conjugate cavitation jet disc comprises a cavitation jet disc, a rotating disc retaining ring is arranged on the side edge of the cavitation jet disc, a rotating disc retaining cover is arranged on the rotating disc retaining ring, an intermediate disc is arranged at the top of the cavitation jet disc, a synchronizing gear is arranged at the top of the intermediate disc and meshed with the driving gear, a shaft disc support is arranged at the center of the top of the synchronizing gear, a hollow shaft disc is arranged on the shaft disc support, a cavitation jet gun is arranged on the outer surface of the hollow shaft disc, a rotating hollow shaft is arranged at the top of the hollow shaft disc, a fixed outer sleeve is arranged on the outer surface of the rotating hollow shaft and connected with the rotating hollow shaft through the fixed retaining cover, a rotating hollow shaft sleeve is sleeved between the fixed outer sleeve and the rotating hollow shaft, a bearing is arranged on the rotating hollow shaft sleeve, a locking nut is arranged on the bearing, and a shaft sleeve end cover is arranged on the locking nut, and a sealing ring is arranged between the shaft sleeve end cover and the rotary hollow shaft.

Preferably, the posture counterweight handle comprises a middle handle, a bolt is arranged on the middle handle, the other end of the bolt penetrates into the inner cavity and is connected with a handle fixing plate, the handle fixing plate is located on the inner wall of the inner cavity, and a counterweight light handle and a counterweight heavy handle are respectively arranged on the middle handle in the two posture counterweight handles.

Preferably, the vector thruster and the vertical thruster both adopt hollow shaftless thrusters, motor shafts of the vector thruster and the vertical thruster are hollow, and a propeller is installed inside the motor shafts.

Preferably, the wear-resistant coating is applied to the outer surface of the outer edge circular structure, the middle part of the outer edge circular structure is a parting surface which is evenly split into two halves, and a clamping groove and a clamping piece are arranged on the parting surface.

Preferably, the shell structure is made of metal materials such as copper alloy or stainless steel, and the outer surface of the shell structure is coated with teflon to form a light structure with a smooth surface and a hollow inner surface.

The utility model has the beneficial effects that:

firstly, the prevention of scratching and tangling the netting is ensured by 2 measures. Firstly, a machine adopts a smooth streamline model, the contact part of equipment and a net adopts a smooth streamline model, and the contact part of the equipment and the net does not have a protrusion; secondly, a corrosion-resistant copper alloy or stainless steel sheet metal shell is adopted, and a Teflon antifriction coating (a fried dish non-stick pan coating) is coated outside the shell, so that the coating is wear-resistant, corrosion-resistant, not easy to fall off and friction-resistant, can provide minimum friction resistance, and can slide lightly when the machine is attached to a net;

the outer part of the rotating disc is smooth, and the rotating cavitation jet gun is not contacted with the outer part, so that the risk of winding the netting and the moving parts is reduced.

The outer edge round structure body is made of high-quality floating body materials, a unique water spraying channel is arranged at the carving position, and a high-elasticity anti-collision and wear-resistant coating is coated outside the outer edge round structure body, so that the netting is not damaged;

fourthly, 8 latest high-thrust shaftless propellers are embedded in the outer edge circular structural bodies at the four corners, and the hollow shaftless rim propeller is adopted, so that the ropes and the meshes are sucked and twisted (a rope twisting machine) but cannot be wound. Along with the performance improvement of electronic equipment, a software stability algorithm is improved, the water jet propulsion of a propeller is better than that of a crawler crawling scheme, the contact between a moving part and a net is reduced, and the possibility of winding the net and a rope is greatly reduced;

using unique conjugate rotation to offset the force of the circumferential spray gun. The two jet guns are symmetrically arranged on the disc, the two rotating discs are meshed with each other through gears with the same tooth number, the jet guns of the two rotating discs are staggered in phase difference of 90 degrees and are rotated in a relative fixed position in a conjugate rotation manner forever, so that acting forces in the disc surface direction are equal and opposite in direction and are mutually offset, only the force vertical to the disc surface needs to be overcome, the overall reaction force vertical to the disc surface is much smaller, and the cleaning operation is more stable in the conjugate rotation;

