CN217945474U

CN217945474U - Cleaning device and underwater cleaning robot

Info

Publication number: CN217945474U
Application number: CN202122544346.6U
Authority: CN
Inventors: 王云
Original assignee: Guangdong Xingyuan Robot Technology Co ltd
Current assignee: Guangdong Xingyuan Robot Technology Co ltd
Priority date: 2021-10-21
Filing date: 2021-10-21
Publication date: 2022-12-02
Anticipated expiration: 2031-10-21

Abstract

The utility model relates to an clearance technical field under water has and relates to a cleaning device and clearance robot under water, and cleaning device includes the support, drive assembly, clearance subassembly and anti-sticking subassembly, the clearance subassembly is located the support, drive assembly with the support links to each other, drive assembly drives the support with reciprocating motion is to the clearance subassembly, the clearance subassembly is cleared up gate bottom or lintel, the anti-sticking subassembly with the support links to each other, the anti-sticking subassembly acts on drive assembly for the clearance drive assembly. The utility model provides a cleaning device for the bottom and the lintel clearance of gate realize cleaning device reciprocating motion on the frame of clearance robot through drive assembly, realize the bottom and the lintel clearance to the gate through the clearance subassembly, realize the clearance of debris among the drive assembly through anti-sticking subassembly, avoid drive assembly to be blocked dead stop work by debris at the operation in-process, ensured the smooth and easy of clearance process, and then improved cleaning efficiency.

Description

Cleaning device and underwater cleaning robot

Technical Field

The utility model relates to a clear up technical field under water, have and relate to a cleaning device and clear up robot under water.

Background

A sluice gate is a gate used for closing and isolating underwater. The gate sealing mainly comprises that sealing strips on the periphery of the downstream side of the gate close to the inflow of water flow are extruded by seawater pressure to form sealing, and the sealing area mainly comprises two side tracks close to the sealing strip sides of the gate, a lintel and the bottom of the gate. The sealing area of the water gate is underwater, so a large amount of aquatic organisms and impurities are attached to the surface, particularly the water gate used in seawater, for example, the water gate of a PX seawater pump station is used for a water inlet channel of a PX pump room of a circulating water filtration system and used for isolating the water inlet channel.

The sealing area of the sluice gate, the gate lintel and the bottom of the gate therefore need to be cleaned regularly. Existing cleaning methods include manual cleaning and robotic cleaning. Wherein manual cleaning time is long to there is the safety risk in clearance personnel underwater, and current robot clearance then has poor stability, blocks easily at the removal process.

SUMMERY OF THE UTILITY MODEL

In view of the above-mentioned deficiencies of the prior art, a first object of the present invention is to provide a cleaning device for cleaning the lintel and the bottom of a gate.

The scheme is as follows:

the cleaning device is applied to an underwater cleaning robot and used for cleaning the bottom or the lintel of a gate and is characterized by comprising a support, a transmission assembly, a cleaning assembly and an anti-blocking assembly, wherein the cleaning assembly is arranged on the support, the transmission assembly is connected with the support, the transmission assembly drives the support and the cleaning assembly to reciprocate, the cleaning assembly cleans the bottom or the lintel of the gate, the anti-blocking assembly is connected with the support, and the anti-blocking assembly acts on the transmission assembly and is used for cleaning the transmission assembly.

Further, the transmission assembly comprises a power element, a gear and wheels, the power element is located on the support, the power element is connected with the gear, the gear is meshed with a rack in the cleaning robot, and the wheels are located on two sides of the support and connected with the support.

Further, the power element is an underwater brushless motor.

Further, the cleaning assembly comprises a first pipeline, a first spray head and a second spray head, wherein the initial section of the first pipeline is communicated with the power pump, and the tail section of the first pipeline is communicated with the first spray head and the second spray head;

the first spray head faces the bottom of the gate, the spraying direction is vertical, the second spray head faces a gate lintel, and the spraying direction is horizontal;

the first spray head and the second spray head move synchronously along with the bracket.

Furthermore, the anti-blocking assembly comprises a second pipeline and a third spray head, the initial section of the second pipeline is communicated with the power pump, the tail section of the second pipeline is communicated with the third spray head, the third spray head faces the transmission assembly, and the third spray head moves synchronously along with the support.

Further, the third spray head faces to the meshing position of the gear and the rack.

Further, the device also comprises an illumination assembly and a camera assembly, wherein the illumination assembly and the camera assembly are connected with the bracket.

Further, the device also comprises a sonar component, wherein the sonar component is positioned above the transmission component and is connected with the bracket;

the sonar subassembly includes workstation and sonar, the sonar is located on the workstation, the workstation with support fixed connection, the workstation includes first pivot and second pivot, the second pivot with first pivot links to each other perpendicularly, the second pivot is followed first pivot rotates, the sonar with the second pivot links to each other, the sonar is followed the second pivot rotates.

Further, still include proximity switch and stay wire formula encoder, proximity switch and stay wire formula encoder with the support links to each other, proximity switch is used for detecting the edge, the stay wire formula encoder is used for acquireing the marcing displacement size of support.

Correspondingly, the underwater cleaning robot is used for cleaning a gate slot of a pump room and comprises a frame and the cleaning device, wherein the cleaning device is arranged on the frame, and the frame is provided with a groove for mounting and positioning the cleaning device.

