Obstacle clearing device and cleaning robot

Abstract

The present invention relates to the field of underwater cleaning technology, and particularly to an obstacle removal device and a cleaning robot, including a linear module, a walking component and a cutter head component. The walking component is arranged on the linear module, the walking component moves linearly along the linear module, and the cutter head component is connected to the walking component. Through the linear module and the walking component, the movement of the cutter head component on the underwater robot is realized. Therefore, when the cleaning robot is fixed on the grille, the movement of the cutter head component is realized through the walking component, thereby realizing the large-scale cleaning of the grille, reducing the movement times of the cleaning robot, and the present invention can also replace the existing manual underwater cleaning operation, greatly improving the cleaning efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater cleaning, and in particular, to a debris removal device and a cleaning robot. Background Art

[0002] The underwater trash rack is used for underwater trash interception. As a commonly used trash rack, the grid structure can block debris and dirt larger than the grid holes outside the grid, preventing debris and dirt from entering the underwater water flow channel and causing blockage to the channel.

[0003] However, over time, dirt will accumulate on the surface of the grid structure. When it accumulates to a certain extent, it will block the grid holes. Large pieces of debris stuck in the grid holes will also cause blockage of the grid holes. Especially the water flow pipes in the natural environment are more likely to be blocked. For example, shellfish and aquatic plants under seawater will attach to the surface of the grid structure and block the grid holes when they accumulate to a certain extent. Therefore, it is necessary to regularly clean the surface of the grid structure to ensure the smooth flow of the water flow channel.

[0004] Currently, there is no special device for cleaning underwater grids. Therefore, it is of great significance to obtain a device for cleaning grids. Summary of the Invention

[0005] In view of the deficiencies of the above-mentioned prior art, the first object of the present invention is to provide a debris removal device that can cooperate with an underwater robot to clean underwater grids.

[0006] The specific solution is as follows:

[0007] A debris removal device includes a linear module, a walking component, and a cutter head component. The walking component is arranged on the linear module, the walking component moves linearly along the linear module, and the cutter head component is connected to the walking component.

[0008] Further, the cutter head component includes a cutter head, a main shaft, a main shaft structure component, a main shaft pushing device, a main shaft power device, and a main shaft motor;

[0009] One end of the main shaft is connected to the cutter head, and the other end of the main shaft extends into the main shaft structure component;

[0010] The main shaft pushing device is located at the tail end of the main shaft structure component, and the main shaft pushing device is connected to the main shaft extending into the main shaft structure component;

[0011] The main shaft motor is connected to the main shaft;

[0012] The main shaft power device is respectively connected to the main shaft motor and the main shaft pushing device.

[0013] Further, the cutter head is one or more of a rotary milling cutter, a steel brush cutter, a sponge cutter or a grinding wheel cutter.

[0014] Further, the main shaft is provided with a groove matching the shape of the cutter head, and the bottom of the groove is provided with a threaded hole and a positioning groove. The cutter head is inserted into the groove and connected to the main shaft by a screw.

[0015] Further, the traveling assembly includes a base and a traveling servo motor. The base is connected to the linear module, and the base is connected to the traveling servo motor. The traveling servo motor drives the base to move linearly along the linear module.

[0016] Further, the base is provided with a sliding groove, and the main shaft structure assembly is arranged in the sliding groove. The main shaft structure assembly can move linearly in the sliding groove.

[0017] Further, a vision component is further included. The vision component is connected to the base and is used to obtain the operating conditions of the cutter head.

[0018] Further, a digging assembly is further included. The digging assembly includes a digging head, a connecting rod, a first rotating shaft, a second rotating shaft and a power device. The first rotating shaft is arranged on the base, the power device is connected to the first rotating shaft, the first rotating shaft is connected to the connecting rod, and the connecting rod is connected to the digging head through the second rotating shaft.

[0019] Further, limit sensors are arranged at both ends of the linear module.

