Marine organism cleaning device of underwater robot

Abstract

The invention discloses a marine organism sweeping device of an underwater robot, and relates to the technical field of underwater robots, the marine organism sweeping device comprises an underwater robot main body, and further comprises a sweeping mechanism and a winding mechanism, the sweeping mechanism comprises a controller and a first motor, the controller is installed on one side of the top of the underwater robot main body, and the first motor is installed on the bottom of the underwater robot main body; the first motor is installed on the outer wall of one side of the underwater robot body, a waterproof cable is arranged between the controller and the first motor, the outer side of an output shaft of the first motor is sleeved with a shifting fork, an eccentric bearing is arranged on the inner side of the shifting fork, a fixing shaft is arranged on the inner side, away from the first motor, of the shifting fork, and a scraper knife is installed at the bottom of the fixing shaft. The first motor works, under the action of the eccentric bearing, the shifting fork can drive the fixing shaft to rotate by a small angle, through rapid rotation, the scraper knife can achieve high-frequency vibration, and then the scraper knife can conveniently clean firm marine organisms on the surface of a ship.

Description

Technical Field

[0001] The invention relates to the technical field of underwater robots, and in particular to a marine organism cleaning device of an underwater robot. Background Art

[0002] During the voyage of a ship, marine organisms such as barnacles are easily bred on its surface. Underwater robots can be used to clean the marine organisms on the surface of the ship. Underwater robots used for ship cleaning are intelligent robot devices specially used to clean objects attached to the outer surface of the ship. This type of robot is usually used to detect and clean marine organisms attached to the outer surface of the ship, such as shellfish and algae, to reduce the fuel consumption of the ship, extend the interval between dock repairs, and reduce operating costs. Underwater robots can detect areas below the waterline of the ship, remove marine organisms and dirt on the surface of the hull, and ensure the cleanliness of the hull. In addition to ships, they can also be used for the detection and cleaning of underwater facilities such as dams, bridge piers, and marine structures.

[0003] An underwater robot for cleaning the bottom of a ship with the publication number CN112027012A comprises a shell and a first motor, wherein the middle positions of the two long sides of the bottom surface of the shell are fixedly connected with an electromagnet, the middle part of the tail end of the shell is rotatably connected with a first rotating shaft, and both ends of the first rotating shaft are fixedly connected with a power wheel. In the invention, the first rotating shaft is rotatably connected with the middle part of the tail end of the shell, and the power wheel and the first bevel gear are respectively arranged at both ends and the middle of the first rotating shaft. After the electromagnet is energized, the device can be attached to the surface of the hull underwater. At this time, the first motor is turned on, and the power wheel also rotates synchronously while the grinding disc rotates. Even if there are parasites that are difficult to clean, these parasites can be effectively cleaned under the dual cleaning of the high-pressure cleaning machine and the grinding disc, which greatly improves the cleaning efficiency of large ships and saves the time consumed by ship cleaning.

[0004] The existing technology has the following deficiencies: when the existing underwater robots are cleaning the marine organisms on the surface of the ship, some solid marine organisms such as barnacles cannot be cleaned by high-pressure water guns, so that the barnacles and other solid marine organisms will still adhere to the surface of the ship, requiring subsequent manual cleaning, which will affect the efficiency of ship cleaning. At the same time, the solid marine organisms adhere to the surface of the ship and cannot be thoroughly cleaned, which will affect the service life of the ship. Summary of the invention

[0005] The purpose of the present invention is to provide a marine life cleaning device for an underwater robot. Through the operation of the first motor, the shift fork can drive the fixed shaft to rotate at a small angle through the action of the eccentric bearing. The shovel blade can achieve high-frequency vibration through rapid rotation, so that the shovel blade can conveniently clean the solid marine life on the surface of the ship, so as to solve the above-mentioned deficiencies in the technology.