Compared with the prior art, the utility model discloses following beneficial effect has:

the utility model provides a cleaning device for the bottom and the lintel clearance of gate realize cleaning device reciprocating motion on the frame of clearance robot through drive assembly, realize the bottom and the lintel clearance to the gate through the clearance subassembly, realize the clearance of debris among the drive assembly through anti-sticking subassembly, avoid drive assembly to be blocked dead stop work by debris at the operation in-process, ensured the smooth and easy of clearance process, and then improved cleaning efficiency.

Drawings

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

FIG. 1 is a schematic view of a cleaning apparatus according to an embodiment of the present invention;

FIG. 2 is a side view of a cleaning apparatus according to an embodiment of the present invention;

fig. 3 is a schematic view of an underwater cleaning robot according to an embodiment of the present invention;

fig. 4 is a schematic view of the underwater cleaning robot according to the embodiment of the present invention;

FIG. 5 is an enlarged view of a portion of FIG. 3;

fig. 6 is another view of the underwater cleaning robot according to the embodiment of the present invention;

FIG. 7 is an enlarged view of a portion of FIG. 6;

fig. 8 is a cross-sectional view of an underwater cleaning robot according to an embodiment of the present invention;

FIG. 9 is an enlarged view of a portion of FIG. 8;

fig. 10 is a schematic view of a first guide wheel set according to an embodiment of the present invention;

fig. 11 is a schematic view of a U-shaped groove inner guide wheel set according to an embodiment of the present invention;

fig. 12 is a schematic view of a second guide wheel set according to an embodiment of the present invention;

fig. 13 is a schematic view of a guide wheel set in a T-shaped groove according to an embodiment of the present invention;

fig. 14 is a schematic structural view of a guide wheel according to an embodiment of the present invention;

fig. 15 is a top view of the guide wheel according to the embodiment of the present invention;

fig. 16 is a side view of a guide wheel according to an embodiment of the present invention;

fig. 17 is a schematic view of a camera module according to an embodiment of the present invention;

fig. 18 is a sectional view of a camera module according to an embodiment of the present invention;

fig. 19 is an exploded view of a camera module according to an embodiment of the present invention;

fig. 20 is a flowchart of an embodiment of the cleaning method of the present invention.

Reference numerals are as follows:

10-a guide wheel; 11-a first guide wheel; 12-a second guide wheel; 20-a connecting part; 100-a second cleaning assembly; 110-a scaffold; 111-a via; 120-a transmission assembly; 121-a power element; 122-a gear; 123-wheels; 130-a cleaning assembly; 131-a first conduit; 132-a first showerhead; 133-a second showerhead; 140-an anti-seize assembly; 141-a second line; 142-a third spray head; 150-sonar components; 151-a table; 151 a-first shaft; 151 b-a second shaft; 152-sonar; 200-a guide assembly; 201-guide wheel group; 210-a support; 211-installation space; 212-a groove; 220-an elastic portion; 221-guide post; 222-a spring; 230-a scroll section; 231-a wheel body; 232-rotating shaft; 240-a mounting portion; 241-mounting steps; 300-a first cleaning assembly; 301-a third conduit; 302-a fourth showerhead; 303-fifth showerhead; 400-a frame; 401-a first side; 402-a second side edge; 403-hanging lifting lugs; 404-a rack; 405-a guide rail; 450-a tow chain; 500-a lighting assembly; 600-a camera assembly; 610-a housing; 611-sealing gaskets; 620-camera assembly; 621-camera; 622-a base; 623-a rotating assembly; 623 a-power element; 623 b-a rotator; 624-a telescoping assembly; 625-a communication component; 626-a control component; 630-convex arc mask; 640-a filter assembly; 650-watertight plug cable; 1000-gate; 1001-gate slot; 1002-a door lintel; 1003-bottom surface; a-a first surface; b-a second surface.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person skilled in the art without making creative efforts belong to the protection scope of the present invention.

It should be noted that all the directional indicators (such as up, down, left, right, front, back \8230;) in the embodiments of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the attached drawings), and if the specific posture is changed, the directional indicator is changed accordingly.

It will also be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.

Furthermore, the descriptions in the present application related to "first", "second", etc. are for descriptive purposes only and are not to be construed as indicating or implying relative importance or to imply that the number of technical features indicated are implicitly being indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

Fig. 1-2 are schematic views of an embodiment of the cleaning device of the present invention.

Referring to fig. 1-2, an embodiment of a cleaning device for cleaning lintel and bottom of underwater gate is disclosed, which comprises a bracket 110, a transmission assembly 120, a cleaning assembly 130 and an anti-seize assembly 140

Wherein, the bracket 110 is used for supporting and connecting the driving assembly 120, the cleaning assembly 130 and the anti-jamming assembly 140. The driving assembly 120 is used for driving the support 110 and the related assemblies connected with the support 110 to reciprocate in the water. The cleaning assembly 130 cleans the bottom or the lintel of the gate, and under the driving of the transmission assembly 120, the cleaning assembly 130 moves along the bottom or the lintel of the gate, so that the bottom or the lintel of the gate is cleaned gradually and repeatedly. The anti-blocking component 140 is connected with the support 110, the anti-blocking component 140 moves synchronously with the support 110 and the cleaning component 130 under the action of the transmission component 120, the anti-blocking component 140 acts on the transmission component 120 to clean up sundries in the operation process of the transmission component 120, the sundries are prevented from being blocked into the transmission component 120, the transmission component 120 is prevented from stopping working due to the sundries, and the working efficiency of the cleaning component 130 can be ensured.