[0020] Correspondingly, a cleaning robot for cleaning an underwater grille is further provided, which includes a robot body and the above-mentioned obstacle clearing device. The obstacle clearing device is connected to the robot body.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] The present invention provides an obstacle clearing device for a cleaning robot. Through the linear module and the traveling assembly, the movement of the cutter head assembly on the underwater robot is realized. Therefore, when the cleaning robot is fixed on the grille, the movement of the cutter head assembly is realized through the traveling assembly, and further the large-range cleaning of the grille is realized, reducing the movement times of the cleaning robot. And the present invention can also replace the existing manual underwater cleaning operation, greatly improving the cleaning efficiency. Description of the Drawings

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0024] Figure 1 Schematic diagram of the obstacle removal device in the embodiment of the present invention;

[0025] Figure 2 Exploded schematic diagram of the obstacle removal device in the embodiment of the present invention;

[0026] Figure 3 Schematic diagram of the rotating cutter head in the embodiment of the present invention;

[0027] Figure 4 Schematic diagram of the working state of the obstacle removal device in the embodiment of the present invention;

[0028] Figure 5 Schematic diagram of the cleaning robot in the embodiment of the present invention;

[0029] Figure 6 Stereogram of the cleaning robot in the embodiment of the present invention;

[0030] Figure 7 Rear view of the cleaning robot in the embodiment of the present invention;

[0031] Figure 8 Exploded schematic diagram of the cleaning robot in the embodiment of the present invention;

[0032] Figure 9 Schematic diagram of the fixing component in the embodiment of the present invention;

[0033] Figure 10 First cross-sectional view of the fixing component in the embodiment of the present invention;

[0034] Figure 11 Second cross-sectional view of the fixing component in the embodiment of the present invention;

[0035] Figure 12 Schematic diagram of the internal structure of the fixing component in the embodiment of the present invention. Detailed implementation manners

[0036] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0037] It should be noted that all the directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement conditions, etc. of the components in a specific posture (as shown in the attached drawings). If the specific posture changes, the directional indications will also change accordingly.

[0038] It should also be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or there may be an intermediate element at the same time. When an element is referred to as "connected to" another element, it can be directly connected to the other element or there may be an intermediate element at the same time.

[0039] In addition, the descriptions involving "first", "second", etc. in the present invention are only for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0040] Figures 1-4 It is a schematic diagram of an embodiment of the obstacle clearing device of the present invention.

[0041] Please refer to Figures 1-4 , this embodiment is for a cleaning robot, used for cleaning underwater grilles, especially for cleaning the grilles at the seawater inlet and outlet of nuclear power plants. This embodiment specifically includes a walking component 110, a cutter head component 120, and a linear module 130. Among them, the walking component 110 is disposed on the linear module 130, and the walking component 110 moves linearly along the linear module 130. The cutter head component 120 is connected to the walking component 110. Therefore, the cutter head component 120 moves linearly along the linear module 130 under the drive of the walking component 110. Therefore, when the cleaning robot is fixed on the grille, the movement of the cutter head component 120 is realized through the walking component 110, and thus the large-scale cleaning of the grille is realized.

[0042] Specifically, the cutter head component 120 in this embodiment includes a cutter head 121, a main shaft 122, a main shaft structure component 123, a main shaft pushing device 124, a main shaft power device 125, and a main shaft motor 126.

[0043] One end of the main shaft 122 is connected to the cutter head 121, and the other end of the main shaft 122 extends into the main shaft structure component 123. The main shaft structure component 123 is a cylindrical structure, and the main shaft 122 can perform telescopic movement in the main shaft structure component 123.

[0044] The main shaft driving device 124 is located at the tail end of the main shaft structure assembly 123, and the main shaft driving device 124 is connected to the main shaft 122 extending into the main shaft structure assembly 123. The main shaft driving device 124 drives the main shaft to perform telescopic motion, and then drives the tool head 121 to perform telescopic motion. The purpose of this telescopic structure is to realize the telescopic motion of the tool head 121. When the underwater robot is in a moving state, at this time, the tool head 121 retracts following the main shaft 122 to avoid damage to the tool head 121 during the movement of the underwater robot. When the underwater robot is fixed on the grid for cleaning, at this time, the tool head 121 extends following the main shaft 122 to clean the grid.