the conjugate gear is driven by the waterproof reducer independently, so that the speed of the cleaning disc can be adjusted at will, the natural water flow rotation of the common cleaning disc is obviously distinguished, the normal cleaning and the reverse cleaning at any rotating speed can be realized, and the machine is driven by the propeller to be like an underwater road sweeper;

the vertical surface, the horizontal surface, the inclined surface and the curved arc surface can be attached and cleaned in a standing mode and a creeping mode;

thereby preventing the trash rack from being worn to the maximum extent; the life risk of divers is reduced; the design is advanced and innovative, no chemicals exist in the whole process, the environment is protected, no pollution is caused, and the environment-friendly solution is a green solution and conforms to the environmental regulations; the biological attachment on the netting can be quickly, efficiently and safely removed, and the surface of the trash rack is intact; the cavitation jet water gun on the rotating disc is adopted, so that the rotating speed is adjustable, the pressure is adjustable, the sweeping translation speed is adjustable, and the cleaning device is similar to a road sweeper; the cleaning of the early stage and the late stage of biofouling can be realized, and the effect of removing the early stage biofouling is better; the cleaning method is innovative, and the efficiency is dozens of times higher than that of manual work; compared with the diving method, the method reduces divers and auxiliary personnel, and can operate in the lower water even in cold seasons in the north; the cost is saved obviously, and the method is safe, efficient and low in overall operation cost.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic view of the general structure of an underwater robot according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of an A-A configuration of an underwater robot in accordance with an embodiment of the present invention;

FIG. 3 is a schematic B-B structure diagram of an underwater robot according to an embodiment of the present invention;

fig. 4 is a schematic view of a C-C structure of an underwater robot according to an embodiment of the present invention.

In the figure:

1. a metal plate upper shell; 2. a metal plate lower shell; 3. a peripheral circular structure; 4. a vector thruster; 5. a vertical thruster; 6. a middle cross beam; 7. a beam fixing plate; 8. a support pillar; 9. a reducer fixing plate; 10. adjusting the speed reducer; 11. a drive gear; 12. a longitudinal connecting pipe; 13. connecting a blocking sleeve; 14. a cavitation jet disk; 15. a rotating disc retaining ring; 16. a rotating disc blocking cover; 17. an intermediate tray; 18. a synchronizing gear; 19. a hollow hub; 20. a cavitation jet gun; 21. a rotating hollow shaft; 22. fixing the outer sleeve; 23. fixing the blocking cover; 24. screwing the hollow shaft sleeve; 25. a bearing; 26. locking the nut; 27. a shaft sleeve end cover; 28. a seal ring; 29. a power cartridge assembly; 30. an electronic control cabin assembly; 31. an illuminating lamp; 32. a lamp fixing plate; 33. a camera; 34. a transverse connecting pipe; 35. a forward looking sonar; 36. ranging and collision avoidance sonar; 37. a beam cushion block; 38. an upper cross beam; 39. a water inlet pipe beam; 40. a rotary joint unit; 41. composite high pressure and control lines; 42. an outer paneling; 43. a middle handle; 44. a handle fixing plate; 45. a counterweight light handle; 46. a counterweight heavy handle; 47. an inner paneling; 48. a buoyancy adjusting block; 49. a reel support; 50. and (5) positioning the response beacon underwater.

Detailed Description

For further explanation of the various embodiments, the drawings which form a part of the disclosure and which are incorporated in and constitute a part of this specification, illustrate embodiments and, together with the description, serve to explain the principles of operation of the embodiments, and to enable others of ordinary skill in the art to understand the various embodiments and advantages of the utility model, and, by reference to these figures, reference is made to the accompanying drawings, which are not to scale and wherein like reference numerals generally refer to like elements.

According to an embodiment of the present invention, there is provided an underwater robot.

