A dual-mode underwater cleaning and inspection robot

Abstract

The invention discloses a dual-mode underwater cleaning and detection robot, which relates to the technical field of marine engineering equipment, including a fine-tuning frame and a fine-tuning mechanism arranged inside the fine-tuning frame, the fine-tuning mechanism including a transmission component, the transmission component including a cleaning motor, the top end of the fine-tuning frame is fixedly connected with the cleaning motor, and the output end of the cleaning motor is fixedly connected with a universal joint; by arranging a connecting slot block and a fine-tuning disk, when the cleaning disk is in contact with the cleaning pipe pile, the fine-tuning spring drives the connecting block to slide through its own elastic force, and the sliding of the connecting block drives the fine-tuning slot plate to slide synchronously, the movement of the fine-tuning slot plate drives the movement of the abutment ball through the connecting slot block and the fine-tuning disk, and the movement of the abutment ball drives the cleaning disk at the bottom end of the rotating cylinder to tilt through the connecting ring, and by arranging four groups of abutment balls, the cleaning disk is driven to fit closely with the outer wall of the cleaning pipe pile, which is beneficial to increasing the contact area between the cleaning disk and the cleaning pipe pile, and greatly improving the cleaning efficiency of the cleaning pipe pile.

Description

Technical Field

[0001] The invention relates to the technical field of marine engineering equipment, in particular to a dual-mode underwater cleaning and detection robot. Background Art

[0002] At present, most of the cleaning and inspection of marine engineering equipment and offshore wind power underwater structures are completed by divers. Manual operations are inefficient, risky, costly, have a short operation window, are difficult, and are easily affected by seasons. Therefore, underwater cleaning and inspection robots are needed to perform cleaning and inspection operations on cleaning pipe piles.

[0003] When the existing underwater cleaning and inspection robots are in use, since the cross-section of the underwater cleaning pipe piles is generally arc-shaped, when the cleaning disc is in contact with the cleaning pipe piles, most of the cleaning brushes on the outer wall of the cleaning disc cannot fit tightly with the cleaning pipe piles, resulting in a long cleaning time for the cleaning pipe piles and low efficiency, which does not meet people's usage needs. For this reason, we propose a dual-mode underwater cleaning and inspection robot. Summary of the invention

[0004] The purpose of the present invention is to provide a dual-mode underwater cleaning and inspection robot to solve the problem that when the cleaning disc proposed in the above background technology is fitted with the cleaning pipe pile, most of the cleaning brushes on the outer wall of the cleaning disc cannot fit tightly with the cleaning pipe pile, resulting in a long cleaning time and low efficiency of the cleaning pipe pile.

[0005] To achieve the above object, the present invention provides the following technical solution: a dual-mode underwater cleaning and inspection robot, comprising a fine-tuning frame and a fine-tuning mechanism arranged inside the fine-tuning frame, wherein the fine-tuning mechanism comprises:

[0006] A transmission assembly, wherein the transmission assembly comprises a cleaning motor, the top end of the fine-tuning frame is fixedly connected to the cleaning motor, and the output end of the cleaning motor is fixedly connected to a universal joint;

[0007] A fine-tuning assembly, the fine-tuning assembly comprising a rotating cylinder, the output end of the universal joint is fixedly connected to the rotating cylinder, the outer wall of the rotating cylinder is sleeved with a connecting ring, the outer wall of the connecting ring is fixedly connected to an abutting ball, the top of the abutting ball is embedded with a connecting groove block, the top of the connecting groove block is fixedly connected to a fine-tuning disk, the outer wall of the fine-tuning disk is embedded with a fine-tuning groove plate, the outer wall of the fine-tuning groove plate is fixedly connected to a connecting abutting block, and the top of the connecting abutting block is fixedly connected to a fine-tuning spring;

[0008] The cleaning assembly includes a cleaning disk, the bottom end of the rotating cylinder extends to the bottom of the fine-tuning frame and is fixedly connected to the cleaning disk, the connecting portion between the cleaning disk and the fine-tuning frame is fixedly connected to a waterproof cover, and the bottom end of the cleaning disk is fixedly connected to a cleaning brush.

