CN218806453U - Guide wheel subassembly and underwater cleaning robot - Google Patents

Abstract

The utility model relates to a transmission technical field has and relates to a leading wheel subassembly and clearance robot under water, and the leading wheel subassembly includes a plurality of leading wheel and connecting portion, a plurality of leading wheel is connected to connecting portion, the leading wheel is including the first leading wheel that is used for the direction of first direction, the quantity of first leading wheel is two at least, the wheel face of first leading wheel during operation and the first surface contact in floodgate groove. The utility model provides a leading wheel subassembly includes two at least first leading wheels to first leading wheel closely laminates with the side or the bottom surface in gate groove, realizes installing the device or the equipment of first leading wheel subassembly in the displacement restriction of the inherent side of gate groove or bottom surface direction, thereby plays the effect of direction, avoids device or equipment in the gate groove to rock, and then avoids the device in the gate groove or the emergence of the dead phenomenon of equipment operation in-process card.

Description

Guide wheel subassembly and underwater cleaning robot

Technical Field

The utility model relates to a transmission technical field has and relates to a leading wheel subassembly and clearance robot under water.

Background

A sluice gate is a gate used for underwater sealing and insulation. The sealing of the gate is mainly formed by extruding sealing strips around the side, close to the water inflow lower stream, of the gate by seawater pressure, and the sealing area of the gate is mainly provided with two side tracks, close to the side of the sealing strips of the gate, a lintel and the bottom of the gate. The sealing area of the water gate is underwater, so a great 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 pumping 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, and shellfish organisms in seawater are adhered to the sealing area of the gate in a great amount, so that the water gate cannot be closed in place, the sealing area cannot be effectively sealed, and further water body leakage is caused.

The sealing area of the sluice gate, the gate channel, the lintel and the bottom of the gate therefore need to be cleaned regularly. Existing cleaning methods include manual cleaning and robotic cleaning. Wherein artifical clearance time is long to there is safe risk in clearance personnel underwater clearance, and there is poor stability in current robot clearance then, blocks easily dead at the removal process, and one of the dead reason of easy card is because the direction mode flexibility of slider is poor.

SUMMERY OF THE UTILITY MODEL

In view of the foregoing disadvantages of the prior art, a first object of the present invention is to provide a guide wheel assembly for flexible guiding of an underwater robot.

The scheme is as follows:

the utility model provides a leading wheel subassembly for direction of cleaning machines people under water, includes a plurality of leading wheel and connecting portion, a plurality of leading wheel is connected to connecting portion, the leading wheel is including the first leading wheel that is used for the direction of first direction, the quantity of first leading wheel is two at least, the wheel face of first leading wheel during operation and the first surface contact in gate groove.

Furthermore, the number of the first guide wheels is two, the two first guide wheels are arranged in parallel, and wheel surfaces of the two first guide wheels during working are respectively in contact with the two parallel first surfaces.

Furthermore, the guide wheels further comprise second guide wheels for guiding in a second direction, the number of the second guide wheels is at least one, the wheel surface of the second guide wheels during working is in contact with the second surface of the gate slot, and the first surface is perpendicular to the second surface.

Furthermore, the number of the first guide wheels is two, the number of the second guide wheels is one, the two first guide wheels are arranged in parallel, the second guide wheels are positioned between the two first guide wheels, and the second guide wheels are perpendicular to the first guide wheels.

Furthermore, the number of the first guide wheels is two, the number of the second guide wheels is two, the two first guide wheels are arranged in parallel, the two second guide wheels are arranged in parallel, the first guide wheels are perpendicular to the second guide wheels, and the first guide wheels are located between the two second guide wheels.

Further, the guide wheel comprises a supporting part, an elastic part, a rolling part and a mounting part;

the supporting part is used for supporting the elastic part and the rolling part;

the elastic part is positioned on the side surface of the rolling part and is connected with the rolling part;

the rolling part is a rotating component, and the position of the rotating center of the rolling part can be changed through the elastic part;

the installation department with the supporting part links to each other, the installation department is used for leading wheel and underwater cleaning robot's being connected.

Further, the supporting part comprises a through installation space, the installation space is used for installing the rolling part, a groove is formed in the side face of the installation space, and the groove is used for installing the elastic part.