In the first embodiment, as shown in fig. 1 to 4, an underwater robot according to an embodiment of the present invention includes a shell structure, a conjugate cavitation jet disc, a propulsion system, and a posture counterweight handle, where the shell structure includes a metal plate upper shell 1 and a metal plate lower shell 2, four corners of the shell structure are each provided with an outer edge circular structural body 3, the propulsion system is arranged in the outer edge circular structural body 3, a buoyancy adjusting block 48 is arranged at a side edge of the outer edge circular structural body 3, an inner cavity is arranged in the shell structure, two middle cross beams 6 are arranged at a center inside of the inner cavity, the middle cross beams 6 are connected and fixed to the inner cavity through a cross beam fixing plate 7, the two middle cross beams 6 are connected through a plurality of longitudinal connecting pipes 12, the longitudinal connecting pipes 12 are connected to the middle cross beams 6 through a connecting retaining sleeve 13, a working space is formed between the two middle cross beams 6, the middle part of one side of the bottom of the working space is provided with a support column 8, the top of the support column 8 is provided with a speed reducer fixing plate 9, the top of the speed reducer fixing plate 9 is provided with an adjusting speed reducer 10, the bottom output end of the adjusting speed reducer 10 is provided with a drive shaft, the other end of the drive shaft is connected with a drive gear 11, two sides of the bottom of the working space are respectively provided with a conjugate cavitation jet disc, two sides of the working space are respectively provided with a power source cylinder assembly 29 and an electronic control bin assembly 30, the middle parts of two sides of the inner wall of the inner cavity are respectively provided with a lighting lamp 31, the lighting lamp 31 is connected with the inner cavity through a lamp fixing plate 32, the side edge of the lighting lamp 31 is provided with a camera 33, two sides of the lighting lamp 31 are respectively provided with a plurality of transverse connecting pipes 34, the transverse connecting pipes 34 at the top are provided with front sonar 35, the middle parts of two sides of the shell mechanism are respectively provided with a posture counterweight handle, casing mechanism top both sides are equipped with one respectively and range finding is kept away and is collided sonar 36, casing mechanism's top center department is equipped with beam pad 37, be equipped with entablature 38 on the beam pad 37, be equipped with inlet pipe roof beam 39 on the entablature 38, inlet pipe roof beam 39's top is equipped with rotary joint unit 40, rotary joint unit 40's top is equipped with compound high pressure and control pipeline 41, shell structure's top center department just is located the outside of entablature 38 is equipped with interior paneling 47, the both sides of interior paneling 47 are equipped with an outer paneling 42 respectively, be equipped with in interior paneling 47 run through to the beacon 50 is answered in the underwater location in the outer paneling 42 outside.