Specifically, the bracket 110 in this embodiment is rectangular, and the width of the bracket 110 is adapted to the width of the bottom of the cleaning robot. The support 110 is made of corrosion-resistant material to adapt to underwater work, especially in a seawater environment. The surface of the bracket 110 is provided with a plurality of through holes 111 for water to pass through, so that the resistance is reduced, and the self weight of the bracket 110 can be reduced, thereby reducing the carrying burden of the transmission assembly 120.

In this embodiment, the transmission assembly 120 includes a power element 121, a gear 122, and a wheel 123. The power element 121 is an underwater direct current brushless motor, the bearing is a seawater corrosion resistant ceramic bearing, and the motor is designed to be waterproof and can normally work in an environment with the water depth of 100 m. Compared with a hydraulic motor mode, the waterproof direct current motor can avoid the pollution of hydraulic oil leakage to a water environment and downstream heat exchangers and instruments; compared with a hydraulic control system, the motor control system is simple and reliable, does not need a relatively complex hydraulic pump oil pipeline system, various valve controls and the like, and has high working stability. The power element 121 is located above the bracket 110 and is fixedly connected with the bracket 110, a power output end of the power element 121 faces downwards, and the power output end is connected with the gear 122 to drive the gear 122 to rotate. The gear 122 is positioned between the power element 121 and the bracket 110, the gear 122 is horizontally arranged, the end surface of the gear is parallel to the horizontal plane, and the tooth grooves of the gear are vertical, so that sundries in water are not easy to accumulate in the tooth grooves. The gear 122 is engaged with a rack 404 arranged at the bottom of the cleaning robot, the power element 121 drives the gear 122 to rotate, the gear 122 moves along the rack 404, and then the bracket 110 and related components connected with the bracket 110 are driven to move at the bottom of the cleaning robot. In this embodiment, the number of the wheels 123 is four, and the wheels 123 are distributed on two side edges of the bracket 110, and in the transmission process of the gear 122 and the rack 404, the wheels 123 roll in the guide rail 405 at the bottom of the cleaning robot, the guide rail 405 is parallel to the rack, and the wheels 123 have the function of supporting the bracket 110 and limiting the movement direction of the bracket 110 at the bottom of the cleaning robot.

In this embodiment, the cleaning assembly 130 includes a first pipeline 131, a first nozzle 132 and a second nozzle 133, the initial section of the first pipeline 131 is communicated with a power pump, the power pump is located at the shore base, specifically, a cavitation power pump is adopted, the final section of the first pipeline 131 is communicated with the first nozzle 132 and the second nozzle 133, and the first nozzle 132 and the second nozzle 133 move synchronously along with the support 110. The power pump is a cavitation power pump, and the first spray head 132 and the second spray head 133 are cavitation jet spray heads. In the field of cleaning underwater facilities mainly comprising marine facilities, the cavitation jet cleaning technology is more efficient and energy-saving compared with a high-pressure water cleaning technology, can effectively protect an anticorrosive coating on the surface of the facilities, and is a more reasonable choice for cleaning the marine underwater facilities. The underwater cleaning device of cavitation jet consists of a cavitation jet generating system (cavitation power pump station), a control system (mechanical control), an electrical control and a cavitation jet cleaning spray head. The cavitation power pump station is used for increasing water pressure or other liquid pressure and conveying water flow to an execution system. The cavitation jet head is a cavitation jet device consisting of a control valve, a spray rod, a nozzle assembly (comprising one or more rows of nozzles) and the like. The cavitation power pump station is generally directly connected with a pressure regulating device at the output end of the cavitation power pump station through a cavitation hose assembly. The combined unloading type cavitation spray gun can be provided with gun barrels with different lengths according to requirements, is specially used for cleaning small-area curves, curved surfaces and cylindrical surfaces and holes which are difficult to clean, utilizes a rear-mounted spray head to offset recoil, and can adjust jet pressure between 0 MPa and 25MPa according to requirements.

Specifically, the last section of the first pipeline 131 is located below the bracket 110 and is parallel to the bracket 110, and the last section of the first pipeline 131 is composed of two sections of pipelines, which are parallel to each other. One of them section pipeline is connected with first shower nozzle 132, and the quantity of first shower nozzle 132 is two, distributes in the fore-and-aft direction of support, and first shower nozzle 132 is towards the gate bottom, and the injection direction is vertical direction for gate bottom clearance. The rest section of pipeline is connected with the second spray heads 133, the number of the second spray heads 133 is two, the two second spray heads are distributed in the front-back direction of the support, the second spray heads 133 face the gate lintel, and the spraying direction is the horizontal direction and is used for cleaning the gate lintel. The number of the first spray heads 132 and the second spray heads 133 in this embodiment may be selected according to actual situations, and is not limited to two, and the number in this embodiment is merely used for illustration.

When the present embodiment is applied to an underwater cleaning robot, the end section of the first pipeline 131 is higher than the frame of the underwater cleaning robot, so as to avoid the frame interfering with the first nozzle 132 and the second nozzle 133 connected to the first pipeline 131.

In this embodiment, the anti-jamming assembly 140 includes a second pipeline 141 and a third nozzle 142, the starting section of the second pipeline 141 is communicated with a power pump, the power pump is located on the shore base, specifically, a cavitation power pump is used, the tail section of the second pipeline 141 is communicated with the third nozzle 142, the third nozzle 142 moves synchronously with the support 110, and the third nozzle 142 specifically uses a cavitation jet nozzle. The third nozzle 142 faces the transmission assembly 120 and is used for cleaning sundries in the transmission assembly 120, specifically, the third nozzle 142 faces the meshing position of the gear 122 and the rack, the sundries at the meshing position of the gear 122 and the rack are washed away in water flow jet of the third nozzle 142, the phenomenon of jamming caused by the sundries when the gear 122 and the rack are meshed is avoided, and the smoothness and the efficiency of the cleaning process of the cleaning device are ensured.