[0045] The main shaft motor 126 is connected to the main shaft 122. The main shaft motor 126 drives the main shaft 122 to rotate, and then drives the tool head 121 to rotate to clean the grid.

[0046] The main shaft power device 125 is respectively connected to the main shaft motor 126 and the main shaft driving device 124 to provide power for the main shaft motor 126 and the main shaft driving device 124.

[0047] In this embodiment, the tool head 121 adopts one or more of a rotary milling cutter, a steel brush cutter, a sponge cutter or a grinding wheel cutter. Among them, the rotary milling cutter is used for rough cleaning, and the cleaning object is relatively difficult-to-clean attachments, such as attachments like shellfish. Tool heads such as steel brush cutters, sponge cutters, and grinding wheel cutters are used for fine cleaning, and the cleaning objects are relatively easy-to-clean attachments and dirt. The tool head 121 can be selected according to actual needs. Moreover, the main shaft 122 is provided with a groove matching the shape of the tool head 121, and a threaded hole and a positioning groove are provided at the bottom of the groove. The tool head 121 is inserted into the groove and connected to the main shaft 122 by screws. This installation method facilitates the installation and replacement of the tool head 121.

[0048] Specifically, the traveling assembly 110 in this embodiment includes a base 111 and a traveling servo motor 112.

[0049] Among them, the base 111 is connected to the linear module 130, and the base 111 is also connected to the traveling servo motor 112. The traveling servo motor 112 is arranged inside the base 111, and the traveling servo motor 112 drives the base 111 to perform linear motion along the linear module 130. In addition, limit sensors 131 are provided at both ends of the linear module 130 in this embodiment to monitor the traveling process of the traveling assembly 110 on the linear module 130 and avoid the traveling distance of the traveling assembly 110 on the linear module 130 from exceeding the limit.

[0050] Furthermore, a chute 113 is provided on the base 111, and the main shaft structure assembly 123 is arranged in the chute 113. The main shaft structure assembly 123 can move linearly in the chute 113. By adjusting the position of the main shaft structure assembly 123 in the chute 113, the interval between the cutter head 121 and the grille is adjusted. By adjusting the chute 113, it is adapted to clean the attachments on the upper surface of grilles with different widths, avoiding interference and collision between the cutter head 121 and the grille during operation, and thus avoiding damage to the grille and the cutter head 121. The position of the main shaft structure assembly 123 in the chute 113 is usually manually adjusted by an operator on the water. The chute 113 is provided with scales, which can facilitate the operator to adjust the distance. After adjustment, it is placed underwater with the underwater robot to clean the grille. During the cleaning process, the position of the main shaft structure assembly 123 in the chute 113 is fixed to prevent the displacement of the cutter head 121 in the chute from damaging the tool or the grille during the cleaning process and deteriorating the cleaning effect.

[0051] In this embodiment, a vision component 140 is further included. The vision component 140 is connected to the base 111 and is arranged on the same side as the cutter head 121, and is used to obtain the operating conditions of the cutter head 121. Specifically, the vision component can be a kind of camera device, or can also be other image acquisition devices in other embodiments. The vision component 140 transmits the obtained operating conditions of the cutter head 121 to the terminal controlled by the operator. The operator can judge whether the operating position of the cutter head 121 is correct and whether the operating condition is normal through the operating conditions; when an emergency occurs, the operator can perform operations and remedies in time according to the operating conditions obtained by the vision component 140 to prevent damage to the cutter head 121 or the grille.

[0052] In this embodiment, an excavation component 150 is further included. Specifically, the excavation component 150 includes an excavation head 151, a connecting rod 152, a first rotating shaft 153, a second rotating shaft 154, and a power device 155. The excavation component 150 can realize the cleaning of special geographical conditions, such as the cleaning of installation grooves and side wall grooves in the area where the grille is located. The power device 155 in this embodiment is specifically a kind of air cylinder, which drives the operation of the excavation head 151 in a pneumatic manner. When the excavation component 150 is in a non-use state, it can be stored by a pneumatic action. The height of the excavation component in the stored state is less than the height of the anti-collision railing of the cleaning robot, so as to reduce the resistance of the underwater robot during underwater movement and prevent the excavation component 150 from being damaged during operation.

