CN106218836B - A kind of multistage crawler type underwater intelligent clears up robot - Google Patents
A kind of multistage crawler type underwater intelligent clears up robot Download PDFInfo
- Publication number
- CN106218836B CN106218836B CN201610805877.7A CN201610805877A CN106218836B CN 106218836 B CN106218836 B CN 106218836B CN 201610805877 A CN201610805877 A CN 201610805877A CN 106218836 B CN106218836 B CN 106218836B
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- control
- cleaning
- roller brush
- robot
- brush
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- 238000004140 cleaning Methods 0.000 claims abstract description 89
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 42
- 229910000831 Steel Inorganic materials 0.000 claims description 24
- 239000010959 steel Substances 0.000 claims description 24
- 238000010521 absorption reaction Methods 0.000 claims description 22
- 238000001179 sorption measurement Methods 0.000 claims description 10
- 238000007667 floating Methods 0.000 claims description 6
- 230000003068 static effect Effects 0.000 claims description 3
- 239000000203 mixture Substances 0.000 claims description 2
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000000694 effects Effects 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 29
- 238000010586 diagram Methods 0.000 description 13
- 239000003463 adsorbent Substances 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 230000009194 climbing Effects 0.000 description 5
- 238000001514 detection method Methods 0.000 description 5
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000012010 growth Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 241000237502 Ostreidae Species 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003702 image correction Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 235000020636 oyster Nutrition 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 238000010926 purge Methods 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Ocean & Marine Engineering (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses a kind of multistage crawler type underwater intelligent to clear up robot, include control body, perform body, multiaspect roller brush cleaning system and single-degree-of-freedom cleaning disc system, wherein control and be connected between body and execution body by rotating tailstock, multiaspect roller brush cleaning system is located at the front end for performing body, single-degree-of-freedom cleaning disc system is located between control body and execution body, control body is provided with control system, and control system is by the way that the single-chip microcomputer control of inside performs body, multiaspect roller brush clears up system and single-degree-of-freedom cleans the work of disc system.Beneficial effect：Front and rear body can move alone, and can pass through rectangular area with simple and effective.Stable performance.Improve the use range of intelligence cleaning robot.It ensure that the effect of cleaning.The clean level of significant surfaces is ensure that, avoids secondary pollution.Robot can be protected and reclaimed when emergency situations occur.Facilitate easy to operate.
Description
Technical field
The present invention relates to one kind to clear up robot, more particularly to a kind of multistage crawler type underwater intelligent cleaning robot.
Background technology
Currently, the hydraulic engineering of various scales, ocean platform and ship are quickly grown, and generate all kinds of underwater works therewith
Journey equipment is all attached with a large amount of marine organisms, it is difficult to the problem of clearing up and having a strong impact on equipment work, such as the sluice of PX pump houses
Door guide rail and rectangular seal frame are chronically under seawater, with marine growths such as a large amount of oysters, cause sluice gate not close
Position is even blocked, and it can not be fully sealed so that causing leak, it is therefore desirable to marine growth on guide rail and sealing frame etc.
Cleared up.Nowadays the method for using manual cleaning mostly, time-consuming longer, risk is higher.With modern machines man-based development,
Automation is also just being done step-by-step in the cleaning and detection of underwater installation.Patent 201310545280.X, which discloses a kind of omnidirectional and swum, to climb
Wall underwater robot, the robot only possess detection function, can not realize that underwater installation is cleared up.Patent 201420494666.2 is public
A kind of hull bottom cleaner system is opened, the system includes water surface buoyancy module and cleaner, and cleaner uses magnetic suck, is only applicable to iron
Matter surface, use range is limited, while the overall structure of the cleaner also limits the scope of its motion and cleaning, can not complete class
It is similar to by compound movements such as 90 degree of corners.Therefore, need badly and provide rational manner of cleaning up for sluice gate guide rail.
The content of the invention
The invention aims to solve PX pumping plant sluice gates to use manual operation in scale removal process, relatively time-consuming,
The problem of laborious and dangerous larger and a kind of multistage crawler type underwater intelligent cleaning robot provided.