This embodiment, still including sonar subassembly 150, sonar subassembly 150 can be to bottom track real-time supervision to end distance, protection cleaning device and cleaning machines people, avoid bumping with bottom track, cause the damage. Sonar assembly 150 is positioned above power element 121 and is attached to cradle 110. Specifically, sonar subassembly 150 includes workstation 151 and sonar 152, and sonar 152 is located workstation 151, workstation 151 and support 110 fixed connection, and workstation 151 can carry out the rotation of wide-angle range within, and then realizes the diversified detection of sonar 152. Workstation 151 includes first pivot 151a and second pivot 151b, and second pivot 151b links to each other with first pivot 151a is perpendicular, and first pivot 151a is followed to second pivot 151b and is rotated, and first pivot 151a realizes 360 degrees rotations of horizontal direction, and sonar 152 links to each other with second pivot 151b, and sonar 152 follows second pivot 151b and rotates, and second pivot 151b realizes the rotation of the vertical wide-angle of direction.

In this embodiment, a proximity switch (not shown) and a pull-string encoder (not shown) are also included, and the proximity switch and the pull-string encoder are connected to the support 110. Proximity switch is used for the frame of clearance robot to detect the edge, avoids cleaning device to strike the frame of both sides when the operation of clearance robot frame bottom, causes the damage to cleaning device, and stay-supported encoder is used for acquireing cleaning device's the displacement size of marcing, realizes the location to cleaning device.

The utility model provides a cleaning device embodiment for the bottom and the lintel clearance of gate, realize cleaning device reciprocating motion on the frame of clearance robot through drive assembly, realize the bottom and the lintel clearance to the gate through the clearance subassembly, realize the clearance of debris in the drive assembly through anti-sticking subassembly, avoid drive assembly to be died the stop work by the debris card at the operation in-process, ensured the smooth and easy of clearance process, and then improved cleaning efficiency.

Fig. 3-19 are schematic views of an embodiment of the underwater cleaning robot of the present invention.

Referring to fig. 3-19, an embodiment of an underwater cleaning robot for cleaning a sealing area of a lock gate 1000 of a pump room, the sealing area of the lock gate including a gate slot 1001, a door lintel 1002 and a bottom surface 1003, includes a frame 400, a guide assembly 200, a first cleaning assembly 300, and a second cleaning assembly 100, wherein the second cleaning assembly is the cleaning device of the above embodiment. The frame 400 is matched with the gate 1000 in length and width, the frame 400 is rectangular, the frame 400 includes two parallel first sides 401 and two parallel second sides 402, when the frame 400 moves in the gate slot 1001, the first sides 401 are located in the gate slot 1001, and the second sides 402 are parallel to the lintel 1002 or the bottom 1003 of the gate 1000. Guide assembly 200 links to each other with first side 401, guide assembly 200 during operation and the surperficial rolling contact of gate groove 1001, and rolling contact can reduce the frictional force of frame motion in gate groove 1001, improves the smooth and easy degree of frame 400 motion in gate groove 1001, avoids the dead phenomenon of card that causes of cleaning machines people's rocking under the rivers effect under water. Attached to the first side 401 is a first cleaning assembly 300, the first cleaning assembly 300 being used to clean the surface of the gate slot 1001. A second cleaning assembly 400 is associated with the second side edge 402, the second cleaning assembly 400 being used to clean the lintel 1002 and the bottom 1003 of the gate 1000. All closed areas of the gate 1000 are cleaned through the first cleaning assembly 300 and the second cleaning assembly 100, the sealing performance of the closed areas is ensured, and water leakage of the gate 1000 is avoided.

In this embodiment, the frame 400 is formed by combining a plurality of rods, so that the weight of the underwater cleaning robot can be reduced, and the space between the rods can be used for liquid to flow through, thereby reducing the running resistance of the underwater cleaning robot under water. The length of the first side 401 of the frame 400 is greater than the length of the second side 402, and the design that the height is greater than the length can prevent the underwater cleaning robot from inclining in the gate slot 1001, prevent the underwater cleaning robot from being jammed in the gate slot 1001, and further prevent major foreseeable accidents. The top of the frame 400 is provided with two suspension lugs 403, the number of the suspension lugs 403 is two, the suspension lugs 403 are symmetrically distributed on the top of the frame 400 by taking the center of the frame 400 as an axis, and the suspension lugs 403 are used for connecting the underwater cleaning robot with a cable hoist device.

In this embodiment, the guide assembly 200 includes a plurality of guide wheel set 201, specifically, the quantity of guide wheel set 201 in this embodiment is six, and guide wheel set 201 evenly distributed is in the first side 401 of frame, and every first side 401 distributes has three groups of guide wheel set 201, and three groups of guide wheel set 201 distribute respectively in the top, the middle part and the afterbody of first side 401. The guide wheel set 201 includes a plurality of guide wheels 10, the guide wheels 10 contact with the side and bottom surfaces of the gate slot 1001, and the guide wheels 10 are retractable guide wheels, so that when the frame 400 rocks under the action of water flow, the guide wheels 10 can correspondingly displace to offset the acting force of the water flow, as described in detail below.