[0053] Among them, the first rotating shaft 153 is arranged on the base 111, the power device 155 is connected to the first rotating shaft 153, the power device 155 provides rotational power for the first rotating shaft 153, the first rotating shaft 153 is connected to the connecting rod 152, and the connecting rod 152 is connected to the digging head 151 through the second rotating shaft 154. Through the cooperation of the first rotating shaft 153, the connecting rod 152, and the second rotating shaft 154, the flipping and digging function of the digging head 151 is realized. The digging head 151 is in the shape of a semi-open container, and a toothed structure is also distributed at the opening for easy digging.

[0054] Further, the digging assembly 150 in this embodiment can also be replaced by a multi-joint robotic arm or a high-pressure water gun for grille cleaning, or a multi-joint robotic arm or a high-pressure water gun can be newly added to the existing base 111 and used in cooperation with the digging assembly 150. The specific selection can be made according to actual needs.

[0055] For anti-corrosion, the components in this embodiment are all made of corrosion-resistant materials, such as stainless steel or plastic, or a corrosion-resistant coating is applied to the surface of the components to prevent corrosion.

[0056] The obstacle clearing device provided in the above embodiment is used for a cleaning robot. Through the linear module and the walking component, the movement of the cutter head component on the underwater robot is realized. Therefore, when the cleaning robot is fixed on the grille, the movement of the cutter head component is realized through the walking component, thereby realizing the large-scale cleaning of the grille, reducing the movement times of the cleaning robot, and the present invention can also replace the existing manual underwater cleaning operation, greatly improving the cleaning efficiency.

[0057] Figures 5-8 It is a schematic diagram of an embodiment of the cleaning robot of the present invention.

[0058] Please refer to Figures 5-8 , this embodiment of the cleaning robot is used for cleaning the dirt of underwater pipelines, especially the dirt of the steel structure grille of underwater pipelines. Specifically, it can be the cleaning of the dirt of the steel structure grille at the seawater inlet and outlet of a nuclear power plant.

[0059] This embodiment specifically includes a robot body 1000 and the obstacle clearing device 100 in the above embodiment. The obstacle clearing device 100 is located on both sides of the robot body 1000.

[0060] Specifically, the robot body 1000 includes a frame 200, a power component 300, a positioning component 400, a fixing component 500, and a control component 600. Among them, the frame 200 is the main body of the cleaning robot, used to carry or connect each component. The frame 200 in this embodiment is a square structure, and the upper part of the frame 200 is connected to the cable device on the shore base.

[0061] In this embodiment, anti-collision rails 201 are symmetrically arranged on both sides of the frame 200 for protecting the obstacle removal device 100 in the above embodiment, so as to prevent the cleaning robot from colliding and damaging the obstacle removal device 100 during movement. The height of the anti-collision rails 201 is greater than the height of the excavation component, the multi-joint robotic arm, and the high-pressure water gun when they are stored in the above embodiment, thereby realizing the protection of the above components. Specifically, the anti-collision rails 201 are composed of two relatively arranged curved bars. This bar design has the following advantages compared with the baffle design. First, the middle blank area can facilitate the protrusion of the cutter head. The cutter head retracts when it is in a non-working state to avoid being damaged by impact during the movement of the cleaning robot. The cutter head protrudes when it is in a working state, and the blank area formed by the anti-collision rails 201 can provide a passage for the cutter head to move forward. Second, less material is used for the bars, which can reduce the weight of the entire cleaning robot. In addition, the middle of the anti-collision rails 201 is a hollow structure, and water can flow into the hollow structure, so the weight of the entire cleaning robot can be further reduced.