Multistage crawler type underwater intelligent cleaning robot provided by the invention includes control body, performs body, multiaspect
Roller brush clears up system and single-degree-of-freedom cleaning disc system, wherein being connected between control body and execution body by rotating tailstock
Connect, multiaspect roller brush cleaning system is located at the front end for performing body, and single-degree-of-freedom cleaning disc system is located at control body and execution machine
Between body, control body is provided with control system, and control system is clear by single-chip microcomputer control execution body, the multiaspect roller brush of inside
The work of reason system and single-degree-of-freedom cleaning disc system.
Control body and execution body are installed on Athey wheel, and Athey wheel is carried out driving rotation by track drive motor, is carried out
Crawler belt is arranged with outside belt wheel, is additionally provided with malleation adsorption system on control body and execution body, malleation adsorption system is respectively provided at
Control body and perform body both sides, by propeller and absorption motor form, propeller with adsorb motor be connected and by
Motor control work is adsorbed, controls body and the chassis upper performed in body to be equipped with floating body, control body and execution body
Bottom be provided with chute, chute can be meshed with the angle steel on gate.
The top of control body is provided with control cabinet, and control system is located in control cabinet, and electric rotating machine is additionally provided with control cabinet,
The output shaft of electric rotating machine is connected with performing the rotation tailstock of body, performs body and is carried out driving rotation by electric rotating machine, controls
The rear end of case processed is provided with high-definition camera under trailing water, is additionally provided with water proof switch on control cabinet, the rear end of control cabinet is connected with water
Lower cable, control system in control cabinet and each motor is connected with auxiliary equipment on the bank by submerged cable, control
The rear end of body processed is equipped with taillight.
The top for performing body is provided with preposition underwater high-definition camera.
Multiaspect roller brush cleaning system is provided with two groups, is respectively provided at the left and right sides of angle steel, every group by roller brush drive motor
Driven and be operated by cog belt, every group of brush body forms by end face roller brush, intermediate calender rolls brush and angle steel roller brush, end face roller brush
Positioned at outside, there is brush filament periphery and end face, for clearing up guide rail bottom surface and vertical seal face；The periphery of intermediate calender rolls brush is set
There is brush filament, for clearing up guide rail bottom surface；Angle steel roller brush is located at inner side, and there is brush filament periphery and end face, for clearing up guide rail bottom
Face and angle steel.
Single-degree-of-freedom cleaning disc system includes carrying empennage, actuating arm, performs arm, permanent magnet and cleaning disk, wherein carrying
Empennage is arranged on rotation tailstock, and its laterally horizontal face offers side groove, and top levels open up top surface groove；Actuating arm is fixed
On empennage is carried；Performing can be rotated under motor driven of the arm in actuating arm, the shape after its static and 270 degree of rotation
State is limited by top surface groove and side groove respectively, and permanent magnet is arranged on the surface for performing arm, and cleaning disk, which is arranged on, to be performed on arm, is passed through
Perform the motor driven inside arm to clear up lintel, the head end for performing arm is taken the photograph provided with high definition under laser sensor and central water
As head.
Single-chip microcomputer in control system respectively with high-definition camera and trailing water under preposition underwater high-definition camera, central water
Lower high-definition camera is connected, wherein preposition underwater high-definition camera is used for the cleaning situation for observing body running-surface, simultaneously
Become in differential in rail motion process by observation and feedback image is to correct the submarine site of body；High-definition camera under central water
For observing the cleaning situation and service condition of lintel；High-definition camera is used to observe guide rail, vertical seal face under trailing water
With the cleaning situation and service condition of bottom bank, single-chip microcomputer is also associated with attitude transducer, altimeter, laser sensor, absorption use
Pressure sensor and protection pressure sensor, wherein attitude transducer are separately mounted to control body and perform the interior of body
Portion, for detecting control body and performing body movement speed, acceleration and deviation post, make control body and perform body
Realize that differential becomes rail motion and position correction；Altimeter is arranged on inside control cabinet, and the position for feedback problem surface is deep
Degree；Laser sensor, which is arranged on, to be performed on arm, by measuring cleaning disk and vertical seal face, the spacing of lintel, and is fed back and is subject to
Amendment, absorption are separately mounted to control body and performed on body, for detecting absorption affinity size, is easy to pressure sensor
Malleation adsorption system is controlled by under various water environments, ensures operation stability；During protection is arranged on pressure sensor
Between on protection wheel hub by roller brush, the pressure signal that is measured and fed back by it makes electric rotating machine control perform the rotation of body,
Excessive descent is avoided to damage robot.