Fig. 10-11 are schematic views of a first guide wheel set, which is suitable for a U-shaped gate slot 1001. The guide wheel group 201 includes a plurality of guide wheels 10 and a connecting portion 20. The connecting part 20 is used for connecting a plurality of guide wheels 10, and the connecting part 20 can be specifically a frame of an underwater cleaning robot. The guide wheel 10 includes a first guide wheel 11 for guiding the first direction, the number of the first guide wheels 11 is at least two, and the wheel surface of the first guide wheel 11 is in contact with the first surface a of the gate slot when the first guide wheel 11 operates. The first surface can be the side or the bottom surface in gate groove, and first surface an in this embodiment is the side in gate groove, and first leading wheel 11 closely laminates with the side in gate groove, realizes installing the displacement restriction of the device or the equipment of first leading wheel 11 in the inherent side direction in gate groove to play the effect of direction, avoid device or the equipment in the gate groove to rock, and then avoid the emergence of the device or the equipment operation in-process card dead phenomenon in the gate groove.

The number of the first guide wheels 11 is two, the two first guide wheels 11 are arranged in parallel, and the wheel surfaces of the two first guide wheels 11 during working are respectively contacted with the two parallel first surfaces a. The first surfaces a of the two parallels are two side edges of the U-shaped gate slot, and the two first guide wheels 11 are installed on a frame of the underwater cleaning robot and used for displacement of the frame of the underwater cleaning robot in the direction of the inner side face of the gate slot.

The guide wheel 10 further comprises a second guide wheel 12 for guiding in a second direction, the number of the second guide wheel 12 is at least one, and the wheel surface of the second guide wheel 12 is in contact with a second surface b of the gate slot when the second guide wheel is in operation, and the second surface b is perpendicular to the first surface a in the first embodiment. The gate slot in this embodiment is a U-shaped slot, wherein the first surface a is a side surface of the gate slot, and the second surface b is a bottom surface of the gate slot.

Specifically, the number of the first guide wheels 11 is two, the number of the second guide wheels 12 is one, the two first guide wheels 11 are arranged in parallel, the second guide wheels 12 are located between the two first guide wheels 11, and the second guide wheels 12 are perpendicular to the first guide wheels 11. The wheel surfaces of the two first guide wheels 11 are in contact with two parallel first surfaces a respectively when in operation, and the wheel surfaces of the second guide wheels 12 are in contact with a second surface b when in operation. The first guide wheel 11 and the second guide wheel 12 are installed on a frame of the underwater cleaning robot and used for displacement of the frame of the underwater cleaning robot in the directions of the inner side surface and the bottom surface of the gate slot.

If the type of the gate slot is replaced with the T-shaped slot 1001, as shown in fig. 12 to 13, the number of the first guide wheels 11 is two, the number of the second guide wheels 12 is two, the two first guide wheels 11 are arranged in parallel, the two second guide wheels 12 are arranged in parallel, the first guide wheels 11 and the second guide wheels 12 are perpendicular to each other, and the first guide wheels 11 are located between the two second guide wheels 12. A partition board is arranged in the T-shaped groove, two first guide wheels 11 are respectively in contact with two side faces of the partition board, and two second guide wheels 12 are positioned on two sides of the partition board and are respectively in contact with the bottom face of the gate groove. The first guide wheel 11 and the second guide wheel 12 are installed on a frame of the underwater cleaning robot and used for displacement of the frame of the underwater cleaning robot in the directions of the inner side surface and the bottom surface of the gate slot.

Fig. 14-16 are schematic views of the guide wheel in this embodiment. The guide wheel 10 includes a support portion 210, an elastic portion 220, a rolling portion 230, and a mounting portion 240. Wherein, the supporting portion 210 is used for the support of elastic part 220 and rolling part 230, and elastic part 220 is located the side of rolling part 230, can reduce installation space for the leading wheel volume reduces, therefore the leading wheel can be applicable to the use in narrow and small space, is used for the direction of underwater cleaning robot in the gate slot for example. The elastic part 220 is connected to the rolling part 230, and the rolling part 230 can move in the supporting part 210 by a certain amount under the elastic force of the elastic part 220, thereby improving the flexibility of the guide wheel. The mounting part 240 is connected to the supporting part 210, and the mounting part 240 is used for connecting the guide wheel to the underwater cleaning robot.

In this embodiment, the supporting portion 210 includes a through installation space 211, the installation space 211 is a cylindrical structure with two ends penetrating through and being sealed around, the installation space 211 is used for installing the rolling portion 230, the rolling portion 230 rolls in the installation space 211, a groove 212 is arranged on a side surface of the installation space 211, the groove 212 is used for installing the elastic portion 220, and the structure of the supporting portion 210 is adapted to the structure of the elastic portion 220 located on the side surface of the rolling portion 230.

In this embodiment, the rolling part 230 includes a wheel body 231 and a rotating shaft 232. The wheel body 230 is a conventional circular wheel, the rotating shaft 232 passes through the center of the wheel body 231, the wheel body 231 rotates with the rotating shaft 232 as a rotating center, the wheel body 231 is located in the installation space 211, the rotating shaft 232 extends into the groove 212 of the supporting portion 210 and is further connected with the elastic portion 220 in the groove 212, and the rotating shaft 232 can generate a certain displacement in the groove 212 under the action of the elastic portion 220, so as to drive the wheel body 231 connected with the rotating shaft 232 to generate a corresponding displacement in the installation space 211. Moreover, the diameter of the wheel body 231 is greater than the width between the openings at the two ends of the mounting space 211, so as to ensure that the outer diameter surface of the wheel body 231 always extends out of the openings at the two ends of the mounting space 211, so that the wheel body 231 always contacts with the working surface during the use and work of the guide wheel, and the working surface may be the surface of a gate slot.

