CN212172483U

CN212172483U - Underwater cleaning robot

Info

Publication number: CN212172483U
Application number: CN202020693882.5U
Authority: CN
Inventors: 王晓鸣; 李腾; 刘冬; 武建国; 刘征; 吴高升; 梁胜国
Original assignee: Hebei Xingzhou Technology Co ltd
Current assignee: Hebei Xingzhou Technology Co ltd
Priority date: 2020-04-29
Filing date: 2020-04-29
Publication date: 2020-12-18
Anticipated expiration: 2030-04-29

Abstract

The patent of the utility model relates to a cleaning robot under water installs bottom plate, screw propeller, steering wheel, track driving motor, athey wheel, track, arm, cavitation jet part, camera, searchlight, buoyancy body, protection frame on the robot body, installs the screw propeller of 4 control robot vertical direction motions on cleaning robot bottom plate under water, and cleaning robot installs the screw propeller of 2 control horizontal direction motions at the tail end, and control system can make this cleaning robot under water accomplish appointed action. The utility model has the advantages that: the invention has the advantages of simple overall structure, convenient operation, high cleaning efficiency and short cleaning time, and can realize the cleaning of the surface of a ship with smaller ship curvature, including a ship propeller.

Description

Underwater cleaning robot

Technical Field

The utility model relates to a boats and ships wash the field under water, especially relate to a cleaning robot under water.

Background

Under the working environment of long-term oceans, ships are subjected to corrosion of seawater and adhesion of marine organisms on the seabed for a long time, so that marine organisms are difficult to remove due to the adhesion on the surfaces of the ship bodies. In this case, the traveling speed of the ship is reduced, fuel consumption is increased, and transportation cost of the ship is increased.

The abluent manual cleaning mode of traditional boats and ships needs to sail boats and ships to the bank, is washd by the handheld high-pressure squirt of workman. Or the cleaning divers submerge into water with certain depth, so that the ship can be cleaned. This approach requires the diver to continuously overcome the underwater oxygen-poor, high-pressure environment. In a word, the traditional method has the advantages of strong labor intensity, long time consumption, large danger coefficient, low efficiency and certain risk.

The underwater cleaning robot is required to be attached to the surface of a ship as far as possible during working, and most of the existing underwater cleaning robot is in multi-sucker vacuum adsorption and permanent magnet adsorption on the surface of the ship. When the multi-sucker vacuum adsorption type underwater cleaning robot works, the suckers are firstly adsorbed on the surface of a ship, and then cleaning work is carried out. This method is slow in cleaning speed and has limitations in cleaning area. The magnetic force size is not well controlled when the permanent magnet adsorbs type cleaning robot under water in the design, and too big magnetic force can lead to cleaning robot resistance when removing too big, and magnetic force is too little again be difficult to make cleaning robot adsorb on the surface of boats and ships.

With the development of the domestic market high-pressure water jet technology becoming mature, the field is applied to the underwater cleaning direction, but is still in the development stage, and a plurality of key technologies still need to be solved. Need design one kind and can replace traditional manual cleaning boats and ships mode, can improve work efficiency, adapt to abominable environment under water, save material resources manpower, the cleaning cycle is short, and the expense is low, just can accomplish the underwater cleaning robot who washs the work at the coast pier or at nearly bank of water.

SUMMERY OF THE UTILITY MODEL

The utility model relates to an underwater cleaning robot, based on stm32 single chip microcomputer control, adopt cavitation jet cleaning mode, the track transmission, modularization and zero buoyancy design, this cleaning robot's cleaning efficiency is high, and the scavenging period is short, and the cleaning cost is low, and boats and ships do not need the dock entry can directly accomplish the cleaning operation at sea or parking.