The operation principle of the present invention：
Robot provided by the invention is first placed on the position that gate guide contacts with the water surface by operating personnel, makes control
Body coordinates with performing the chute of organism bottom with angle steel.Water proof switch is opened, robot adjust automatically absorption motor speed reaches
To after predetermined absorption affinity, start to carry out climbing wall along angle steel to bottom bank to move (as shown in Figure 8), open multiaspect roller brush while motion
Cleaning system, clear up gate guide and vertical seal face.
When performing body arrival bottom bank, start the excessively curved motion (as shown in Figure 9) in right angle.Guarantor in multiaspect roller brush cleaning system
Shield wheel hub can first contact bottom bank, then measure pressure and feedback signal with pressure sensor by protection thereon, closing is held
The adsorbent equipment of row body, driving perform body electric rotating machine drive perform body rotation while, control body continue to
Preceding motion, rotate and fall when on the bank of bottom until performing body, open the adsorbent equipment for performing body, the suction of closing control body
Adsorption device, perform body and continue to move ahead on the bank of bottom, now driving performs the electric rotating machine reversion of body, then controls body rotation
And slowly restore to the original state, when controlling body also to fall after on the bank of bottom, its adsorbent equipment is opened, robot moves forward, together
When multiaspect roller brush cleaning system continue to clear up bottom bank and running face.
After robot moves one section on the bank of bottom, start differential and become rail motion (as shown in Figure 10).Pass through attitude transducer
The signal of single-chip microcomputer is transferred to, control machine people both sides track drive motor makes both sides crawler belt form speed difference, and robot starts
Gradually to the intraoral lateral movement of gate, after offseting one section of preset distance, continue along straight-ahead motion, when opposite side gate guide position
When in preposition underwater high-definition camera visual range, by observing the relative position of gate guide and robot, feedback image
And the position of robot is modified, allow the robot to pass through bottom right angle and be facing perpendicularly to along the intraoral side of gate
Carry out climbing wall motion.
Robot total movement cleans disk system to rear (as shown in figure 11) on the intraoral side vertical plane of gate, operation single-degree-of-freedom
System cleaning vertical seal face, actuating arm driving perform arm and rotate 270 degree, and opening cleaning disk makes its rotation, and passes through laser sensing
Disk and the spacing in vertical seal face are cleaned in device detection, are modified after feedback, ensure cleaning quality.
The intraoral side of Robot gate is facing perpendicularly to rise to top right angle, due to control body and performs internal body
Floating body caused by the deadweight of buoyancy and robot offset, therefore top right angle excessively curved (as shown in figure 12) and the excessively curved fortune of bottom right angle
Dynamic identical, after the intraoral side top surface of gate, cleaning disk can be cleared up lintel (as shown in figure 13) for robot absorption completely.Such as
Shown in Figure 14, reach opposite side and by corner after, then decline along the intraoral side vertical plane of gate, until packing up cleaning after the bank of bottom
Disk, single-degree-of-freedom cleaning disc system is closed, then preliminary orbit is become again on the bank of bottom, by the figure of preposition underwater high-definition camera feedback
As amendment robot location, robot is set to pass through bottom right angle curved, and the water surface is risen to upwards along angle steel in guide rail.