In this embodiment, the elastic portion 220 includes a guiding post 221 and a spring 222, the guiding post 221 is fixed in the groove 212, the guiding post 221 penetrates through a rotating shaft 232 located in the groove 212, the rotating shaft 232 can reciprocate along the guiding post 221, the spring 222 is sleeved on the guiding post 221, one end of the spring 222 is fixedly connected with the rotating shaft 232, and the other end of the spring 222 is fixedly connected with the surface of the groove 212. In this embodiment, the number of the elastic portions 220 is two, and the two elastic portions are respectively located at two sides of the rolling portion 230 and symmetrically arranged, so that the rolling portion 230 is more uniformly stressed and is not easily damaged. When the wheel body 231 is acted by an external force, the rotating shaft 232 moves synchronously along with the wheel body 231, the rotating shaft 232 displaces along the guide post 221 so as to stretch or compress the spring 222 connected with the rotating shaft, and when the external force disappears, the wheel body 231 restores to the original position under the elastic action of the spring 222 so as to complete the guiding and limiting functions. Use the clearance robot under water as an example, the clearance robot is used for the clearance in gate groove under water, the leading wheel is installed on the clearance robot under water, a direction when being used for the clearance robot to move in the gate groove under water, leading wheel and gate groove surface contact, the clearance robot meets the rivers effect when rocking under water at underwater work, because the leading wheel has deformability and can follow the clearance robot under water and rock, the power of shaking of balanced rivers effect, avoid the jam of clearance robot motion in the gate groove under water, guarantee the smoothness nature of clearance process. In other embodiments, the arrangement mode may be different, the spring 222 is sleeved on the guiding post 221, one end of the spring 222 is fixedly connected to the rotating shaft 232, the other end of the spring 222 is fixedly connected to the surface of the groove 212, one end of the guiding post 221 is fixedly connected to the rotating shaft 232 extending into the groove 212, the other end of the guiding post 221 is movably connected to the surface of the groove 212, and the guiding post 221 can pass through the surface of the groove 2212 to perform telescopic movement.

In this embodiment, the mounting portion 240 is located at a side of the mounting space 211 or at an opening side of the mounting space 211 to adapt to mounting at different angles. The mounting portion 240 includes a mounting step 241, and a screw hole is provided on the mounting step 241.

In this embodiment, the first cleaning assembly 300 includes a third pipeline 301, the power pump is connected to the initial section of the third pipeline 301, the last section of the third pipeline 301 is horizontally attached to the frame 400, the last section is located at the bottom of the first side 401, the last section of the third pipeline 301 is connected to the fourth nozzle 302 and the fifth nozzle 303, the fourth nozzle 302 faces the side surface of the gate slot, the fifth nozzle 303 faces the bottom surface of the gate slot, the spraying direction of the fourth nozzle 302 is the side surface of the gate slot, and the spraying direction of the fifth nozzle 303 is the bottom surface of the gate slot.

In this embodiment, the second cleaning assembly 100 is located at the bottom of the frame 400 as shown for cleaning the lintel 1002 and the bottom 1003 of the door 1000.

In this embodiment, the cleaning device further includes a drag chain 450, the drag chain 450 is connected to the second cleaning assembly 100, the drag chain 450 is used for accommodating the first pipeline, the second pipeline and the line, and the drag chain 450 moves in a telescopic manner along with the second cleaning assembly 100. The tow chain 450 serves to house and protect the line pipes.

In this embodiment, the illumination assembly 500 and the camera assembly 600 are further included, the illumination assembly 500 and the camera assembly 600 are distributed on the first cleaning assembly 300 and the second cleaning assembly 400, and the camera assembly 600 is used for acquiring an image of a gate slot, an image of a gate lintel or an image of a gate bottom. The number of the camera assemblies 600 is six, two of the camera assemblies are respectively arranged at the front end and the rear end of the support 410 and fixedly connected with the support 410, and are used for acquiring images of a gate lintel or the bottom of the gate lintel, so that the cleaning condition and the operation state of the cleaning device are judged, and the rest four camera assemblies are distributed on the first side 401 of the frame 400 and are located in the adjacent area with the first cleaning assembly 300 and are used for acquiring images of a gate slot. Correspondingly, the number of the illumination assemblies 500 is six, and the illumination assemblies are arranged corresponding to the camera assembly 600 and used for illuminating and providing illumination for the camera assembly 600 to obtain a clear image.

Specifically, as shown in fig. 17-19, camera assembly 600 includes a housing 610, a camera assembly 620, and a convex arc mask 630. The casing 610 and the convex arc surface cover 630 form a closed space, the camera module 620 is located in the closed space, the convex arc surface cover 630 is a light-transmitting body, and the camera module 620 obtains underwater images through the convex arc surface cover 630. The convex arc mask 630 is embodied as a semicircular glass cover. The camera assembly 620 is installed on the underwater cleaning robot, and when the camera assembly moves along with the underwater cleaning robot, the convex arc mask 630 can remove peripheral sundries in the moving process, so that the phenomenon that the imaging effect is influenced due to the fact that the underwater sundries are accumulated in front of the camera assembly 620 is avoided.