Furthermore, the rolling part comprises a wheel body and a rotating shaft, the rotating shaft penetrates through the wheel body, the wheel body rotates by taking the rotating shaft as a rotating center, and the rotating shaft extends into the groove.

Furthermore, the elastic part comprises a guide post and a spring, the guide post is fixed in the groove, the guide post penetrates through a rotating shaft located in the groove, the rotating shaft can reciprocate along the guide post, the spring is sleeved on the guide post, one end of the spring is fixedly connected with the rotating shaft, and the other end of the spring is fixedly connected with the surface of the groove.

Correspondingly, the underwater cleaning robot is used for cleaning the gate slot of the pump room and comprises a frame and the guide wheel assembly, wherein the guide wheel assembly is connected with the frame, and the guide wheel assembly is in contact with the surface of the gate slot during operation.

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

the utility model provides a leading wheel subassembly includes two at least first leading wheels to first leading wheel closely laminates with the side or the bottom surface in gate groove, realizes installing the device or the equipment of first leading wheel subassembly in the displacement restriction of the inherent side of gate groove or bottom surface direction, thereby plays the effect of direction, avoids device or equipment in the gate groove to rock, and then avoids the device in the gate groove or the emergence of the dead phenomenon of equipment operation in-process card.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art 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 first guide wheel set according to an embodiment of the present invention;

fig. 2 is a schematic view of a U-shaped groove inner guide wheel set according to an embodiment of the present invention;

fig. 3 is a schematic view of a second guide wheel set according to the embodiment of the present invention;

fig. 4 is a schematic view of a guide wheel set in a T-shaped groove according to an embodiment of the present invention;

fig. 5 is a schematic structural view of a guide wheel according to an embodiment of the present invention;

fig. 6 is a top view of the guide wheel according to the embodiment of the present invention;

fig. 7 is a side view of a guide wheel according to an embodiment of the present invention;

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

fig. 9 is a schematic view of the underwater cleaning robot according to the embodiment of the present invention;

FIG. 10 is an enlarged view of a portion of FIG. 8;

fig. 11 is another view of the underwater cleaning robot according to the embodiment of the present invention;

FIG. 12 is an enlarged view of a portion of FIG. 11;

fig. 13 is a cross-sectional view of an underwater cleaning robot in accordance with an embodiment of the present invention;

FIG. 14 is an enlarged partial view of FIG. 13;

FIG. 15 is a schematic view of a second cleaning assembly according to an embodiment of the present invention;

figure 16 is a side view of a second cleaning assembly in accordance with 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:

10-a guide wheel; 11-a first guide wheel; 12-a second guide wheel; 20-a connecting part; 100-a guide assembly; 101-a guide wheel set; 110-a support; 111-installation space; 112-a groove; 120-an elastic portion; 121-guide posts; 122-a spring; 130-a rolling section; 131-a wheel body; 132-a rotating shaft; 140-a mounting portion; 141-mounting a step; 200-a frame; 201-a first side; 202-a second side; 203-hanging lifting lugs; 204-rack; 205-a guide rail; 300-a first cleaning assembly; 301-a first conduit; 302-a first spray head; 303-a second spray head; 400-a second cleaning assembly; 410-a stent; 411-a through hole; 420-a transmission assembly; 421-a power element; 422-gear wheel; 423-wheels; 430-a cleaning assembly; 431-a second conduit; 432-a third spray head; 433-a fourth spray head; 440-an anti-seize assembly; 441-third pipeline; 442-fifth showerhead; 450-a tow chain; 460-sonar components; 461-a workbench; 461 a-first rotating shaft; 461 b-second rotating shaft; 462-sonar; 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-a motive element; 623 b-a rotating member; 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 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 a first embodiment of the guide wheel assembly of the present invention.

Referring to fig. 1-2, there is shown a first embodiment of a steerable wheel assembly for use in steering an underwater cleaning robot, the first embodiment comprising a plurality of steerable wheels 10 and a coupling 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 in a first direction, the number of the first guide wheels 11 is at least two, and the wheel surface of the first guide wheel 11 contacts with the first surface a of the gate slot when in operation. 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.