In robot scale removal process, high-definition camera and trailing water under preposition underwater high-definition camera, central water can be passed through
Lower high-definition camera is observed surface to be cleaned, if do not cleaned out, robot can back and forth or stop it being carried out specially
Item cleaning, ensure that cleaning is complete.Meanwhile high-definition camera can be after the completion of cleaning under high-definition camera and trailing water under central water
Surface service condition is checked, if it is cracked the defects of, the depth under water of the position is fed back by altimeter, waits dimension
Repair.
Associated components in control system are the assembling of existing equipment, therefore concrete model and specification are not entered further
Row repeats.
Beneficial effects of the present invention：
1st, underwater intelligent cleaning robot has the function of adsorption wall climbing, and is designed to two-part overall structure, front and rear machine
Body can be moved alone, and internal buoyancy can be conducted oneself with dignity with balanced robot, use this kind of structure can be with simple and effective by straight
Angular zone.
2nd, robot small volume, compact-sized, in flat, when can inhabit and be moved in guide rail, and move under water
It is small by resistance, stable performance.
3rd, robot uses malleation suction type and caterpillar drive mode, applicable materials various under water and to a certain degree
Moved on rugged surface, while the size of absorption affinity can be adjusted according to the flow velocity of current, improve intelligence cleaning robot
Use range.
4th, two parts purging system can be not only cleared up surface with travelling forward for robot, while can be with
Surface is observed by underwater high-definition camera, cleaning then is oriented to some region, ensure that the effect of cleaning
Fruit.
5th, multiaspect roller brush divides three parts, it is possible to achieve while to multiple surfaces such as guide rail bottom surface, angle steel face, vertical seal faces
Cleaning, while the periphery brush filament of three parts roller brush designs certain angle, is tilted to robot both sides so that clear up
Marine organisms be processed to both sides, ensure that the clean level of significant surfaces, avoid secondary pollution.
6th, protection wheel hub is devised at multiaspect roller brush, its diameter is slightly larger than the diameter of multiaspect roller brush, free to rotate, works as machine
When device people moves to bottom bank, protection hub contacts bottom bank, and by protection pressure sensor feedback signal, execution machine before control
Body rotates, and proceeds by the motion of quarter bend, the structure effectively protects the cylindrical of multiaspect roller brush.
7th, single-degree-of-freedom cleaning disk can be cleared up lintel and vertical seal face, realize the multiple purposes of mechanism,
Permanent magnet can avoid cleaning disk detachment cleaning surface, while by laser sensor ranging, ensure cleaning performance.
8th, powered by submerged cable to robot, power is sufficient, cruising time length, and the joint quilt of submerged cable
It is fixed, while certain pulling force can be born, robot can be protected and reclaimed when emergency situations occur.
9th, robot is first moved from guide rail to the bottom, carries out change rail after reaching bottom bank, then moved along gate medial surface, ring
Di Kan is returned to after a circle, becomes rail to preliminary orbit, can realize to surface motions, the route finally along guide rail while to guide rail
And rectangular seal frame vertical plane, bottom bank, lintel make an overall screening, facilitate easy to operate.
Brief description of the drawings
Fig. 1 is overall structure diagram of the present invention.
Fig. 2 is control body of the present invention and performs organism internal structure schematic diagram.
Fig. 3 is control cabinet internal structure schematic diagram of the present invention.
Fig. 4 is multiaspect roller brush drive system structure schematic diagram of the present invention.
Fig. 5 is that single-degree-of-freedom of the present invention cleans disc system structural representation.
Fig. 6 is control system schematic diagram of the present invention.
Fig. 7 is gate structure schematic diagram of the present invention.
Fig. 8 is that wall motion schematic diagram is climbed by robot.
Fig. 9 is the excessively curved motion schematic diagram in robot right angle.
Figure 10 is that robot differential becomes rail motion schematic diagram.
Figure 11 is robot in the intraoral side vertical plane operating diagram of gate.
Figure 12 is the excessively curved schematic diagram in right angle at the top of robot.
Figure 13 is that robot carries out cleaning schematic diagram to lintel.
Figure 14 is that robot clears up descending schematic diagram after lintel.