The second embodiment comprises a shell structure, a conjugate cavitation jet disc, a propulsion system and a posture counterweight handle, wherein the shell structure comprises an upper metal plate shell 1 and a lower metal plate shell 2, four corners of the shell structure are respectively provided with an outer edge circular structural body 3, the propulsion system is arranged in the outer edge circular structural body 3, the side edge of the outer edge circular structural body 3 is provided with a buoyancy regulating block 48, an inner cavity is arranged in the shell structure, two middle cross beams 6 are arranged at the center inside the inner cavity, the middle cross beams 6 are fixedly connected with the inner cavity through cross beam fixing plates 7, the two middle cross beams 6 are connected through a plurality of longitudinal connecting pipes 12, the longitudinal connecting pipes 12 are connected with the middle cross beams 6 through connecting baffle sleeves 13, a working space is formed between the two middle cross beams 6, and the middle part of one side of the bottom of the working space is provided with a support column 8, the top of the supporting column 8 is provided with a speed reducer fixing plate 9, the top of the speed reducer fixing plate 9 is provided with an adjusting speed reducer 10, the bottom output end of the adjusting speed reducer 10 is provided with a driving shaft, the other end of the driving shaft is connected with a driving gear 11, two sides of the bottom of the working space are respectively provided with a conjugate cavitation jet flow disc, two sides of the working space are respectively provided with a power supply barrel assembly 29 and an electronic control cabin assembly 30, the middle parts of two sides of the inner wall of the inner cavity are respectively provided with an illuminating lamp 31, the illuminating lamp 31 is connected with the inner cavity through a lamp fixing plate 32, the side edge of the illuminating lamp 31 is provided with a camera 33, two sides of the illuminating lamp 31 are respectively provided with a plurality of transverse connecting pipes 34, the transverse connecting pipes 34 at the top are provided with a front view sonar 35, the middle parts of two sides of the shell mechanism are respectively provided with a posture counterweight handle, two sides of the top of the shell mechanism are respectively provided with a distance measurement and collision avoidance sonar 36, a beam cushion block 37 is arranged at the center of the top of the shell mechanism, an upper beam 38 is arranged on the beam cushion block 37, a water inlet pipe beam 39 is arranged on the upper beam 38, a rotary joint unit 40 is arranged at the top of the water inlet pipe beam 39, a composite high-pressure and control pipeline 41 is arranged at the top of the rotary joint unit 40, an inner panel 47 is arranged at the center of the top of the shell structure and positioned outside the upper beam 38, two outer panels 42 are respectively arranged at two sides of the inner panel 47, an underwater positioning response beacon 50 penetrating to the outer side of the outer panel 42 is arranged in the inner panel 47, the propulsion system comprises vector propellers 4 and vertical propellers 5, the number of the vector propellers 4 and the number of the vertical propellers 5 are respectively four, the four vector propellers 4 are distributed in the outer edge circular structural body 3 in a diamond shape, the four vertical propellers 5 are distributed in the four outer edge circular structural bodies 3 in parallel, the vertical thruster 5 and the vector thruster 4 are mutually perpendicular, the conjugate cavitation jet disc comprises a cavitation jet disc 14, the side of the cavitation jet disc 14 is provided with a rotary disc retaining ring 15, the rotary disc retaining ring 15 is provided with a rotary disc retaining cover 16, the top of the cavitation jet disc 14 is provided with an intermediate disc 17, the top of the intermediate disc 17 is provided with a synchronizing gear 18, the synchronizing gear 18 is engaged with the driving gear 11, the top center of the synchronizing gear 18 is provided with a shaft disc support 49, the shaft disc support 49 is provided with a hollow shaft disc 19, the outer surface of the hollow shaft disc 19 is provided with a cavitation jet gun 20, the top of the hollow shaft disc 19 is provided with a rotary hollow shaft 21, the outer surface of the rotary hollow shaft 21 is provided with a fixed outer sleeve 22, the fixed outer sleeve 22 is connected with the rotary hollow shaft 21 through a fixed retaining cover 23, and a rotary shaft sleeve 24 is sleeved between the fixed outer sleeve 22 and the rotary shaft 21, the hollow rotating shaft sleeve 24 is provided with a bearing 25, the bearing 25 is provided with a locking nut 26, the locking nut 26 is provided with a shaft sleeve end cover 27, and a sealing ring 28 is arranged between the shaft sleeve end cover 27 and the hollow rotating shaft 21. It can be seen from the above design that 8 latest high-thrust shaftless propellers are embedded in the outer edge circular structural bodies 3 at the four corners, and a hollow shaftless rim propeller is adopted, so that the ropes and the meshes are sucked and twisted (a rope twisting machine) without winding. Along with the performance improvement of electronic equipment, a software stability algorithm is improved, the water jet propulsion of a propeller is better than a crawler crawling scheme, the contact between a moving part and a net is reduced, and the possibility of winding the net and a rope is greatly reduced.