[0009] Based on the above structure, when the cleaning disc and the cleaning pipe pile are in contact, the fine-tuning spring drives the connecting block to slide through its own elastic force, and the sliding of the connecting block drives the fine-tuning slot plate to slide synchronously. The movement of the fine-tuning slot plate drives the movement of the abutment ball through the connecting slot block and the fine-tuning disc, and the movement of the abutment ball drives the cleaning disc at the bottom of the rotating cylinder to tilt through the connecting ring. By setting four groups of abutment balls, the cleaning disc is driven to fit closely with the outer wall of the cleaning pipe pile, which is beneficial to increase the contact area between the cleaning disc and the cleaning pipe pile, and greatly improves the cleaning efficiency of the cleaning pipe pile.

[0010] Preferably, a main frame is provided on the outside of the fine-tuning frame, and a storage frame is fixedly connected to the inside of the main frame and located on the outside of the fine-tuning frame. A detection body is fixedly connected to the top of the main frame, and a propulsion frame is fixedly connected to one end of the main frame. A limiting frame is fixedly connected to the outer wall of the main frame below the propulsion frame. When working, the storage frame is provided to facilitate the storage operation of the cleaning brush and avoid wear of the cleaning brush. The limiting frame is provided to facilitate the limiting operation of the arc-shaped cleaning pipe pile, thereby improving the stability of the movement of the main frame.

[0011] Preferably, the fine-tuning frames are provided with four groups, and the four groups of fine-tuning frames are distributed in a rectangular array. The center of the abutment ball and the center of the connecting ring are located in the same plane. During operation, the movement of the abutment ball drives the cleaning disk at the bottom end of the rotating cylinder to tilt through the connecting ring. By providing four groups of abutment balls, the cleaning disk is driven to fit closely with the outer wall of the cleaning pipe pile, which is beneficial to increase the contact area between the cleaning disk and the cleaning pipe pile, and greatly improves the cleaning efficiency of the cleaning pipe pile.

[0012] Preferably, four groups of abutment balls are arranged, the thickness of the fine-tuning disk is the same as the groove depth of the fine-tuning slot plate, and the connecting abutment block forms a lifting structure through the fine-tuning disk, the fine-tuning slot plate and the fine-tuning frame. During operation, the fine-tuning spring drives the connecting abutment block to slide through its own elastic force, and the sliding of the connecting abutment block drives the fine-tuning slot plate to slide synchronously, and the movement of the fine-tuning slot plate drives the movement of the abutment ball through the connecting slot block and the fine-tuning disk.

[0013] Preferably, the storage frame includes a storage push rod, the output end of the storage push rod is fixedly connected to the top of the fine-tuning frame, and the outer walls of both sides of the fine-tuning frame are screwed with a first connecting rod, the outer wall of the first connecting rod is sleeved with a rotating sleeve plate screwed with the inner wall of the storage frame, and one end of the rotating sleeve plate is penetrated by a second connecting rod, and the bottom end of the second connecting rod is screwed with a protective plate slidably connected to the inner wall of the storage frame. When working, the storage push rod drives the cleaning disc at the bottom end of the fine-tuning frame to be pushed out from the storage frame and fit the outer wall of the cleaning pipe pile. At the same time, the fine-tuning frame slides through the first connecting rod to drive the rotating sleeve plate to rotate. When the rotating sleeve plate rotates, the first connecting rod slides along the inner wall of the rotating sleeve plate, and then, the rotating sleeve plate rotates and drives the protective plate to slide along the inner wall of the storage frame through the second connecting rod. When the protective plate slides, the second connecting rod slides along the inner wall of the rotating sleeve plate. By setting the sliding of the protective plate, the opening and closing operation of the storage frame is realized, which is convenient for protecting the cleaning brush.