In this embodiment, 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 operation are respectively in contact 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, in which 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 in this embodiment 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 the two parallel first surfaces a respectively, and the wheel surfaces of the second guide wheels 12 are in contact with the second surfaces b respectively. 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 in this embodiment is replaced with a T-shaped slot, as shown in fig. 3 to 4, 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, and 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 located on two sides of the partition board and 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.

The utility model provides a leading wheel subassembly embodiment includes two at least first leading wheels to first leading wheel closely laminates with the side or the bottom surface in gate groove, realizes installing the device or the equipment of first leading wheel subassembly in the displacement restriction of the inherent side of gate groove or bottom surface direction, thereby plays the effect of direction, avoids device or equipment in the gate groove to rock, and then avoids the device in the gate groove or the emergence of the dead phenomenon of equipment operation in-process card.

As shown in fig. 5-7, are schematic structural views of the guide wheel in the above embodiments.

Referring to fig. 5-7, an embodiment of a guide wheel is shown, which includes a support portion 110, an elastic portion 120, a rolling portion 130 and a mounting portion 140. Wherein, the supporting portion 110 is used for supporting the elastic portion 120 and the rolling portion 130, the elastic portion 120 is located at the side of the rolling portion 130, the installation space can be reduced, and the volume of the guide wheel is reduced, so that the guide wheel can be suitable for being used in a narrow space, for example, for guiding an underwater cleaning robot in a gate slot. The elastic part 120 is connected to the rolling part 130, and the rolling part 130 can move in the supporting part 110 to a certain extent under the elastic force of the elastic part 120, thereby improving the flexibility of the guide wheel. The mounting part 140 is connected to the supporting part 110, and the mounting part 140 is used for connecting the guide wheel to the underwater cleaning robot.

In this embodiment, the supporting portion 110 includes a through installation space 111, the installation space 111 is a cylindrical structure with two ends penetrating through and being closed at the periphery, the installation space 111 is used for installing the rolling portion 130, the rolling portion 130 rolls in the installation space 111, a groove 112 is formed in the side surface of the installation space 111, the groove 112 is used for installing the elastic portion 120, and the structure of the supporting portion 110 is adapted to the structure of the elastic portion 120 located on the side surface of the rolling portion 130.

In this embodiment, the rolling part 130 includes a wheel body 131 and a rotating shaft 132. The wheel body 130 is a conventional circular wheel, the rotating shaft 132 penetrates through the center of the wheel body 131, the wheel body 131 rotates with the rotating shaft 132 as a rotation center, the wheel body 131 is located in the installation space 111, the rotating shaft 132 extends into the groove 112 of the supporting portion 110 and is connected with the elastic portion 120 in the groove 112, the rotating shaft 132 can generate a certain displacement in the groove 112 under the action of the elastic portion 120, and then the wheel body 131 connected with the rotating shaft 132 is driven to generate a corresponding displacement in the installation space 111. Moreover, the diameter of the wheel body 131 is larger than the width between the openings at the two ends of the installation space 111 to ensure that the outer diameter surface of the wheel body 131 always extends out of the openings at the two ends of the installation space 111, so that the wheel body 131 always contacts with a 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 120 includes a guiding post 121 and a spring 122, the guiding post 121 is fixed in the groove 112, the guiding post 121 penetrates through a rotating shaft 132 located in the groove 112, the rotating shaft 132 can reciprocate along the guiding post 121, the spring 122 is sleeved on the guiding post 121, one end of the spring 122 is fixedly connected with the rotating shaft 132, and the other end of the spring is fixedly connected with the surface of the groove 112. In this embodiment, the number of the elastic portions 120 is two, and the two elastic portions are respectively located at two sides of the rolling portion 130 and symmetrically arranged, so that the rolling portion 130 is more uniformly stressed and is not easily damaged. When the wheel body 131 receives an external force, the rotating shaft 132 moves synchronously with the wheel body 131, the rotating shaft 132 displaces along the guide post 121 to stretch or compress the spring 122 connected thereto, and when the external force disappears, the wheel body 131 recovers to the original position under the elastic action of the spring 122 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 122 is sleeved on the guide post 121, one end of the spring 122 is fixedly connected to the rotating shaft 132, the other end of the spring 122 is fixedly connected to the surface of the groove 112, one end of the guide post 121 is fixedly connected to the rotating shaft 132 extending into the groove 112, the other end of the guide post 121 is movably connected to the surface of the groove 112, and the guide post 121 can pass through the surface of the groove 112 to perform telescopic movement.