The third embodiment comprises a shell structure, a conjugate cavitation jet disc, a propulsion system and a posture counterweight handle, wherein the shell structure comprises an upper metal plate shell 1 and a lower metal plate shell 2, four corners of the shell structure are respectively provided with an outer edge circular structural body 3, the propulsion system is arranged in the outer edge circular structural body 3, the side edge of the outer edge circular structural body 3 is provided with a buoyancy regulating block 48, an inner cavity is arranged in the shell structure, two middle cross beams 6 are arranged at the center inside the inner cavity, the middle cross beams 6 are fixedly connected with the inner cavity through cross beam fixing plates 7, the two middle cross beams 6 are connected through a plurality of longitudinal connecting pipes 12, the longitudinal connecting pipes 12 are connected with the middle cross beams 6 through connecting baffle sleeves 13, a working space is formed between the two middle cross beams 6, and the middle part of one side of the bottom of the working space is provided with a support column 8, the top of the supporting column 8 is provided with a speed reducer fixing plate 9, the top of the speed reducer fixing plate 9 is provided with an adjusting speed reducer 10, the bottom output end of the adjusting speed reducer 10 is provided with a driving shaft, the other end of the driving shaft is connected with a driving gear 11, two sides of the bottom of the working space are respectively provided with a conjugate cavitation jet flow disc, two sides of the working space are respectively provided with a power supply barrel assembly 29 and an electronic control cabin assembly 30, the middle parts of two sides of the inner wall of the inner cavity are respectively provided with an illuminating lamp 31, the illuminating lamp 31 is connected with the inner cavity through a lamp fixing plate 32, the side edge of the illuminating lamp 31 is provided with a camera 33, two sides of the illuminating lamp 31 are respectively provided with a plurality of transverse connecting pipes 34, the transverse connecting pipes 34 at the top are provided with a front view sonar 35, the middle parts of two sides of the shell mechanism are respectively provided with a posture counterweight handle, two sides of the top of the shell mechanism are respectively provided with a distance measurement and collision avoidance sonar 36, shell mechanism's top center department is equipped with crossbeam cushion 37, be equipped with entablature 38 on the crossbeam cushion 37, be equipped with into water pipe beam 39 on the entablature 38, the top of intaking pipe beam 39 is equipped with rotary joint unit 40, rotary joint unit 40's top is equipped with compound high pressure and control line 41, shell structure's top center department just is located the outside of entablature 38 is equipped with interior paneling 47, the both sides of interior paneling 47 are equipped with an outer paneling 42 respectively, be equipped with in the interior paneling 47 and run through to the beacon 50 is answered in the location under water in the outer paneling 42 outside, gesture counter weight handle includes middle handle 43, be equipped with the bolt on middle handle 43, the other end of bolt runs through to be connected with handle fixed plate 44 in the inner chamber, handle fixed plate 44 is located on the inner wall of inner chamber, two in the gesture counter weight handle middle handle 43 install counter weight light handle 45 and heavy handle 46 respectively on the middle handle 43 The vector propeller 4 with perpendicular propeller 5 both adopt hollow shaftless propeller, vector propeller 4 with the inside cavity of motor shaft of perpendicular propeller 5 both to the screw is installed inside the motor shaft, 3 outer surface external application wear-resistant coating of outer fringe circular structure body, 3 middle parts of outer fringe circular structure body are the die joint, evenly cut open and divide into two halves, just be equipped with draw-in groove and fastener on the die joint, shell structure is made by metal materials such as copper alloy or stainless steel, shell structure surface coating teflon forms the smooth and hollow light-duty structure of the inside in surface. It can be seen from the above design that the anti-corrosion copper alloy or stainless steel sheet metal shell is coated with a teflon anti-friction coating (a dish-frying non-stick pan coating), which is wear-resistant, anti-corrosion, not easy to fall off, and friction-resistant, can provide the minimum friction resistance, and can slide lightly when the machine is attached to the netting.

For the convenience of understanding the technical solutions of the present invention, the following detailed description will be made on the working principle or the operation mode of the present invention in the practical process.