[0006] In order to achieve the above-mentioned object, the present invention provides the following technical solution: a marine organism cleaning device of an underwater robot, comprising an underwater robot main body, and further comprising:

[0007] The cleaning mechanism is arranged on the outer wall of one side of the underwater robot body and is used to clean the solid marine organisms on the surface of the ship;

[0008] The reeling mechanism is arranged on the top of the underwater robot body and is used to reel in the water plants on the surface of the ship;

[0009] The cleaning mechanism includes a controller and a first motor, wherein the controller is fixedly mounted on one side of the top of the underwater robot body, the first motor is fixedly mounted on an outer wall of one side of the underwater robot body, a waterproof cable is arranged between the controller and the first motor, a shift fork is fixedly sleeved on the outer side of the output shaft of the first motor, an eccentric bearing is arranged on the inner side of the shift fork, a fixed shaft is arranged on the inner side of the shift fork away from the first motor, and a shovel is fixedly mounted on the bottom of the fixed shaft.

[0010] Preferably, the cleaning mechanism further comprises a box body, which is fixedly mounted on an outer wall of a side of the first motor away from the underwater robot body, and a connecting bearing is provided between the inner wall of the box body and the outer wall of the fixed shaft.

[0011] Preferably, an eccentric sleeve is arranged between the outer wall of the first motor output shaft and the inner side of the eccentric bearing, and the eccentric bearing and the shift fork are arranged inside the housing.

[0012] Preferably, an end cover is movably mounted on the bottom of the box body, and a sealing ring is provided between the inner wall of the end cover and the outer wall of the fixed shaft.

[0013] Preferably, the winding mechanism comprises two fixing frames, which are respectively fixedly mounted at two ends of the top of the underwater robot body, and movable grooves are provided on the inner walls of the two fixing frames.

[0014] Preferably, the winding mechanism further comprises two connecting rods, a protective cover is fixedly mounted on one side of the two connecting rods away from the fixed frame, and movable racks are fixedly mounted on the other side of the two connecting rods, and the two movable racks are movably connected to the inner walls of the two movable grooves respectively.

[0015] Preferably, a rotating shaft is rotatably mounted on the outer wall of one side of the two fixing frames, a second motor is provided at one end of the rotating shaft, and rotating gears meshing with two movable racks are fixedly sleeved on the outer sides of both ends of the rotating shaft.

[0016] Preferably, a mounting rod is rotatably mounted on the inner side of the protective cover, a third motor is provided at one end of the mounting rod, and a winding roller is fixedly sleeved on the outer side of the mounting rod.

[0017] In the above technical solution, the technical effects and advantages provided by the present invention are:

[0018] 1. The first motor is operated through the controller, and the shift fork can drive the fixed shaft to rotate at a small angle inside the box through the action of the eccentric bearing. The blade is also rotated at a small angle by the small angle of the fixed shaft. At the same time, the eccentric bearing, the shift fork and the fixed shaft can be protected by the box and the end cover, so that the fixed shaft remains stable during the activity, and the eccentric bearing and the shift fork can be prevented from being corroded by seawater. Then, the small angle rotation of the blade can achieve high-frequency vibration, and then the solid marine organisms on the surface of the ship can be cleaned, so that solid marine organisms such as barnacles can be easily separated from the surface of the ship, which can improve the cleaning efficiency of the underwater robot for the ship, and can prevent the marine organisms from corroding the surface of the ship, thereby extending the service life of the ship;

[0019] 2. The second motor is operated by the controller. Through the meshing action between the rotating gear and the movable rack, the height of the protective cover can be adjusted, so that the reel can reel in water plants of different heights. The third motor is operated by the controller to drive the mounting rod to rotate, so that the reel can reel in the water plants attached to the surface of the ship, thereby preventing the water plants from affecting the movement of the underwater robot and the work of the cleaning mechanism, so that the underwater robot can stably clean the surface of the ship;

[0020] 3. The movement of the movable rack can be limited by the movable groove, so that the connecting rod and the protective cover remain stable during the height adjustment process, and the winding roller can stably reel in the aquatic plants of different heights. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0022] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0023] Figure 2 It is a partial cross-sectional structural diagram of the present invention.

[0024] Figure 3 For the present invention Figure 2 Enlarged view of part A.

[0025] Figure 4 It is an exploded view of the three-dimensional structure of the cleaning mechanism of the present invention.

[0026] Figure 5 It is a rear-view stereoscopic structural diagram of the fixed axis of the present invention.