1st, control body 2, perform body 3, multiaspect roller brush cleaning system 4, single-degree-of-freedom cleaning disc system
5th, tailstock 6, single-chip microcomputer 7, Athey wheel 8, track drive motor 9, crawler belt are rotated
10th, propeller 11, absorption motor 12, floating body 13, chute 14, angle steel 15, control cabinet
16th, high-definition camera 18, water proof switch 19, submerged cable under electric rotating machine 17, trailing water
20th, taillight 21, preposition underwater high-definition camera 22, roller brush drive motor 23, cog belt
24th, end face roller brush 25, intermediate calender rolls brush 26, angle steel roller brush 27, guide rail bottom surface 28, vertical seal face
29th, empennage 30, actuating arm 31 are carried, performs arm 32, permanent magnet 33, cleaning disk
34th, side groove 35, top surface groove 36, lintel 37, laser sensor
38th, high-definition camera 39, guide rail 40, bottom bank 41, attitude transducer under central water
42nd, altimeter 43, absorption are with pressure sensor 44, protection pressure sensor
45th, wheel hub 46, the intraoral side vertical plane 47 of gate, the intraoral side top surface of gate are protected.
Embodiment
Refer to shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6 and Fig. 7：
Multistage crawler type underwater intelligent cleaning robot provided by the invention includes control body 1, performs body 2, be more
Face roller brush cleaning system 3 and single-degree-of-freedom cleaning disc system 4, wherein by rotating tailstock between control body 1 and execution body 2
5 are connected, and multiaspect roller brush cleaning system 3 is located at the front end for performing body 2, and single-degree-of-freedom cleaning disc system 4 is located at control body 1
And between performing body 2, control body 1 is provided with control system, control system performs body by the control of single-chip microcomputer 6 of inside
2nd, the work of multiaspect roller brush cleaning system 3 and single-degree-of-freedom cleaning disc system 4.
Control body 1 and execution body 2 are installed on Athey wheel 7, and Athey wheel 7, which by track drive motor 8 drive, to be turned
It is dynamic, crawler belt 9 is arranged with outside Athey wheel 7, malleation adsorption system, malleation adsorption system are additionally provided with control body 1 and execution body 2
It is respectively provided at control body 1 and performs the both sides of body 2, is made up of propeller 10 and absorption motor 11, propeller 10 is with inhaling
Attached motor 11 is connected and controls work by absorption motor 11, and control body 1 and the chassis upper performed in body 2 are equipped with floating
The bottom of body 12, control body 1 and execution body 2 is provided with chute 13, and chute 13 can be meshed with the angle steel 14 on gate.
The top of control body 1 is provided with control cabinet 15, and control system is located in control cabinet 15, and rotation is additionally provided with control cabinet 15
Rotating motor 16, the output shaft of electric rotating machine 16 are connected with performing the rotation tailstock 5 of body 2, perform body 2 by electric rotating machine 16
Carry out driving rotation, the rear end of control cabinet 15 is provided with high-definition camera 17 under trailing water, water proof switch is additionally provided with control cabinet 15
18, the rear end of control cabinet 15 is connected with submerged cable 19, makes control system in control cabinet 15 and each by submerged cable 19
Motor is connected with auxiliary equipment on the bank, and the rear end of control body 1 is equipped with taillight 20.
The top for performing body 2 is provided with preposition underwater high-definition camera 21.
Multiaspect roller brush cleaning system 3 is provided with two groups, is respectively provided at the left and right sides of angle steel 14, and every group drives electricity by roller brush
Machine 22 is driven by cog belt 23 and is operated, and every group of brush body is by end face roller brush 24, intermediate calender rolls brush 25 and angle steel roller brush 26
Composition, end face roller brush 24 are located at outside, and there is brush filament periphery and end face, for clearing up guide rail bottom surface 27 and vertical seal face
28；The periphery of intermediate calender rolls brush 25 is provided with brush filament, for clearing up guide rail bottom surface 27；Angle steel roller brush 26 is located at inner side, periphery and
There is brush filament end face, for clearing up guide rail bottom surface 27 and angle steel 14.