The camera assembly 620 includes a camera 621, a base 622, a rotation assembly 623, a control assembly 626, a telescoping assembly 624, and a communication assembly 625. The camera 621 and the convex arc mask 630 are arranged oppositely, and the camera 621 can extend into a space surrounded by the convex arc mask 630, so that the visual field range of the camera 621 can be enlarged. The rotating assembly 623 is fixedly connected with the bottom of the housing 610, the rotating assembly 623 is connected with the base 622, the rotating assembly 623 drives the base 622 to rotate, the base 622 is connected with the telescopic assembly 624, and the telescopic assembly 624 is connected with the camera 621. The rotating component 623 drives the base 622 to rotate, and then drives the camera 621 on the base 622 to rotate, so as to realize pitching adjustment of the camera 621, and the adjustment angle range is 90 °. The telescopic assembly 624 drives the camera 621 to perform telescopic motion to realize zooming, and can remotely control 5 times of optical zooming, wherein the telescopic assembly 624 is specifically a two-phase four-wire stepping micro motor in this embodiment. A control assembly 626 is provided on the base 622, the control assembly 626 is connected to the camera 621, the rotating assembly 623 and the telescoping assembly 624 respectively, and the control assembly 626 is used for controlling and processing data of each assembly. A communication component 625 is provided on the base 622, and the communication component 625 is connected to a control component 626 for communication with the camera device.

Specifically, the rotating assembly 623 in this embodiment includes a power element 623a and a rotating element 623b, wherein the power element 623a is fixedly connected to the bottom of the housing 610, the power element 623a is connected to the rotating element 623b, the power element 623a drives the rotating element 623b to rotate, and the rotating element 623b is connected to the base 622. In this embodiment, the power member 623a specifically includes a metal miniature speed reducer and a non-contact magnetic-inductive position sensor, and has the advantages of high precision and small size.

In this embodiment, an auxiliary lighting assembly (not shown) is further included, the auxiliary lighting assembly (not shown) is located in the housing 610, and light emitted by the auxiliary lighting assembly is irradiated to the convex arc mask 630. The LED lamp beads with the color temperature of 300K-5000K are used as the lighting light source of the auxiliary lighting assembly, the color restoration effect on the underwater image is best, and the resolution ratio on the background details of the underwater image is highest. The single illumination intensity was 5000 lumens, and the lamp intensity was controlled by PWM using constant current drive. Each lamp is individually controlled by a control system. According to the water quality condition and the video image quality effect under the actual working environment, the light intensity of the lamp can be linearly adjusted from 0 to 100 percent, the reflected light intensity of suspended matters is reduced, and the underwater imaging quality is improved.

In this embodiment, the apparatus further includes a filter assembly 640, and the filter assembly 640 processes the optical signal acquired by the camera 621. An optical filter with high green light frequency band transmittance is adopted as photosensitive automatic switching, so that the image definition in an underwater environment is improved. The utility model discloses the visual distance of camera device test exceeds 3m in indoor swimming pool clean water environment. The image processing chip is a domestic Hua Haisi processor, realizes the real-time transmission of 1080P color high-definition images, and has the transmission bandwidth of 100Mbit/s.

In this embodiment, a watertight plug cable 650 is further included, and the data transmission line of the camera module 620 is connected out of the casing 610 through the watertight plug cable 650, so as to ensure the sealing of the space in the casing 610. The bottom of the shell 610 is provided with a bottom cover, a sealing gasket 611 is arranged at the joint of the bottom cover and the shell 610, the sealing gasket 611 is arranged at the joint of the shell 610 and the convex arc mask 630, and the sealing effect is improved through the sealing gasket 611.

In this embodiment, the system further includes an inertial navigation system (not shown), where the inertial navigation system is used to obtain the posture of the frame 400, and when the posture of the frame 400 is abnormal, the inertial navigation system is adjusted in time through the cable suspension device to prevent an accident.

The utility model also provides an embodiment of clearance system under water, including the clearance robot under water in messenger device, bank base subassembly and the above-mentioned embodiment, messenger device be used for with clearance robot under water puts in to under water or retrieves to the bank base from under water, and clearance robot clears up gate both sides gate slot, lintel and bottom under water, and bank base subassembly is used for controlling clearance robot and messenger device under water, bank base subassembly with clearance robot under water communicates.

Fig. 20 is a flowchart of the working process of the cleaning robot of the present invention.

Please refer to fig. 20, which includes the following steps:

s100, a first cleaning step

In the descending process of the underwater cleaning robot, the first cleaning assembly cleans gate slots on two sides of the gate.

S200, a second cleaning step

The second cleaning component cleans a door lintel of the gate.

S300, a third cleaning step

The second clearance subassembly is cleared up the bottom of gate.

S400, posture adjustment step

The attitude of the underwater cleaning robot is adjusted by combining the inertial navigation system with the cable hanging device.

Specifically, in the first cleaning step S100, the underwater cleaning robot is transported underwater by the cable suspension device, and after aligning with the gate slot, the underwater cleaning robot moves downward along the gate slot, and simultaneously the first cleaning assembly starts to work to clean the gate slot.

In this embodiment, the second cleaning step S200 further includes a first determining step S101, where the first determining step S101 specifically includes: judging whether a second cleaning component of the underwater cleaning robot reaches a first preset position or not through a sonar component, a camera component and a depth detector, if so, suspending the first cleaning step S100 and executing a second cleaning step S200. The first preset position in the embodiment is a door lintel of the gate, and if the underwater cleaning robot is judged to descend to the position of the door lintel through the sonar component, the camera component and the depth detector, the cleaning robot is stopped to descend, the first cleaning component is stopped to work, the second cleaning component is started, and the door lintel is cleaned.