[0027] Figure 6 It is an exploded view of the three-dimensional structure of the winding mechanism of the present invention.

[0028] Description of reference numerals:

[0029] 1. The main body of the underwater robot;

[0030] 2. Cleaning mechanism; 201. Controller; 202. First motor; 203. Waterproof cable; 204. Box; 205. Eccentric bearing; 206. Fork; 207. Fixed shaft; 208. Connecting bearing; 209. End cover; 210. Sealing ring; 211. Shovel;

[0031] 3. Winding mechanism; 301. Fixed frame; 302. Movable groove; 303. Connecting rod; 304. Protective cover; 305. Movable rack; 306. Rotating shaft; 307. Second motor; 308. Rotating gear; 309. Mounting rod; 310. Third motor; 311. Winding roller. DETAILED DESCRIPTION

[0032] The present invention provides Figure 1 The marine organism cleaning device of an underwater robot shown in the figure comprises an underwater robot body 1, and further comprises:

[0033] The cleaning mechanism 2 is arranged on the outer wall of one side of the underwater robot body 1 and is used to clean the solid marine organisms on the surface of the ship;

[0034] The reeling mechanism 3 is arranged on the top of the underwater robot body 1 and is used for reeling in the water weeds on the surface of the ship.

[0035] In order to conveniently clean the solid marine organisms on the surface of the ship, Figure 1-5As shown, the cleaning mechanism 2 includes a controller 201 and a first motor 202. The controller 201 is fixedly installed on one side of the top of the underwater robot body 1, and the first motor 202 is fixedly installed on the outer wall of one side of the underwater robot body 1. A waterproof cable 203 is arranged between the controller 201 and the first motor 202. A fork 206 is fixedly sleeved on the outer side of the output shaft of the first motor 202, and an eccentric bearing 205 is arranged on the inner side of the fork 206. A fixed shaft 207 is arranged on the inner side of the fork 206 away from the first motor 202, and a shovel blade 209 is fixedly installed on the bottom of the fixed shaft 207. The controller 201 controls the first motor 202 to work, and the transmission action of the eccentric bearing 205 and the fork 206 can drive the fixed shaft 207 to rotate at a small angle at a high speed, so that the shovel blade 211 can vibrate at a high frequency, and then the solid marine organisms such as barnacles on the surface of the ship can be cleaned, which can avoid the corrosion of the ship by solid marine organisms such as barnacles, improve the efficiency of the underwater robot in cleaning the ship, and extend the service life of the ship.

[0036] In order to make the blade 211 vibrate stably at high frequency, Figure 1-5 As shown, the cleaning mechanism 2 also includes a box body 204, which is fixedly installed on the outer wall of the first motor 202 away from the underwater robot body 1, and a connecting bearing 208 is arranged between the inner wall of the box body 204 and the outer wall of the fixed shaft 207, and an eccentric sleeve is arranged between the outer wall of the output shaft of the first motor 202 and the inner side of the eccentric bearing 205, and the eccentric bearing 205 and the shift fork 206 are arranged on the inner side of the box body 204, and an end cover 209 is movably installed at the bottom of the box body 204, and a connecting bearing 208 is arranged between the inner wall of the end cover 209 and the outer wall of the fixed shaft 207. The sealing ring 210 can limit the rotation of the fixed shaft 207 through the box body 204 and the end cover 209, so that the fixed shaft 207 remains stable during the rotation process, and the scraper 211 can stably perform high-frequency vibration. The box body 204 and the end cover 209 can protect the fork 206 and the fixed shaft 207, so that the eccentric bearing 205 and the fork 206 can stably drive the fixed shaft 207 to rotate at a small angle. At the same time, the end cover 209 and the sealing ring 210 can play a good sealing role.