In this embodiment, the mounting part 140 is located at a side of the mounting space 111 or at an opening side of the mounting space 111 to adapt to mounting at different angles. The mounting portion 140 includes a mounting step 141, and a screw hole is formed on the mounting step 141.

Fig. 8-19 are schematic views of an embodiment of the underwater cleaning robot of the present invention.

Referring to fig. 8-19, an embodiment of an underwater cleaning robot for cleaning a sealing area of a pump room gate 1000, the sealing area of the gate including a gate slot 1001, a gate header 1002 and a bottom surface 1003, includes a guide assembly 100, a frame 200, a first cleaning assembly 300, and a second cleaning assembly 400. The frame 200 is matched with the gate 1000 in length and width, the frame 200 is rectangular, the frame 200 includes two parallel first sides 201 and two parallel second sides 202, when the frame 200 moves in the gate slot 1001, the first sides 201 are located in the gate slot 1001, and the second sides 202 are parallel to the lintel 1002 or the bottom 1003 of the gate 1000. Guide assembly 100 links to each other with first side 201, guide assembly 100 during operation and the surperficial rolling contact in 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 200 motion in gate groove 1001, avoids under water to clear up the phenomenon of dying of the card that the robot rocked the cause under the rivers effect. A first cleaning assembly 300 is attached to the first side 201, the first cleaning assembly 300 being used to clean the surface of the gate slot 1001. A second cleaning assembly 400 is coupled to the second side 202, the second cleaning assembly 400 being adapted to clean a lintel 1002 and a 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 400, the sealing performance of the closed areas is ensured, and water leakage of the gate 1000 is avoided.

In this embodiment, the frame 200 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 edge 201 of the frame 200 is greater than the length of the second side edge 202, 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 foreseeable major accidents. The top of the frame 200 is provided with two suspension lugs 203, the number of the suspension lugs 203 is two, the suspension lugs 203 are symmetrically distributed on the top of the frame 200 by taking the center of the frame 200 as an axis, and the suspension lugs 203 are used for connecting the underwater cleaning robot with a cable hoist device.

In this embodiment, the guide assembly 100 includes a plurality of guide wheel assembly 101, and specifically, the quantity of guide wheel assembly 101 in this embodiment is six groups, and guide wheel assembly 101 evenly distributed has three groups of guide wheel assemblies 101 in the first side 201 of frame, and every first side 201 distributes and has three groups of guide wheel assemblies 101, and three groups of guide wheel assemblies 101 distribute respectively in top, middle part and the afterbody of first side 201. The guide wheel assembly 101 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 200 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.

In this embodiment, the first cleaning assembly 300 includes a first pipeline 301, the power pump is connected to the initial section of the first pipeline 301, the last section of the first pipeline 301 is horizontally attached to the frame 200, the last section is located at the bottom of the first side 201, the last section of the first pipeline 301 is connected to the first nozzle 302 and the second nozzle 303, the first nozzle 302 faces the side surface of the gate slot, the second nozzle 303 faces the bottom surface of the gate slot, the spraying direction of the first nozzle 302 is the side surface of the gate slot, and the spraying direction of the second nozzle 303 is the bottom surface of the gate slot.

In this embodiment, as shown in fig. 15-16, the second cleaning assembly 400 is located at the bottom of the frame 200 for cleaning the lintel 1002 and the bottom 1003 of the door 1000. The second cleaning assembly 400 includes a bracket 410, a drive assembly 420, a cleaning assembly 430, and an anti-seize assembly 440. Wherein, the bracket 410 is used for supporting and connecting the driving assembly 420, the cleaning assembly 430 and the anti-jamming assembly 440. The driving assembly 420 is used for driving the bracket 410 and related assemblies connected with the bracket 410 to reciprocate in the water. The cleaning assembly 430 cleans the bottom or the lintel of the gate, and under the driving of the transmission assembly 420, the cleaning assembly 430 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. Anti-sticking subassembly 440 links to each other with support 410, and anti-sticking subassembly 440 follows support 410 and clearance subassembly 430 synchronous motion under drive assembly 420's effect, and anti-sticking subassembly 440 acts on drive assembly 420, clears up the debris that drive assembly 420 ran the in-process, avoids during debris card income drive assembly 420, avoids drive assembly 420 to stop because the work that debris caused, can ensure clearance subassembly 430's work efficiency.