Further, the second cleaning step S200 further includes a fourth determining step S201, and the fourth determining step S201 includes: judging whether a door lintel of the gate is cleaned up through the camera shooting assembly, if not, repeatedly executing the second cleaning step S200 until the door lintel is cleaned up, if so, stopping the second cleaning step S200, executing the first cleaning step S100, continuing to move the cleaning robot downwards, and restarting the first cleaning assembly to clean the gate slot.

In this embodiment, the third cleaning step S300 further includes a second determining step S202 before the third cleaning step S202, and the second determining step S202 includes: judging whether a second cleaning component of the underwater cleaning robot reaches a second preset position or not through the sonar component, the camera component and the depth detector, pausing the first cleaning step S100 if the second cleaning component reaches the second preset position, and executing a third cleaning step S300. Second preset position in the embodiment is the bottom of gate, if judge through sonar subassembly, subassembly and the depth detector of making a video recording that clearance robot under water is down to being close the bottom position, then stop that clearance robot is down to the work of stopping first clearance subassembly starts second clearance subassembly, begins the clearance to the bottom.

The third cleaning step S300 performs a fourth cleaning step S301 while cleaning, and the fourth cleaning step S301 cleans the transmission assembly in the second cleaning assembly. Drive assembly in the second clearance subassembly is cleared up through anti-sticking subassembly, avoids drive assembly because aquatic debris cause the bite, influences cleaning efficiency. In particular to a method for cleaning the meshing part of a gear and a rack in a transmission component through an anti-blocking component.

Further, the third cleaning step S300 further includes a fifth judging step S302, and the fifth judging step S302 includes: and judging whether the bottom of the gate is cleaned up or not through the camera shooting assembly, if not, repeatedly executing the third cleaning step S300 until the gate is cleaned up, and if so, stopping the third cleaning step S300.

In this embodiment, a third determining step S102 is further included, where the third determining step S102 includes: whether the gate slots on the two sides of the gate are cleaned up or not is judged through the camera shooting assembly, if not, the underwater cleaning robot moves upwards for a certain distance, and the first cleaning step S100 is repeatedly executed until the gate slots are cleaned up.

In this embodiment, still including input step and recovery step, input step through the hoist cable with the clearance robot under water and input to under water to control clearance robot under water along the motion of gate slot, retrieve the step and retrieve to on water to clearance robot under water after clearance robot under water clears up.

In this embodiment, the posture adjusting step S400 includes: and judging whether the deviation of the posture of the underwater cleaning robot in the gate slot and the preset posture meets a preset value or not, and if not, adjusting the posture of the underwater cleaning robot. The attitude parameters specifically comprise parameters such as the inclination angle of the underwater cleaning robot, and the attitude of the underwater cleaning robot is timely adjusted through the cable hanging device, so that the underwater cleaning robot is prevented from being jammed underwater and accidents are avoided.

The above only be the preferred embodiment of the utility model discloses a not consequently restriction the utility model discloses a patent range, all are in the utility model discloses a conceive, utilize the equivalent structure transform of what the content was done in the description and the attached drawing, or direct/indirect application all is included in other relevant technical field the utility model discloses a patent protection within range.

Claims

1. The cleaning device is applied to an underwater cleaning robot and used for cleaning the bottom or the lintel of a gate and is characterized by comprising a support, a transmission assembly, a cleaning assembly and an anti-blocking assembly, wherein the cleaning assembly is arranged on the support, the transmission assembly is connected with the support, the transmission assembly drives the support and the cleaning assembly to reciprocate, the cleaning assembly cleans the bottom or the lintel of the gate, the anti-blocking assembly is connected with the support, and the anti-blocking assembly acts on the transmission assembly and is used for cleaning the transmission assembly.

2. A cleaning device as claimed in claim 1, in which the drive assembly comprises a power element, a gear and wheels, the power element being located on the support, the power element being connected to the gear, the gear engaging a rack in the cleaning robot, and the wheels being located on either side of the support and connected to the support.

3. A cleaning device as claimed in claim 2, in which the power element is an underwater brushless motor.

4. A cleaning device as claimed in claim 1, wherein the cleaning assembly comprises a first conduit, a first spray head and a second spray head, the first conduit having a beginning section communicating with the power pump and a last section communicating with the first spray head and the second spray head;

5. A cleaning device as claimed in claim 2, in which the anti-seize assembly comprises a second conduit having an initial section in communication with the power pump and a final section in communication with a third spray head, the third spray head being directed towards the drive assembly, the third spray head following the carriage in synchronised movement.

6. A cleaning appliance as claimed in claim 5, wherein the third nozzle is directed towards the engagement of the gear with the rack.

7. A cleaning device as claimed in claim 1, further comprising an illumination assembly and a camera assembly, the illumination assembly and camera assembly being connected to the frame.

8. A cleaning device according to claim 1, further comprising a sonar assembly, said sonar assembly being located above said drive assembly and connected to said support;

9. A cleaning apparatus in accordance with claim 1, further comprising a proximity switch and a pull-string encoder, the proximity switch and the pull-string encoder connected to the carriage, the proximity switch for detecting the edge, the pull-string encoder for obtaining the magnitude of the carriage's travel displacement.

10. An underwater cleaning robot for cleaning a gate slot of a pump room, comprising a frame and a cleaning device as claimed in any one of claims 1 to 9, wherein the cleaning device is arranged on the frame, and the frame is provided with a groove for installing and positioning the cleaning device.