In conclusion, with the aid of the technical scheme, the prevention of scratching and tangling of the netting is ensured by 2 measures. Firstly, a machine adopts a smooth streamline model, the contact part of equipment and a net adopts a smooth streamline model, and the contact part of the equipment and the net does not have a protrusion; secondly, a corrosion-resistant copper alloy or stainless steel sheet metal shell is adopted, and a Teflon antifriction coating (a fried dish non-stick pan coating) is coated outside the shell, so that the coating is wear-resistant, corrosion-resistant, not easy to fall off and friction-resistant, can provide minimum friction resistance, and can slide lightly when the machine is attached to a net; the rotating disc is smooth outside, and the rotating cavitation jet gun is not contacted with the outside, so that the risk of winding the netting and the moving part is reduced; the outer edge round structure body is made of high-quality floating body materials, a unique water spraying channel is arranged at the carving position, and a high-elasticity anti-collision and wear-resistant coating is coated outside the water spraying channel, so that a netting is not damaged; the four-corner outer edge circular structure is embedded with 8 latest high-thrust shaftless propellers, a hollow shaftless rim propeller is adopted, ropes and meshes follow twisting (a rope twisting machine) when being sucked but cannot be wound (the number of the propellers is 8, the propellers are divided into two groups and are embedded on the four-corner outer edge circular structure, wherein 4 of the propellers are distributed in a rhombic shape to form a vector structure to control the advancing direction, and the other 4 propellers are arranged in the four corners in a parallel distribution and are vertical to the rhombic surface formed by the front 4 of the propellers to generate transverse force to ensure that netting is attached and the inclination angle of an underwater posture can be controlled). Along with the performance improvement of electronic equipment, a software stability algorithm is improved, the water jet propulsion of a propeller is better than that of a crawler crawling scheme, the contact between a moving part and a net is reduced, and the possibility of winding the net and a rope is greatly reduced; the unique conjugate rotation is adopted to offset the acting force of the circumferential spray gun. The two jet guns are symmetrically arranged on the disc, the two rotating discs are meshed with each other through gears with the same tooth number, the jet guns of the two rotating discs are staggered in phase difference of 90 degrees and are rotated in a relative fixed position in a conjugate rotation manner forever, so that acting forces in the disc surface direction are equal and opposite in direction and are mutually offset, only the force vertical to the disc surface needs to be overcome, the overall reaction force vertical to the disc surface is much smaller, and the cleaning operation is more stable in the conjugate rotation; the conjugate gear is driven by the waterproof reducer independently, so that the speed of the cleaning disc can be adjusted at will, the natural water flow rotation of the common cleaning disc is obviously distinguished, the forward cleaning and the reverse cleaning at any rotating speed can be realized, and the machine is driven by the propeller to be like an underwater road sweeper; the device has two working modes of standing and creeping, and can be used for attaching and cleaning a vertical surface, a horizontal surface, an inclined surface and a curved arc surface;

thereby preventing the trash rack from being worn to the maximum extent; the life risk of divers is reduced; the design is advanced and innovative, no chemicals exist in the whole process, the environment is protected, no pollution is caused, and the environment-friendly solution is a green solution and conforms to the environmental regulations; the biological attachment on the netting can be quickly, efficiently and safely removed, and the surface of the trash rack is intact; the cavitation jet water gun on the rotating disc is adopted, so that the rotating speed is adjustable, the pressure is adjustable, the sweeping translation speed is adjustable, and the cleaning device is similar to a road sweeper; the cleaning of the early stage and the late stage of biofouling can be realized, and the effect of removing the early stage biofouling is better; the cleaning method is innovative, and the efficiency is dozens of times higher than that of manual work; compared with the cleaning by a diving method, divers and auxiliary personnel are reduced, and underwater operation can be performed even in cold seasons in the north; the cost is saved obviously, and the method is safe, efficient and low in overall operation cost.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the utility model, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (7)

1. An underwater robot is characterized by comprising a shell structure, a conjugate cavitation jet disc, a propulsion system and an attitude counterweight handle, wherein the shell structure comprises an upper shell (1) of a metal plate and a lower shell (2) of the metal plate, four corners of the shell structure are respectively provided with an outer edge circular structural body (3), the propulsion system is arranged in the outer edge circular structural body (3), the side edge of the outer edge circular structural body (3) is provided with a buoyancy adjusting block (48), an inner cavity is arranged in the shell structure, two middle cross beams (6) are arranged at the center inside of the inner cavity, the middle cross beams (6) are fixedly connected with the inner cavity through cross beam fixing plates (7), two middle cross beams (6) are connected with each other through a plurality of longitudinal connecting pipes (12), and the longitudinal connecting pipes (12) are connected with the middle cross beams (6) through connecting blocking sleeves (13), a working space is formed between the two middle cross beams (6), a support column (8) is arranged in the middle of one side of the bottom of the working space, a reducer fixing plate (9) is arranged at the top of the support column (8), an adjusting reducer (10) is arranged at the top of the reducer fixing plate (9), a drive shaft is arranged at the bottom output end of the adjusting reducer (10), the other end of the drive shaft is connected with a drive gear (11), conjugate cavitation jet discs are respectively arranged on two sides of the bottom of the working space, a power supply cylinder assembly (29) and an electronic control cabin assembly (30) are respectively arranged on two sides of the working space, illuminating lamps (31) are respectively arranged in the middle of two sides of the inner cavity wall, the illuminating lamps (31) are connected with the inner cavity through lamp fixing plates (32), and cameras (33) are arranged on the sides of the illuminating lamps (31), the illuminating lamp is characterized in that a plurality of transverse connecting pipes (34) are arranged on two side edges of the illuminating lamp (31), a front-view sonar (35) is arranged on the transverse connecting pipe (34) at the top, a posture counterweight handle is arranged in the middle of each of two sides of the shell structure, a distance-measuring collision-preventing sonar (36) is arranged on each of two sides of the top of the shell structure, a beam cushion block (37) is arranged at the center of the top of the shell structure, an upper beam (38) is arranged on the beam cushion block (37), a water inlet pipe beam (39) is arranged on the upper beam (38), a rotary joint unit (40) is arranged at the top of the water inlet pipe beam (39), a composite high-pressure and control pipeline (41) is arranged at the top of the rotary joint unit (40), an inner paneling (47) is arranged at the center of the top of the shell structure and on the outer side of the upper beam (38), and outer paneling (42) is arranged on each of two sides of the inner paneling (47), an underwater positioning response beacon (50) penetrating to the outer side of the outer paneling (42) is arranged in the inner paneling (47).