Specifically, the bracket 410 in this embodiment is rectangular, and the width of the bracket 410 is adapted to the width of the bottom of the cleaning robot. The bracket 410 is made of a corrosion-resistant material to adapt to work underwater, especially in a seawater environment. The bracket 410 has a plurality of through holes 411 on the surface thereof for water to pass through, thereby reducing the amount of resistance and also reducing the weight of the bracket 410 itself, thereby reducing the carrying burden of the driving assembly 420.

In this embodiment, the transmission assembly 420 includes a power element 421, a gear 422, and wheels 423. The power element 421 is an underwater dc brushless motor, the bearing is a seawater corrosion resistant ceramic bearing, and the motor is designed to be waterproof, and can work normally in an environment with a 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 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 421 is located above the support 410 and is fixedly connected to the support 410, a power output end of the power element 421 faces downward, and the power output end is connected to the gear 422 to drive the gear 422 to rotate. The gear 422 is positioned between the power element 421 and the support 410, the gear 422 is horizontally arranged, the end surface of the gear 422 is parallel to the horizontal plane, and the tooth grooves are vertical, so that sundries in water are not easy to accumulate in the tooth grooves. The gear 422 is engaged with the rack 204 arranged at the bottom of the cleaning robot, the power element 421 drives the gear 422 to rotate, the gear 422 moves along the rack, and the bracket 410 and the related components connected with the bracket 410 are further driven to move at the bottom of the cleaning robot. The number of the wheels 423 in this embodiment is four, the wheels 423 are distributed on two side edges of the support 410, in the transmission process of the gear 422 and the rack, the wheels 423 roll in the guide rail 205 at the bottom of the cleaning robot, the guide rail 205 is parallel to the rack, and the wheels 423 have the function of supporting the support 410 and the function of limiting the movement direction of the support 410 at the bottom of the cleaning robot.

In this embodiment, the cleaning assembly 430 includes a second pipeline 431, a third spray head 432 and a fourth spray head 433, the starting section of the second pipeline 431 is communicated with a power pump, the power pump is located on a shore base, specifically, a cavitation power pump is adopted, the tail section of the second pipeline 431 is communicated with the third spray head 432 and the fourth spray head 433, and the third spray head 432 and the fourth spray head 433 move synchronously along with the support 410.

Specifically, the last section of the second pipeline 431 is located below the bracket 410 and is arranged in parallel with the bracket 410, and the last section of the second pipeline 431 is composed of two sections of pipelines which are arranged in parallel. One of them section pipeline is connected with third shower nozzle 432, and the quantity of third shower nozzle 432 is two, distributes in the fore-and-aft direction of support, and third shower nozzle 432 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 fourth spray heads 433, the number of the fourth spray heads 433 is two, the four spray heads 433 are distributed in the front-back direction of the support, the fourth spray heads 433 face the lintel of the gate, and the spraying direction is the horizontal direction and is used for cleaning the lintel of the gate. The number of the third spray heads 432 and the fourth spray heads 433 in this embodiment can be selected according to actual situations, and is not limited to two, and the number in this embodiment is only used for illustration.

In this embodiment, the tail end of the second pipeline 431 is higher than the frame 200 of the underwater cleaning robot, so as to avoid the frame interfering with the third spray head 432 and the fourth spray head 433 connected to the second pipeline 431.