[0062] In this embodiment, the power component 300 includes thrusters 301. The thrusters 301 are distributed in the frame 200. The number of thrusters 301 is seven. Four of the thrusters 301 are evenly distributed at the four corners of the front surface of the frame 200, and the remaining three thrusters 301 are distributed on the upper surface of the frame 200. The thrusters 301 can push the frame 200 to move in a direction perpendicular to the grille and move left and right parallel to the surface of the grille. Through attitude perception combined with motion algorithms, underwater autonomous attitude control can be achieved. During the cleaning process, the thrusters 301 push the entire cleaning robot close to the grille, and the fixing component 500 grabs the grille to fix the entire cleaning robot on the surface of the grille. After the cleaning robot is fixed, the obstacle removal device 100 cleans the attachments on the surface of the grille. After cleaning the grille in the current area, the fixing component 500 releases the grille, and the thrusters 301 push the cleaning robot to the next area to be cleaned for cleaning. Repeat the above steps to complete the cleaning of the entire grille.

[0063] In addition, the power component 300 further includes a hoisting structure 302. The hoisting structure 302 is used to connect the frame 200 and a cable device (not shown in the figure). Under the action of the cable device (not shown in the figure), the hoisting structure 302 pulls the frame 200 to make a relative movement with the grille, so as to realize the movement of the cleaning robot underwater, and also realize the operation of putting the cleaning robot into the water and the recovery operation of the cleaning robot.

[0064] In this embodiment, the fixing component 500 is a parallel clamp mechanism. The parallel clamp mechanism is arranged on the frame 200 and is used to clamp the cleaning robot on the rod of the grille. As Figures 9-12As shown, the fixing component 500 includes a base 510, on which a pushing component 520, a clamping component 530 and a synchronization component 540 are provided. Among them, the pushing component 520 is connected to the clamping component 530, and the pushing component 520 drives the clamping component 530 to perform clamping and loosening actions. The synchronization component 540 is connected to the pushing component 520, and the synchronization component 540 is used to make the pushing component 520 move with the same stride. Specifically, one side of the base 510 is connected to the cleaning robot, and the other side is connected to the pushing component 520. The pushing component 520 includes a housing 521 and cylinders 522 arranged oppositely inside the housing. The housing 521 consists of a bottom block 521a, two slider side plates 521b, two slider end plates 521c, a central upper cover 521d and two side upper covers 521e.

[0065] The number of cylinders 522 is two, and they are arranged on the bottom block 521a through cylinder support seats 522a. The cylinders 522 are arranged oppositely. The so-called opposite arrangement means that the movable ends of the cylinders 522 are arranged oppositely, and the two cylinders 522 are on the same straight line, which is a symmetric opposite arrangement. Cylinder connectors 522b are provided on the cylinders 522, and solenoid valves are connected through the cylinder connectors 522b.

[0066] Specifically, the clamping component 530 includes two oppositely arranged jaw blocks 531. Claw pieces 532 are provided on the surfaces of the jaw blocks 531. The claw pieces 532 are connected by threads between the jaw blocks 531. The jaw blocks 531 drive the claw pieces 532 to approach or move away from each other. And the so-called opposite arrangement of the jaw blocks 531 refers to a symmetric opposite arrangement and a directly facing opposite arrangement. The jaw blocks 531 are located outside the housing 521. The jaw blocks 531 are connected with sliding seats 533. The number of sliding seats 533 is also two. The sliding seats 533 pass through the housing 521, and the two sliding seats 533 are correspondingly connected to the movable ends of the two cylinders 522 inside the housing 521. Guide bars 534 are provided on both sides of the sliding seats 533, and guide strips 535 are provided on the inner surface of the housing 521. The guide bars 534 and the guide strips 535 match each other. The guide bars 534 perform linear motion along the direction of the guide strips 535, and the effective sliding of the sliding seats 533 in the housing 521 is realized through the guide bars 534 and the guide strips 535. Therefore, when the cylinders 522 expand and contract, they drive the two sliding seats 533 to move relatively, and then can drive the jaw blocks 531 connected to the sliding seats 533 to move relatively, so as to realize the operations of clamping and loosening the grille.