2. An underwater robot as claimed in claim 1, characterized in that said propulsion system comprises four vector thrusters (4) and four vertical thrusters (5), said four vector thrusters (4) and said four vertical thrusters (5) being arranged in a diamond shape inside said peripheral circular structure (3), said four vertical thrusters (5) being arranged in parallel inside said peripheral circular structure (3), said vertical thrusters (5) being arranged perpendicular to said vector thrusters (4).

3. The underwater robot as claimed in claim 2, wherein the conjugate cavitation jet disc comprises a cavitation jet disc (14), a rotating disc retaining ring (15) is arranged on the side of the cavitation jet disc (14), a rotating disc retaining cover (16) is arranged on the rotating disc retaining ring (15), a middle disc (17) is arranged at the top of the cavitation jet disc (14), a synchronizing gear (18) is arranged at the top of the middle disc (17), the synchronizing gear (18) is meshed with the driving gear (11), a shaft disc support (49) is arranged at the center of the top of the synchronizing gear (18), a hollow shaft disc (19) is arranged on the shaft disc support (49), a cavitation jet gun (20) is arranged on the outer surface of the hollow shaft disc (19), a rotating hollow shaft (21) is arranged at the top of the hollow shaft disc (19), and a fixed outer sleeve (22) is arranged on the outer surface of the rotating hollow shaft (21), fixed overcoat (22) through fixed fender lid (23) with revolve hollow shaft (21) and connect, fixed overcoat (22) with revolve the cover between hollow shaft (21) and be equipped with and revolve empty axle sleeve (24), be equipped with bearing (25) on revolving empty axle sleeve (24), be equipped with lock nut (26) on bearing (25), be equipped with axle sleeve end cover (27) on lock nut (26), axle sleeve end cover (27) and between be equipped with sealing washer (28) between revolving hollow shaft (21).

4. The underwater robot of claim 3, wherein the posture counterweight handle comprises an intermediate handle (43), a bolt is arranged on the intermediate handle (43), the other end of the bolt penetrates into the inner cavity and is connected with a handle fixing plate (44), the handle fixing plate (44) is positioned on the inner wall of the inner cavity, and a counterweight light handle (45) and a counterweight heavy handle (46) are respectively arranged on the intermediate handle (43) of the two posture counterweight handles.

5. Underwater robot according to claim 4, characterized in that both the vector thruster (4) and the vertical thruster (5) are hollow shaftless thrusters, that the motor shafts of both the vector thruster (4) and the vertical thruster (5) are hollow and that propellers are mounted inside the motor shafts.

6. The underwater robot as claimed in claim 5, wherein the outer surface of the outer circular structural body (3) is externally coated with wear-resistant paint, the middle part of the outer circular structural body (3) is a parting surface which is evenly split into two halves, and the parting surface is provided with a clamping groove and a clamping piece.

7. An underwater robot as in claim 6 wherein said shell structure is made of a copper alloy or stainless steel metal material and is coated with Teflon to form a light structure with smooth surface and hollow inside.

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