Single-degree-of-freedom cleaning disc system 4 includes carrying empennage 29, actuating arm 30, performs arm 31, permanent magnet 32 and cleaning disk
33, it is arranged on wherein carrying empennage 29 on rotation tailstock 5, its laterally horizontal face offers side groove 34, and top levels open up
Top surface groove 35；Actuating arm 30, which is fixed on, to be carried on empennage 29；Performing can be carried out under motor driven of the arm 31 in actuating arm 30
Rotation, the state after its static and 270 degree of rotation are limited by top surface groove 35 and side groove 34 respectively, and permanent magnet 32, which is arranged on, to be performed
The surface of arm 31, cleaning disk 33, which is arranged on, to be performed on arm 31, and lintel 36 is carried out clearly by performing the motor driven inside arm 31
Reason, the head end for performing arm 31 are provided with high-definition camera 38 under laser sensor 37 and central water.
Single-chip microcomputer 6 in control system respectively with high-definition camera 38 under preposition underwater high-definition camera 21, central water and
High-definition camera 17 is connected under trailing water, wherein preposition underwater high-definition camera 21 is used for the cleaning for observing body running-surface
Situation, while become in differential in rail motion process by observation and feedback image is to correct the submarine site of body；Under central water
High-definition camera 38 is used for the cleaning situation and service condition for observing lintel 36；High-definition camera 17 is used to observe under trailing water
The cleaning situation and service condition of guide rail 39, vertical seal face 28 and bottom bank 40, single-chip microcomputer 6 be also associated with attitude transducer 41,
Altimeter 42, laser sensor 37, absorption use pressure sensor 44, wherein attitude transducer 41 with pressure sensor 43 and protection
It is separately mounted to control the inside of body 1 and execution body 2, controls body 1 for detection and perform the movement velocity of body 2, adds
Speed and deviation post, control body 1 and execution body 2 is set to realize that differential becomes rail motion and position correction；Altimeter 42
Inside control cabinet 15, the depth for feedback problem surface；Laser sensor 37, which is arranged on, to be performed on arm 31, is led to
Measurement cleaning disk 33 and vertical seal face 28, the spacing of lintel 36 are crossed, and feeds back and is corrected, absorption pressure sensor 43 divides
Body 1 An Zhuan not controlled and performed on body 2, for detecting absorption affinity size, be easy under various water environments to malleation
Adsorption system is controlled by, and ensures operation stability；Protection is arranged on the protection wheel on the side of intermediate calender rolls brush 25 with pressure sensor 44
On hub 45, the pressure signal that measures and feed back by it, the control of electric rotating machine 16 is set to perform the rotation of body 2, under avoiding excessively
Drop damage robot.
The operation principle of the present invention：
Robot provided by the invention is first placed on the position that gate guide 39 contacts with the water surface by operating personnel, makes control
Body 1 processed coordinates with performing the chute 13 of the bottom of body 2 with angle steel 14.Open water proof switch 18, robot adjust automatically absorption
After the rotating speed of motor 11 reaches predetermined absorption affinity, start to carry out climbing wall along angle steel 14 to bottom bank 40 to move (as shown in Figure 8), motion
Multiaspect roller brush cleaning system 3 is opened simultaneously, clears up gate guide 39 and vertical seal face 28.
When performing body arrival bottom bank 40, start the excessively curved motion (as shown in Figure 9) in right angle.In multiaspect roller brush cleaning system 3
Protection wheel hub 45 can first contact bottom bank 40, pressure and feedback letter are then measured by protection pressure sensor 44 thereon
Number, closing performs the adsorbent equipment of body 2, while the drive execution body 2 of electric rotating machine 16 that driving performs body 2 rotates,
Control body 1 moves forward, and rotates and falls when on bottom bank 40 until performing body 2, opens the absorption dress for performing body 2
Put, the adsorbent equipment of closing control body 1, perform body 2 and continue to move ahead on bottom bank 40, now driving performs the rotation of body 2
Rotating motor 16 inverts, then controls body 1 to rotate and slowly restore to the original state, and when controlling body 1 also to fall after on bottom bank 40, opens it
Adsorbent equipment, robot move forward, while multiaspect roller brush cleaning system 3 continues to clear up bottom bank 40 and running face.