[0067] The pawl piece 532 can be one or more of a metal nail - type pawl piece or a rubber flat pawl piece. The type of the pawl piece 532 can be selected according to the actual situation. Since the pawl piece 532 is thread - connected to the jaw block 531, it can be conveniently replaced. The type of the pawl piece 532 shown in the figure is a metal nail - type pawl piece. The material of this pawl piece is metal, with relatively high hardness, and its surface has a uniformly distributed nail - like structure. It is suitable for the situation when there are many attachments on the grille surface or the roughness of the grille surface is relatively large. It can effectively clamp on the grille surface and prevent the cleaning robot from causing damage to the cleaning tool due to relative displacement during the cleaning process. The rubber flat pawl piece is a pawl piece made of rubber material. It has relatively low hardness itself, has a certain elasticity, and the surface of the pawl piece is flat. This pawl piece is suitable for the situation where there are fewer attachments on the grille surface or the roughness of the grille surface is relatively small. When this pawl piece clamps the grille in the case of fewer attachments on the grille surface, it can reduce the scratching of the grille by the pawl piece.

[0068] The synchronization component 540 is located inside the housing 521 and specifically includes a timing belt 541, a connecting piece 542, a timing pulley 543, and a synchronization shaft 544. Among them, the synchronization shaft 544 is correspondingly arranged with the cylinder 522. Two synchronization shafts 544 are respectively arranged below the cylinder 522, and the two synchronization shafts 544 are symmetrically arranged. The number of timing pulleys 543 is two, and they are respectively connected to the synchronization shaft 544. The timing pulley 543 can rotate through the synchronization shaft 544. The timing belt 541 connects the two timing pulleys 543 and meshes with the timing pulleys. The timing belt 541 can rotate between the two timing pulleys 543. The timing belt 541, the timing pulley 543, and the synchronization shaft 544 form a structure similar to a chain. The timing belt 541 is connected to the slide block 533 through the connecting piece 542, and the connection method is a fixed connection. The number of connecting pieces 542 is two, and the two connecting pieces 542 are arranged on different sides. Arranging on different sides as shown in the figure means that one connecting piece is on the left side of one cylinder, and the remaining connecting piece is on the right side of the remaining cylinder. This setting method can ensure that the movement directions of the two cylinders driving the connecting piece 542 during operation are the same, that is, both are clockwise rotation or both are counter - clockwise rotation.

[0069] The synchronization principle achieved by the synchronization component 540 is as follows:

[0070] When the clamping assembly 530 clamps the grille, the object to be clamped is the rod that makes up the grille. The rod is not necessarily located at the center position between the two jaw blocks 531. It is possible that the rod is closer to one of the jaw blocks 531, and at this time, the rod is relatively farther from the remaining jaw block 531. For the jaw block 531 that is relatively far from the rod, due to the stroke limit of the cylinder 522, there may still be a certain distance between the jaw block 531 and the rod when the cylinder 522 reaches the stroke limit during the process of pushing the jaw block 531 to clamp inward, so the effective clamping of the rod cannot be achieved. The synchronization assembly 540 is used to solve the problem of clamping failure caused by this situation. After adopting the synchronization assembly 540, since the slide seat 533 connected to the cylinder 522 is fixedly connected to the timing belt 541 through the connecting member 542, the linkage of the two cylinders 522 during operation is realized. When the stroke of one cylinder 522 extending is smaller than the stroke of the other cylinder 522 extending, due to the timing belt 541 restricting a total stroke, at this time, the cylinder 522 with a larger extending stroke retracts, and the cylinder with a smaller extending stroke continues to extend inward, thereby realizing the synchronous amplitude movement of the two cylinders 522 and avoiding the situation of clamping failure caused by one of the cylinders 522 reaching the stroke limit.

[0071] The housing 521 is connected to the base 510 through the chute 511, and relative displacement can occur between the housing 521 and the base 510 through the chute 511. The base 510 is fixedly connected to the cleaning robot. Therefore, using this connection that can produce relative displacement between the housing 521 and the base 510 can increase the flexibility of the entire clamp assembly. Since multiple such clamp devices are usually used simultaneously during the actual use of the clamp assembly, to avoid interference when two or more identical clamp device groups grasp the same fixed-distance grasping points on a large workpiece, which may cause unreliable grasping or damage to the clamp device, the design that allows relative displacement between the housing 521 and the base 510 can adaptively adjust the position of the clamping assembly 530 during the clamping process.