In this embodiment, the anti-seize assembly 440 includes a third pipeline 441 and a fifth nozzle 442, the starting section of the third pipeline 441 is communicated with a power pump, the power pump is located on the shore base, specifically, a cavitation power pump is used, the last section of the third pipeline 441 is communicated with the fifth nozzle 442, the fifth nozzle 442 moves synchronously with the support 410, and the fifth nozzle 442 specifically adopts a cavitation jet nozzle. The fifth nozzle 442 faces the transmission assembly 120 and is used for cleaning sundries in the transmission assembly 120, specifically, the fifth nozzle 442 faces the meshing position of the gear 122 and the rack 204, and the sundries at the meshing position of the gear 122 and the rack are washed away in water flow jet of the fifth nozzle 442, so that 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.

The power pump in the above embodiment adopts a cavitation power pump, the first pipeline 301, the second pipeline 431 and the third pipeline 441 are cavitation hoses, and the first nozzle 302, the second nozzle 303, the third nozzle 432, the fourth nozzle 433 and the fifth nozzle 442 specifically adopt cavitation jet nozzles. In the field of cleaning underwater facilities mainly comprising marine facilities, the cavitation jet cleaning technology is more efficient and energy-saving than the 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 cavitation jet flow underwater cleaning device is composed of a cavitation jet flow generating system (cavitation power pump station), a control system (mechanical control), an electrical control and a cavitation jet flow 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 device is generally directly connected with a pressure regulating device at the output end of a 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.

In this embodiment, the towing chain 450 is further included, the towing chain 450 is connected with the bracket 410, the towing chain 450 is used for accommodating the second pipeline 431, the third pipeline 441 and the line, and the towing chain 450 makes telescopic movement along with the bracket 410. The tow chain 450 serves to house and protect the line pipes.

In this embodiment, still include sonar subassembly 460, sonar subassembly 460 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 460 is positioned above power element 421 and is attached to cradle 410. Specifically, sonar subassembly 460 includes workstation 461 and sonar 462, and sonar 462 is located workstation 461, and workstation 461 and support 410 fixed connection, workstation 461 can carry out the rotation in the wide-angle range, and then realize the diversified detection of sonar 462. The working table 461 includes a first rotating shaft 461a and a second rotating shaft 461b, the second rotating shaft 461b is vertically connected with the first rotating shaft 461a, the second rotating shaft 461b rotates along with the first rotating shaft 461a, the first rotating shaft 461a realizes 360-degree rotation in the horizontal direction, the sonar 462 is connected with the second rotating shaft 461b, the sonar 462 rotates along with the second rotating shaft 461b, and the second rotating shaft 461b realizes large-angle rotation in the vertical 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 410. 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.

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 as to judge the cleaning condition and the operation state of the cleaning device, and the rest four camera assemblies are distributed on the first side edge 201 of the frame 200 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 shell 610 and the convex arc mask 630 form a closed space, the camera module 620 is located in the closed space, the convex arc mask 630 is a light-transmitting body, and the camera module 620 obtains an underwater image through the convex arc mask 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 620 moves along with the underwater cleaning robot, the convex arc mask 630 can discharge sundries around the camera assembly in the moving process, so that the camera assembly 620 is prevented from being accumulated in front of the camera assembly 620, and the imaging effect is prevented from being influenced.

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 the 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 module 625 is disposed on the base 622, and the communication module 625 is connected to the control module 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 induction 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 light intensity was controlled by PWM using constant current drive. Each illumination 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 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 in indoor swimming pool clean water environment surpasses 3m. 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 face cover 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 200, and when the posture of the frame 200 is abnormal, the inertial navigation system is adjusted in time through the cable suspension device to prevent an accident.

To sum up, the utility model provides an underwater cleaning robot embodiment realizes the clearance to the gate slot through first clearance subassembly, realizes the clearance to gate lintel and bottom through the second clearance subassembly, and then covers the clearance of the seal zone of whole gate, ensures the leakproofness of gate seal zone, through direction subassembly and gate slot surface rolling contact, can reduce the frictional force of frame motion in the gate slot, improves the smooth and easy degree of frame motion in the gate slot, avoids underwater cleaning robot to rock the dead phenomenon of card that causes under the rivers effect.

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

Fig. 1 is the working flow chart of the cleaning robot of the utility model.

Please refer to fig. 1, 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 clears up the bottom of gate.