After robot moves one section on bottom bank 40, start differential and become rail motion (as shown in Figure 10).Sensed by posture
Device 41 is transferred to the signal of single-chip microcomputer 6, control machine people both sides track drive motor 8, both sides crawler belt 9 is formed speed difference, machine
Device people starts gradually to the intraoral lateral movement of gate after offseting one section of preset distance, to continue along straight-ahead motion, when opposite side lock
It is relative with robot by observing gate guide 39 when door guide rail 39 is in the preposition underwater visual range of high-definition camera 21
Position, feedback image and the position to robot are modified, and allow the robot to pass through bottom right angle and along gate mouth
Inner vertical face 46 carries out climbing wall motion upwards.
Robot total movement cleans disk to rear (as shown in figure 11) on the intraoral side vertical plane 46 of gate, operation single-degree-of-freedom
System 4 clears up vertical seal face 28, and the driving of actuating arm 30 performs arm 31 and rotates 270 degree, and opening cleaning disk 33 makes its rotation, and leads to
The detection of laser sensor 37 cleaning disk 33 and the spacing in vertical seal face 28 are crossed, is modified after feedback, ensures cleaning quality.
The intraoral side vertical plane 46 of Robot gate rises to top right angle upwards, due to control body 1 and performs body 2
Buoyancy caused by internal floating body 12 and robot deadweight counteracting, therefore top right angle excessively curved (as shown in figure 12) and bottom right angle
It is identical to cross curved motion, after the intraoral side top surface 47 of gate, cleaning disk 33 can be cleared up (such as lintel 36 for robot absorption completely
Shown in Figure 13).As shown in figure 14, reach opposite side and by corner after, then decline along the intraoral side vertical plane 46 of gate, until bottom
Cleaning disk 33 is packed up after bank 40, closes single-degree-of-freedom cleaning disc system 4, then preliminary orbit is become again on bottom bank 40, by preposition water
The image correction robot location that lower high-definition camera 21 feeds back, robot is set to pass through bottom right angle curved, and in guide rail 39
It is middle to rise to the water surface upwards along angle steel 14.
In robot scale removal process, can by high-definition camera 38 under preposition underwater high-definition camera 21, central water and after
Underwater high-definition camera 17 is put to observe surface to be cleaned, if do not cleaned out, robot can back and forth or stop to it
Special cleaning is carried out, ensures that cleaning is complete.Meanwhile high-definition camera 17 can be under high-definition camera 38 and trailing water under central water
Surface service condition is checked after the completion of cleaning, if it is cracked the defects of, the water of the position is fed back by altimeter 42
Lower depth, is waited to be repaired.
Claims (4)
1. a kind of multistage crawler type underwater intelligent clears up robot, include control body, perform body, multiaspect roller brush cleaning system
System and single-degree-of-freedom cleaning disc system, wherein be connected between control body and execution body by rotating tailstock, multiaspect roller brush
Cleaning system is located at the front end for performing body, between single-degree-of-freedom cleaning disc system is located at control body and performs body, control
Body is provided with control system, and control system is by the way that the single-chip microcomputer control of inside performs body, multiaspect roller brush clears up system and list
The free degree cleans the work of disc system, it is characterised in that：Described control body and execution body is installed on Athey wheel, crawler belt
Wheel is carried out driving rotation by track drive motor, and crawler belt is arranged with outside Athey wheel, is additionally provided with just on control body and execution body
Adsorption system is pressed, malleation adsorption system is respectively provided at control body and performs the both sides of body, is by propeller and absorption motor
Composition, propeller are connected with absorption motor and worked by absorption motor control, on the chassis in control body and execution body
Portion is equipped with floating body, and control body is provided with chute with the bottom for performing body, and chute can be meshed with the angle steel on gate.