In order to solve the technical problems, the embodiment of the application provides an underwater cleaning robot, which comprises a cavitation jet protection cover, a mechanical arm rotary steering engine, a mechanical arm, a front bidirectional camera, a rotary steering engine, a buoyancy body, a protection frame, a crawler belt, crawler wheels, a watertight plug, a front searchlight, a front camera, a vertical propeller thruster, a rear searchlight, a crawler belt driving motor, a bottom plate, a cavitation jet nozzle, a horizontal propeller thruster, a rear camera and side plates, and is characterized in that a control module is based on an stm32 single chip microcomputer, is connected with an upper computer through the watertight plug arranged at the upper end of the underwater cleaning robot, can realize real-time control on the underwater cleaning robot through an operating handle arranged on the upper computer, and comprises an S-shaped cavitation jet nozzle, a cavitation jet protection cover and a high-pressure water pipe joint, the lower end of the cavitation jet protection cover is provided with an elastic protection sleeve made of rubber, high-pressure water required by a cavitation jet cleaning nozzle is generated by a cavitation jet device on the bank and is transmitted through a high-pressure water pipe, the two sides of the bottom plate are provided with side plates on which crawler wheels and crawler driving motors are arranged, the bottom plate is provided with a rotary steering engine, a main control box and a driving battery, the rotary steering engine arranged on the bottom plate can drive a mechanical arm, the lower end of the bottom plate is provided with a distance sensor which can monitor the distance between the bottom plate and the surface of a ship, the steering engine has an overload protection function and can effectively avoid the steering engine from being burnt out when the cavitation steering engine generates overlarge load, the two crawler driving motors symmetrically arranged drive the crawler belts, the control of a cleaning route can be realized, the mechanical arm is driven, y, Z triaxial rotation can realize the boats and ships surface cleaning to less camber, the end of bottom plate and arm install 2 cavitation jet cleaning shower nozzle altogether, according to the difference of wasing the position, select to open cavitation jet cleaning shower nozzle, leading two-way camera, leading camera, can monitor the working condition of arm, cavitation jet cleaning shower nozzle constantly and during operation track in the laminating on boats and ships surface, the washing condition on washing route and boats and ships surface, the condition of the washing condition on boats and ships surface and the cleaning robot rear end under water can be monitored to rear camera.

As a preferred embodiment of the scheme, the crawler 9 is meshed with the crawler wheels 10 through gears, the crawler wheels 10 are connected with the crawler driving motor 16 through a coupler, and the crawler driving motor 16 drives the crawler 9 to move when rotating.

In a preferred embodiment of the present invention, when the underwater cleaning robot works on the surface of the ship, the cleaning robot is stably attached to the surface of the ship by using the thrust generated by the 4 vertical propeller propellers 14, and the rotation speed of the 4 vertical propeller propellers 14 is adjusted by using the main control system.

As a preferred embodiment of the scheme, the front bidirectional camera 5 is provided with a front camera and a rear camera, a crank rocker mechanism is installed inside the front bidirectional camera 5, one end of a rocker of the crank rocker mechanism is connected to the cameras, and the other end of the rocker of the crank rocker mechanism is installed on a steering engine shaft in the front bidirectional camera 5. The front camera of the front bidirectional camera 5 is used for observing the contact condition between the rubber elastic protective sleeve at the lower end of the cavitation jet flow protective cover and the surface of the ship. The rear end camera of the front bidirectional camera 5 is used for observing the contact condition of a crawler belt of the underwater cleaning robot and the ground.

As a preferred embodiment of the scheme, the control module comprises a GPS positioning module, a working pose state sensor, a depth sensor, a distance sensor and a video real-time communication module.

As the preferred embodiment of the scheme, the underwater cleaning robot has the other functions that a camera is arranged at the tail end of the mechanical arm 4, underwater detection under complex working conditions can be completed, and a mechanical clamp is arranged at the tail end of the mechanical arm 4, so that underwater grasping and clamping work can be completed.

One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

this cleaning robot's cleaning efficiency is high, the cleaning time is short, the expense is low, adopt modularization and zero buoyancy design, boats and ships need not dock and can directly accomplish the cleaning operation at sea or parking place, based on stm32 single chip microcomputer control system, control system is stable, the later stage expansion space is big, adopt the drive mode of track, make cleaning robot have great area of contact on the boats and ships surface, can carry out effectual control to wasing the route, the cleaning process does not keep the dead angle, the boats and ships surface is washd to the cavitation jet cleaning technique has been adopted, can not damage boats and ships in the cleaning process, can carry out reasonable effectual washing to boats and ships screw etc..

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 these drawings without inventive exercise.

Fig. 1 is an overall structural view of an embodiment of the present application.

Fig. 2 is a front view of an embodiment of the present application.

Fig. 3 is a top view of fig. 2.

Fig. 4 is a lower view of fig. 2.

Fig. 5 is a right side view of fig. 2.