[0037] In order to keep the movable rack 305 stable during the height adjustment process, Figure 1-2 and Figure 6As shown, the winding mechanism 3 includes two fixed frames 301, and the two fixed frames 301 are respectively fixedly installed at the two ends of the top of the underwater robot body 1, and the inner walls of the two fixed frames 301 are provided with movable grooves 302. The winding mechanism 3 also includes two connecting rods 303, and the two connecting rods 303 are fixedly installed with a protective cover 304 on the side away from the fixed frames 301, and the other sides of the two connecting rods 303 are fixedly installed with movable racks 305. The two movable racks 305 are respectively movably connected to the inner walls of the two movable grooves 302. The movable grooves 302 can limit the movement of the movable racks 305, so that the protective cover 304 remains stable during the height adjustment process, and then the winding roller 311 remains stable during the height adjustment process, so that the winding roller 311 can stably wind up the water plants on the surface of the ship, and avoid the deviation of the winding roller 311 during the height adjustment process to affect the winding of the water plants.

[0038] In order to enable the reeling mechanism 3 to stably reel in water plants of different heights, Figure 2 and Figure 6 As shown, a rotating shaft 306 is rotatably installed on the outer wall of one side of the two fixing frames 301, and a second motor 307 is arranged at one end of the rotating shaft 306. A rotating gear 308 meshing with two movable racks 305 is fixedly sleeved on the outer sides of both ends of the rotating shaft 306. A mounting rod 309 is rotatably installed on the inner side of the protective cover 304. A third motor 310 is arranged at one end of the mounting rod 309. A winding roller 311 is fixedly sleeved on the outer side of the mounting rod 309. The second motor 307 works to rotate the rotating shaft 306, and the rotating gear 307 passes between the rotating gear 307 and the movable rack 305. The meshing action can adjust the height of the winding roller 311, so that the winding roller 311 can be conveniently adjusted according to the height of the water plants, so that the winding roller 311 can reel in the water plants of different heights. The operation of the third motor 310 causes the mounting rod 309 to rotate, so that the winding roller 311 can reel in the water plants, which can prevent the water plants from affecting the movement of the underwater robot body 1, and at the same time prevent the water plants from affecting the work of the cleaning mechanism 2, so that the cleaning mechanism 2 can stably clean the barnacles and other solid marine organisms adhered to the surface of the ship.

[0039] The fork 206 is sleeved onto the outside of the output shaft of the first motor 202, and then the eccentric sleeve is sleeved onto the outside of the output shaft and is located on the inside of the fork 206, and then the eccentric bearing 205 is sleeved onto the outside of the eccentric sleeve, and then the sealing ring 210 is installed on the inner wall of the end cover 209, and then the fixed shaft 207 passes through the inner wall of the end cover 209 and is located on the inner wall of the sealing ring 210, and then installed into the box body 204 through the connecting bearing 208, and then the box body 204 is connected to the side of the first motor 202 away from the underwater robot body 1, and at the same time, the fixed shaft 207 can be located on the side of the fork 206 away from the first motor 202. The box body 204 is placed on the outside of the eccentric bearing 205 and the shift fork 206, and then the winding roller 311 is sleeved on the outside of the mounting rod 309, and then the mounting rod 309 is installed on the inside of the protective cover 304 so that one end thereof can be connected to the output shaft of the third motor 310, and at the same time, the two rotating gears 308 are sleeved on the outside of both ends of the rotating shaft 306, and then the rotating shaft 306 is installed on the top of the outer wall of one side of the fixing frame 301, so that the two rotating gears 308 can be respectively engaged with the two movable racks 305, and at the same time, one end of the rotating shaft 306 can be connected to the output shaft of the second motor 307;

[0040] The underwater robot body 1 is moved along the surface of the ship, and the controller 201 controls the waterproof cable 203 to make the second motor 307 work and drive the rotating shaft 306 to rotate, thereby making the two rotating gears 308 rotate, and through the meshing action between the gear parts, the two movable racks 305 can move along the inner walls of the two movable grooves 302 respectively, and the movement of the movable racks 305 can be limited by the movable grooves 302, so that the movable racks 305 remain stable during the height adjustment process, and the height of the protective cover 304 can be adjusted by the connecting rod 303, and then the controller 201 controls the waterproof cable 203 to make the third motor 310 drive the mounting rod 309 to rotate, so that the winding roller 311 can remove the water plants adhered to the surface of the ship. The winding process can prevent the water plants from affecting the movement of the underwater robot body 1, and at the same time prevent the water plants from affecting the work of the cleaning mechanism 2. Then, the controller 201 controls the waterproof cable 203 to make the first motor 202 work. Through the transmission action of the eccentric bearing 205 and the shift fork 206, the fixed shaft 207 can be driven to rotate at a high angle inside the box 204, and then the shovel 211 can be driven to vibrate at a high frequency, so that the solid marine organisms such as barnacles adhered to the surface of the ship can be cleaned, and the surface of the ship can be cleaned conveniently, which can prevent the adhered marine organisms from corroding the surface of the ship, and thus the service life of the ship can be extended. This embodiment specifically solves the problem in the prior art that the underwater robot cannot conveniently clean solid marine organisms such as barnacles, which will affect the cleaning efficiency of the ship.