S400, attitude 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 refers to a door lintel of a 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 stops descending, the first cleaning component stops working, 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 head of the gate is cleaned up or not through the camera shooting assembly, if not, repeatedly executing the second cleaning step S200 until the door head is cleaned up, if so, stopping the second cleaning step S200, executing the first cleaning step S100, enabling the cleaning robot to continue to move downwards, and enabling the first cleaning assembly to work again to clean a 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: whether a second cleaning assembly of the underwater cleaning robot reaches a second preset position or not is judged through the sonar assembly, the camera assembly and the depth detector, if the second cleaning assembly reaches the second preset position, the first cleaning step S100 is suspended, and a third cleaning step S300 is executed. 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, a fifth judging step S302 is further included in the third cleaning step S300, 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 cleaning robot in the gate slot and the preset posture meets a preset value or not, and if not, adjusting the posture of the cleaning robot. The attitude parameters specifically comprise the parameters such as the inclination angle of the cleaning robot, and the attitude of the cleaning robot is timely adjusted through the cable hanging device, so that the 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 patent scope of the utility model, all be in the utility model discloses a under the design, utilize the equivalent structure transform of what the content of the description and the attached drawing was done, or direct/indirect application all includes in other relevant technical field the utility model discloses a patent protection is within range.

Claims (9)

1. The utility model provides a leading wheel subassembly for direction of underwater cleaning robot, its characterized in that includes a plurality of leading wheel and connecting portion, a plurality of leading wheel is connected to connecting portion, the leading wheel includes: the first guide wheel is used for guiding in a first direction, and the supporting part, the elastic part, the rolling part and the mounting part are arranged on the first guide wheel; the number of the first guide wheels is at least two, and the wheel surface of the first guide wheel is in contact with the first surface of the gate groove when the first guide wheel works; the supporting part is used for supporting the elastic part and the rolling part; the elastic part is positioned on the side surface of the rolling part and is connected with the rolling part; the rolling part is a rotating component, and the position of the rotating center of the rolling part can be changed through the elastic part; the installation department with the supporting part links to each other, the installation department is used for leading wheel and underwater cleaning robot's being connected.

2. The guide wheel assembly of claim 1, wherein the number of the first guide wheels is two, two first guide wheels are arranged in parallel, and the wheel surfaces of the two first guide wheels are in contact with two parallel first surfaces respectively when the two first guide wheels work.

3. The guide wheel assembly of claim 1, further comprising a second guide wheel for guiding in a second direction, wherein the number of the second guide wheel is at least one, and wherein the wheel surface of the second guide wheel is in contact with a second surface of the gate slot during operation, and wherein the first surface is perpendicular to the second surface.

4. A guide wheel assembly according to claim 3, wherein the number of the first guide wheels is two, the number of the second guide wheels is one, the two first guide wheels are arranged in parallel, the second guide wheel is arranged between the two first guide wheels, and the second guide wheel is perpendicular to the first guide wheels.

5. The guide wheel assembly as claimed in claim 3, wherein the number of the first guide wheels is two, the number of the second guide wheels is two, the two first guide wheels are arranged in parallel, the two second guide wheels are arranged in parallel, the first guide wheels and the second guide wheels are perpendicular to each other, and the first guide wheels are located between the two second guide wheels.

6. A guide wheel assembly according to any one of claims 1-5, wherein the support part comprises a through mounting space for the mounting of the rolling part, the side of the mounting space being provided with a recess for the mounting of the resilient part.

7. The guide wheel assembly as claimed in claim 6, wherein the rolling portion includes a wheel body and a rotating shaft, the rotating shaft passes through the wheel body, the wheel body rotates around the rotating shaft, and the rotating shaft extends into the groove.

8. The guide wheel assembly as claimed in claim 7, wherein the resilient portion includes a guide post and a spring, the guide post is fixed in the groove, the guide post penetrates through a rotating shaft located in the groove, the rotating shaft can reciprocate along the guide post, the spring is sleeved on the guide post, one end of the spring is fixedly connected with the rotating shaft, and the other end of the spring is fixedly connected with the surface of the groove.

9. An underwater cleaning robot for cleaning a gate slot of a pump house, comprising a frame and a guide wheel assembly according to any of claims 1 to 8, the guide wheel assembly being attached to the frame, the guide wheel assembly being operative to contact a surface of the gate slot.

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