In the figures 1-5, 1 is a cavitation jet flow protection cover, 2 is a mechanical arm rotary steering engine, 3 is a mechanical arm steering engine, 4 is a mechanical arm, 5 is a front bidirectional camera, 6 is a rotary steering engine, 7 is a buoyancy body, 8 is a protection frame, 9 is a crawler belt, 10 is a crawler belt wheel, 11 is a watertight plug, 12 is a front searchlight, 13 is a front camera, 14 is a vertical propeller thruster, 15 is a rear searchlight, 16 is a crawler belt driving motor, 17 is a bottom plate, 18 is a cavitation jet flow nozzle, 19 is a horizontal propeller thruster, 20 is a rear camera, and 21 is a side plate.

Detailed Description

The utility model provides an underwater cleaning robot based on stm32 single chip microcomputer control, adopts cavitation jet cleaning mode, and the track transmission, modularization and zero buoyancy design, this cleaning robot's cleaning efficiency is high, and the scavenging period is short, and the cleaning cost is low, and boats and ships do not need the dock and can directly accomplish the cleaning operation at sea or parking.

In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.

As shown in fig. 1 to 5, an underwater cleaning robot comprises a cavitation jet flow protection cover 1, a mechanical arm rotary steering engine 2, a mechanical arm steering engine 3, a mechanical arm 4, a front bidirectional camera 5, a rotary steering engine 6, a buoyancy body 7, a protection frame 8, a crawler belt 9, crawler wheels 10, watertight plugs 11, a front searchlight 12, a front camera 13, a vertical propeller thruster 14, a rear searchlight 15, a crawler belt driving motor 16, a bottom plate 17, a cavitation jet flow nozzle 18, a horizontal propeller thruster 19, a rear camera 20 and side plates 21, wherein the side plates 21 are installed on two sides of the bottom plate 17, the crawler wheels 10 and the crawler belt driving motor 16 are installed on the side plates 21, the rotary steering engine 6 is installed on the bottom plate 17, the 4 vertical propeller thrusters 14 and the 2 horizontal propeller thrusters 19 are all fixed through a support seat, and the support seat is fixed on the bottom plate 17 through bolts, the mechanical arm rotary steering engine 2, the mechanical arm steering engine 3 and the mechanical arm 4 are connected through bolts, and the mechanical arm 4 is finally connected with the rotary steering engine 6 through bolts.

Wherein, in practical application, cleaning machines people on the camera of installation, the boats and ships shell that needs the scrubbing is monitored, and with data transmission to the host computer, operating personnel is through observing the host computer, make the judgement, operating handle through installing at the host computer controls the control system who installs on cleaning machines people's bottom plate under water, control system control driving motor work, track driving motor 16 drives athey wheel 10, thereby drive track 9 rotates, realize going of robot, can accomplish cleaning effectively, increase the life of boats and ships, and economic benefits is improved.

Wherein, in practical application, track driving motor including locate robot body both sides install the curb plate 21 that is used for installing the athey wheel, bottom plate 17 passes through bolted connection with curb plate 21, installs the track driving motor 16 of a pair of symmetry on the curb plate, for the track rotation provides power, its theory of operation: when the two crawler belt driving motors 16 rotate forwards, the robot body moves forwards; when the two crawler belt driving motors 16 reversely rotate, the robot body retreats; when one of the crawler belt driving motors rotates forwards and the other crawler belt driving motor rotates backwards, the robot body turns on the surface of the ship.

In practical application, the distance sensor is installed at the lower end of the bottom plate 17, the distance between the bottom plate and the surface of the ship can be monitored, and when the distance is within a specified range, the current rotating speed of the 4 vertical propeller propellers 14 can be locked, so that the cleaning robot is stably attached to the surface of the ship.

In practical application, the cleaning work of the cavitation jet nozzle 18 is completed under the cooperation of a mechanical arm module, the movement and the position of the nozzle are controlled by controlling the mechanical arm, high-pressure water required by the cavitation jet nozzle is generated by a onshore cavitation jet device and is input through a high-pressure water pipe, then is sprayed through the cavitation jet nozzle 18, the cleaning purpose is achieved by utilizing the impact force generated when cavitation bubbles collapse, and whether the high-pressure water pressure is changed or not is determined by observing the cleaning condition of the surface of a ship through the front bidirectional camera 5 and the rear camera 20.