[0072] Specifically, the above-mentioned adaptive adjustment solution is as follows: The housing 521 and the base 510 are connected by an adaptive centering component 550, and the adaptive centering component 550 is located in the middle of the housing 521 and the base 510. The adaptive centering component 550 includes a spring seat 551 and a pressing block 552. One end of the spring seat 551 is an open end, the pressing block 552 is arranged in the spring seat 551, one end of the pressing block 552 is a protruding end, and the protruding end extends out of the spring seat 551. A bearing 553 is connected to the protruding end. The other end of the pressing block 552 is elastically connected to the bottom of the spring seat 551. The elastic connection is specifically realized by a spring 554 and a bolt 555. The bolt 555 is used for connecting the spring seat 551 and the pressing block 552. One end of the bolt 555 is fixedly connected to the pressing block 552, and the other end is movably connected to the spring seat 551. The spring 554 is located between the pressing block 552 and the spring seat 551 and is used to provide an elastic force. The pressing block 552 can make a telescopic movement in the spring seat 551 through the spring 554. The base 510 is provided with a concave groove 512, and the bearing 553 contacts the concave groove 512 and slides in the concave groove 512. In the unloaded state, the bearing 553 is at the bottom of the concave groove 512. In the loaded state, the bearing 553 can slide left and right in the concave groove 512. The adaptive centering component 550 has two functions. One is that the housing 521 and the base 510 can be reset after displacement through the adaptive centering component 550. The other is to limit the displacement range of the relative displacement between the housing 521 and the base 510.

[0073] When relative displacement between the housing 521 and the base 510 is not required, it can be locked by a clamping member 556. The clamping member 556 is inserted between the housing 521 and the base 510. Specifically, the clamping member 556 is inserted into the adaptive centering component 550 to limit the rolling of the bearing 553 in the adaptive centering component 550, thereby realizing the locking of the housing 521 and the base 510 and preventing relative displacement between the two. And the clamping member 556 can be freely inserted or pulled out. The clamping member 556 in this embodiment is a dovetail gasket strip.

[0074] In order to prevent dust and sand, a felt 560 or a protective cover 561 is provided at the connection parts of the pushing component 520, the clamping component 530 and the synchronous component 540. The specific installation positions of the felt 560 and the protective cover 561 are as shown in the figure.

[0075] Since the cleaning robot in this embodiment needs to be fixed on the grille before cleaning, for the grilles at the inlet and outlet of the seabed of a nuclear power plant, the area and size of such grilles are usually very large. Therefore, a large-sized cleaning robot is required for cleaning. Such a large-sized cleaning robot usually has a large mass. When this large-mass cleaning robot is fixed on the grille, it may damage the grille. Therefore, in this embodiment, buoyancy blocks 202 are arranged in the frame to increase the buoyancy of the entire cleaning robot, so as to offset part of the force of the cleaning robot on the grille and avoid damaging the grille. The buoyancy blocks 202 are embedded in the front surface of the frame 200. The buoyancy blocks 202 have a certain thickness to ensure that sufficient buoyancy can be provided. Specifically, the buoyancy blocks 202 are made of a material with a small density. For example, a material with a density of 0.45 g / cm3 can provide at least 300 kg of buoyancy in this embodiment.

[0076] In this embodiment, the positioning assembly 400 includes a sonar imager 401 and a vision sensor 402. Among them, the number of sonar imagers 401 is four. One sonar imager 401 is arranged in a fan-shaped groove opened on the buoyancy block, and the remaining three sonar imagers 401 are respectively arranged on both sides and the bottom of the frame 200, which are used to sense the environment and position where the cleaning robot is located, as well as the posture of the cleaning robot. The vision sensor 402 is correspondingly arranged with the fixing assembly 500 and correspondingly arranged with the cutter head. The vision sensor 402 is fixedly connected to the frame. The vision sensor 402 is used to sense the actions, positions and postures of the fixing assembly 500 and the cutter head.