A kind of 2. multistage crawler type underwater intelligent cleaning robot according to claim 1, it is characterised in that：Described control
The top of body processed is provided with control cabinet, and control system is located in control cabinet, and electric rotating machine is additionally provided with control cabinet, electric rotating machine
Output shaft is connected with performing the rotation tailstock of body, performs body and is carried out driving rotation, the rear end of control cabinet by electric rotating machine
Provided with high-definition camera under trailing water, water proof switch is additionally provided with control cabinet, the rear end of control cabinet is connected with submerged cable, passed through
Submerged cable makes control system in control cabinet and each motor be connected with auxiliary equipment on the bank, controls the rear end of body
It is equipped with taillight.
A kind of 3. multistage crawler type underwater intelligent cleaning robot according to claim 1, it is characterised in that：Described is more
Face roller brush cleaning system is provided with two groups, is respectively provided at the left and right sides of angle steel, every group passes through cog belt by roller brush drive motor
Drive is operated, and every group of brush body forms by end face roller brush, intermediate calender rolls brush and angle steel roller brush, and end face roller brush is located at outside,
There is brush filament periphery and end face, for clearing up guide rail bottom surface and vertical seal face；The periphery of intermediate calender rolls brush is provided with brush filament, uses
In cleaning guide rail bottom surface；Angle steel roller brush is located at inner side, and there is brush filament periphery and end face, for clearing up guide rail bottom surface and angle steel.
A kind of 4. multistage crawler type underwater intelligent cleaning robot according to claim 1, it is characterised in that：Described list
Free degree cleaning disc system includes carrying empennage, actuating arm, performs arm, permanent magnet and cleaning disk, is arranged on wherein carrying empennage
Rotate on tailstock, its laterally horizontal face offers side groove, and top levels open up top surface groove；Actuating arm is fixed on carrying empennage
On；Performing can be rotated under motor driven of the arm in actuating arm, and the state after its static and 270 degree of rotation is respectively by pushing up
Face groove and side groove are limited, and permanent magnet is arranged on the surface for performing arm, and cleaning disk, which is arranged on, to be performed on arm, by performing inside arm
Motor driven lintel is cleared up, the head end for performing arm is provided with high-definition camera under laser sensor and central water.
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| CN201610805877.7A CN106218836B (en) | 2016-09-06 | 2016-09-06 | A kind of multistage crawler type underwater intelligent clears up robot |
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| CN201610805877.7A CN106218836B (en) | 2016-09-06 | 2016-09-06 | A kind of multistage crawler type underwater intelligent clears up robot |
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| CN106218836B true CN106218836B (en) | 2018-01-30 |
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| CN107719599A (en) * | 2017-11-08 | 2018-02-23 | 武汉理工大学 | A kind of underwater cleaning robot of energy-conserving and environment-protective |
| CN108263572A (en) * | 2018-02-23 | 2018-07-10 | 郑州大学 | A kind of crawler type underwater robot |
| GB201803700D0 (en) * | 2018-03-08 | 2018-04-25 | Jotun As | Device |
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| CN111113442A (en) * | 2019-12-19 | 2020-05-08 | 南京涵铭置智能科技有限公司 | Underwater cleaning robot and cleaning method thereof |
| CN114102583B (en) * | 2021-11-15 | 2024-01-12 | 核动力运行研究所 | Remote underwater robot system and control method |
| CN114884005B (en) * | 2022-06-20 | 2023-05-02 | 南京信息工程大学 | Auxiliary assembly is used in electric power inspection |
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| CN1428226A (en) * | 2001-12-28 | 2003-07-09 | 吴志明 | Crawler multi-sucker wall-climbing robot and its implement method |
| CN101139007B (en) * | 2007-07-31 | 2011-06-15 | 北京理工大学 | Underwater cleaning robot |
| CN101481957B (en) * | 2009-02-05 | 2011-06-08 | 天津望圆工贸有限责任公司 | Remote control ordered swimming pool cleaning robot and ordered cleaning method thereof |
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