In practical application, the propeller thruster comprises a vertical propeller thruster 14 and a horizontal propeller thruster 19 which are arranged on a bottom plate, the vertical propeller thruster 14 provides downward or upward thrust for the robot body, and the horizontal propeller thruster 19 provides forward power for the robot.

The above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above embodiments, and although the present invention has been disclosed with the preferred embodiments, it is not limited to the present invention, and any skilled person in the art can make some modifications or equivalent embodiments without departing from the scope of the present invention, but all the technical matters of the present invention are within the scope of the present invention.

Claims

1. The utility model provides an underwater cleaning robot, including cavitation jet protection cover (1), the rotatory steering wheel of arm (2), arm steering wheel (3), arm (4), leading two-way camera (5), rotatory steering wheel (6), the buoyancy body (7), protection frame (8), track (9), athey wheel (10), watertight plug (11), leading searchlight (12), leading camera (13), plumb screw propeller (14), rearmounted searchlight (15), track driving motor (16), bottom plate (17), cavitation jet nozzle (18), horizontal screw propeller (19), rearmounted camera (20), curb plate (21), its characterized in that: this cleaning machines people under water adopts modularization and whole zero buoyancy design, adopts cavitation jet's cleaning method, and whole arm (4) have three degrees of freedom, and the work is accomplished under the cooperation of searchlight to the camera, and leading two-way camera (5) inside camera lens can realize rotating, and track motor drive module can realize the control to track driving motor (16), and each part passes through the bolt and connects among the whole cleaning machines people under water.

2. The underwater cleaning robot of claim 1, wherein the modular design comprises a control module, a camera module, an underwater propeller driving module, a caterpillar motor driving module and a steering engine module, wherein the control module is based on stm32 single-chip microcomputer control.

3. The underwater cleaning robot as claimed in claim 1, wherein the cleaning mode is cavitation jet cleaning, the cavitation cleaning part includes an S-shaped cavitation jet nozzle (18), a cavitation jet protection cover (1) and a high pressure water pipe joint, an elastic protection cover made of rubber is installed at the lower end of the cavitation jet protection cover (1), and high pressure water required by the cavitation jet cleaning nozzle is generated by a cavitation jet device on the shore and transmitted through the high pressure water pipe.

4. The underwater cleaning robot as claimed in claim 1, wherein the mechanical arm (4) has three degrees of freedom and can rotate around the X, Y and Z axes, wherein a mechanical arm steering engine (3) mounted on the mechanical arm (4) can rotate the mechanical arm (4) around the X axis, a mechanical arm rotation steering engine (2) mounted on the mechanical arm (4) can rotate the mechanical arm (4) around the Y axis, and a rotation steering engine (6) connected to the tail end of the mechanical arm (4) can rotate the mechanical arm (4) around the Z axis.

5. An underwater cleaning robot as claimed in claim 1, wherein the front bidirectional camera (5) comprises a front camera and a rear camera, the front camera of the front bidirectional camera (5) has 2 degrees of freedom, the rear camera of the front bidirectional camera (5) has 1 degree of freedom, a crank and rocker mechanism is arranged in the front bidirectional camera (5), one end of the crank and rocker mechanism is connected with the camera, and the other end of the crank and rocker mechanism is arranged on a steering engine shaft in the front bidirectional camera (5).

6. An underwater cleaning robot as claimed in claim 1, wherein the high pressure water pipe joint of the cavitation jet nozzle (18) is a through thread, two nuts arranged up and down are mounted on the through thread and tightly pressed on the bottom plate (17) and the end of the mechanical arm (4), and the cavitation jet nozzle (18) can be selectively opened according to different cleaning positions.

7. The underwater cleaning robot as claimed in claim 1, wherein the bottom plate (17) is connected through threaded holes in side plates (21) by bolts, crawler wheels (10) and crawler driving motors (16) are mounted on the side plates (21), rotary steering engines (6) are mounted on the bottom plate (17), 4 vertical propeller propellers (14) and 2 horizontal propeller propellers (19) are fixed through supporting seats, the supporting seats are fixed on the bottom plate (17) by bolts, the mechanical arm rotary steering engines (2), the mechanical arm steering engines (3) are connected with the mechanical arm (4) by bolts, and the whole mechanical arm (4) is connected with the rotary steering engines (6) by bolts.