[0077] In this embodiment, a retractable traveling device 203 is further arranged at the bottom of the frame 200. Specifically, the retractable traveling device 203 is a traveling track, and the retractable traveling device 203 is realized to be retractable through a telescopic cylinder. The retractable traveling device 203 is in a contracted state when not working and retracts into the interior of the frame 200. In this way, the resistance during the traveling process of the cleaning robot can be reduced, and the retractable traveling device 203 can also be prevented from being damaged during the traveling process of the cleaning robot. When the cleaning robot touches or is about to touch the bottom under water, the telescopic cylinder pushes the retractable traveling device 203 to extend. After extension, the cleaning robot travels on the bottom of the water relying on the retractable traveling device 203, which is convenient for the control of the cleaning robot at the bottom of the water and convenient for the cleaning robot to clean the bottom grille.

[0078] The control assembly 600 in this embodiment is a control cabin assembly, which is located inside the frame and is connected to components such as the obstacle clearing device 100, the power assembly 300, the positioning assembly 400 and the fixing assembly 500 for controlling each component. The control assembly 600 communicates and transmits data with a control terminal on the shore base through cables, such as machine parameters, sonar data, image data, etc.

[0079] This embodiment further includes an emergency power supply 700 and a solenoid valve assembly 800, both of which are disposed inside the frame. The emergency power supply 700 can provide energy under crisis conditions to ensure data preservation and start and coordinate with rescue plans; the solenoid valve assembly 800 is connected to a compressed air pump on the shore base through an air pipe 801, and the solenoid valve assembly 800 is connected to the actuator 301 to provide pneumatic power for the actuator 301, and is connected to the cylinders of the fixing assembly 500 and the telescopic traveling device 203 to provide power for the cylinders.

[0080] Each component in the above embodiment is preferably made of corrosion-resistant non-metallic materials, such as stainless steel and plastics, etc., to avoid rusting and damage to the moving part structure by sediment, so as to adapt to underwater working conditions, such as working in seawater and turbid silt environments.

[0081] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention. Any equivalent structural transformation made under the inventive concept of the present invention by using the content of the specification and drawings of the present invention, or direct / indirect application in other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. A roadblock clearing device, characterized in that, For a cleaning robot, which includes a linear module, a walking component, and a cutter head component. The walking component is disposed on the linear module, and the walking component moves linearly along the linear module. The cutter head component is connected to the walking component; The cutter head component includes a cutter head, a main shaft, a main shaft structure component, a main shaft pushing device, a main shaft power device, and a main shaft motor; One end of the main shaft is connected to the cutter head, and the other end of the main shaft extends into the main shaft structure component; The main shaft pushing device is located at the tail end of the main shaft structure component, and the main shaft pushing device is connected to the main shaft extending into the main shaft structure component; The main shaft motor is connected to the main shaft; The main shaft power device is respectively connected to the main shaft motor and the main shaft pushing device; The main shaft is provided with a groove matching the shape of the cutter head. The bottom of the groove is provided with a threaded hole and a positioning groove. The cutter head is inserted into the groove and is connected to the main shaft by screws; The walking component includes a base and a walking servo motor. The base is connected to the linear module, the base is connected to the walking servo motor, and the walking servo motor drives the base to move linearly along the linear module; It further includes an excavation component, which includes an excavation head, a connecting rod, a first rotating shaft, a second rotating shaft, and a power device. The first rotating shaft is disposed on the base, the power device is connected to the first rotating shaft, the first rotating shaft is connected to the connecting rod, and the connecting rod is connected to the excavation head through the second rotating shaft.

2. The obstacle clearing device according to claim 1, wherein, The cutter head is one or more of a rotary milling cutter, a steel brush cutter, a sponge cutter, or a grinding wheel cutter.

3. The obstacle clearing device according to claim 1, characterized in that, The base is provided with a sliding groove, and the main shaft structure component is disposed in the sliding groove. The main shaft structure component can move linearly in the sliding groove.

4. The obstacle removal device according to claim 1, characterized in that, It further includes a vision component, which is connected to the base and is used to obtain the operating conditions of the cutter head.

5. The obstacle removal device according to claim 1, characterized in that, Limit sensors are provided at both ends of the linear module.

6. A cleaning robot for cleaning underwater grilles, characterized in that, It includes a robot body and a clearance removing device as described in any one of claims 1 to 5. The clearance removing device is connected to the robot body.

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