[0041] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A marine organism cleaning device for an underwater robot, comprising an underwater robot body (1), characterized in that: Also includes: A cleaning mechanism (2) is arranged on an outer wall of one side of the underwater robot body (1) and is used to clean solid marine organisms on the surface of the ship; A reeling mechanism (3) is arranged on the top of the underwater robot body (1) and is used to reel in the water weeds on the surface of the ship; The cleaning mechanism (2) comprises a controller (201) and a first motor (202); the controller (201) is fixedly mounted on one side of the top of the underwater robot body (1); the first motor (202) is fixedly mounted on an outer wall of one side of the underwater robot body (1); a waterproof cable (203) is arranged between the controller (201) and the first motor (202); a shift fork (206) is fixedly sleeved on the outer side of the output shaft of the first motor (202); an eccentric bearing (205) is arranged on the inner side of the shift fork (206); a fixed shaft (207) is arranged on the inner side of the shift fork (206) away from the first motor (202); and a shovel blade (209) is fixedly mounted on the bottom of the fixed shaft (207).

2. The marine life cleaning device of an underwater robot according to claim 1, characterized in that: The cleaning mechanism (2) further comprises a box (204), wherein the box (204) is fixedly mounted on an outer wall of a side of the first motor (202) away from the underwater robot body (1), and a connecting bearing (208) is provided between the inner wall of the box (204) and the outer wall of the fixed shaft (207).

3. The marine life cleaning device of an underwater robot according to claim 2, characterized in that: An eccentric shaft sleeve is arranged between the outer wall of the output shaft of the first motor (202) and the inner side of the eccentric bearing (205), and the eccentric bearing (205) and the shift fork (206) are arranged on the inner side of the box body (204).

4. The marine life cleaning device of an underwater robot according to claim 2, characterized in that: An end cover (209) is movably mounted on the bottom of the box body (204), and a sealing ring (210) is arranged between the inner wall of the end cover (209) and the outer wall of the fixed shaft (207).

5. The marine organism cleaning device of an underwater robot according to claim 1, characterized in that: The winding mechanism (3) comprises two fixing frames (301), the two fixing frames (301) being respectively fixedly mounted on two ends of the top of the underwater robot body (1), and the inner walls of the two fixing frames (301) are both provided with movable grooves (302).

6. The marine life cleaning device of an underwater robot according to claim 5, characterized in that: The winding mechanism (3) further comprises two connecting rods (303), a protective cover (304) being fixedly mounted on one side of the two connecting rods (303) away from the fixed frame (301), and movable racks (305) being fixedly mounted on the other side of the two connecting rods (303), and the two movable racks (305) being movably connected to the inner walls of the two movable grooves (302) respectively.

7. The marine life cleaning device of an underwater robot according to claim 6, characterized in that: A rotating shaft (306) is rotatably mounted on the outer wall of one side of the two fixed frames (301), a second motor (307) is disposed at one end of the rotating shaft (306), and rotating gears (308) meshing with two movable racks (305) are fixedly sleeved on the outer sides of both ends of the rotating shaft (306).

8. The marine life cleaning device of an underwater robot according to claim 6, characterized in that: A mounting rod (309) is rotatably mounted on the inner side of the protective cover (304), a third motor (310) is disposed at one end of the mounting rod (309), and a winding roller (311) is fixedly sleeved on the outer side of the mounting rod (309).

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