[0014] Preferably, the rotating sleeve has an "L" shape, and the rotating sleeve forms a rotating structure through the fine-tuning frame and the first connecting rod, and the protective plate forms an opening and closing structure between the rotating sleeve and the second connecting rod and the storage frame. The fine-tuning frame slides through the first connecting rod to drive the rotating sleeve to rotate, and then the rotating sleeve rotates through the second connecting rod to drive the protective plate to slide along the inner wall of the storage frame. By arranging the sliding of the protective plate, the opening and closing operation of the storage frame is realized, which is convenient for protecting the cleaning brush.

[0015] Preferably, the propulsion frame includes a horizontal adjustment motor, the inner wall of the propulsion frame is fixedly connected to the horizontal adjustment motor, the output end of the horizontal adjustment motor is fixedly connected to a connecting gear, the meshing surface of the connecting gear is meshed with a connecting toothed disk screwed to the inner wall of the propulsion frame, the inner wall of the connecting toothed disk is screwed with a mounting frame, one end of the mounting frame is fixedly connected to a vertical adjustment motor, the output end of the vertical adjustment motor is fixedly connected to a propulsion fan screwed to one end of the mounting frame, when working, the horizontal adjustment motor drives the mounting frame to rotate horizontally through the meshing of the connecting gear and the connecting toothed disk, thereby adjusting the horizontal angle of the propulsion fan, at the same time, the vertical adjustment motor drives the propulsion fan to rotate vertically, thereby adjusting the vertical angle of the propulsion fan, and then the propulsion fan works to push the main frame to quickly approach the underwater cleaning pipe pile.

[0016] Preferably, the propulsion frames are provided in four groups, and the four groups of propulsion frames are located at the four corners of the edge of the main frame. The outer shape of the mounting frame is semicircular. When working, by setting four groups of propulsion frames, it is beneficial to realize the propulsion operation of the main frame in different directions.

[0017] The cam is connected with the second end of the lifting plate, and the cam is connected with the first end of the lifting plate to the second end of the lifting plate, so that the lifting plate can be adjusted according to the situation of the lifting of the lifting plate and the impact of the lifting of the lifting plate on the lifting plate.

[0018] Preferably, the first connecting plate and the second connecting plate are in an "L" shape, the first connecting plate forms a rotating structure with the main frame through the lifting plate and the connecting rod, and the second connecting plate forms a rotating structure with the first connecting plate through the connecting rod and the linkage rod. During operation, the lifting plate slides through the connecting rod to drive the first connecting plate to rotate, and the rotation of the first connecting plate drives the first driving roller to fit with the cleaning pipe pile. At the same time, the movement of the connecting rod drives the second connecting plate to rotate through the linkage rod, so that the second driving roller on the outer wall of the second connecting plate fits with the cleaning pipe pile.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. By setting up the mounting frame, the horizontal adjustment motor works to drive the mounting frame to rotate horizontally through the engagement of the connecting gear and the connecting gear plate, thereby adjusting the horizontal angle of the propulsion fan. At the same time, the vertical adjustment motor works to drive the propulsion fan to rotate vertically, thereby adjusting the vertical angle of the propulsion fan. Then, the propulsion fan works to push the main frame quickly close to the underwater cleaning pipe pile.

[0021] 2. By setting the first connecting plate and the second connecting plate, the lifting plate slides and drives the first connecting plate to rotate through the connecting rod. The rotation of the first connecting plate drives the first driving roller to fit with the cleaning pipe pile. At the same time, the movement of the connecting rod drives the second connecting plate to rotate through the linkage rod, and the second driving roller on the outer wall of the second connecting plate fits with the cleaning pipe pile. By setting the first driving roller and the second driving roller to fit with the cleaning pipe pile, it is convenient to perform limiting operation on the arc-shaped cleaning pipe pile, thereby improving the stability of the movement of the main frame.

[0022] 3. By setting a protective plate, the storage push rod drives the cleaning disk at the bottom end of the fine-tuning frame to be pushed out from the storage frame and fit with the outer wall of the cleaning pipe pile. At the same time, the fine-tuning frame slides through the first connecting rod to drive the rotating sleeve to rotate. When the rotating sleeve rotates, the first connecting rod slides along the inner wall of the rotating sleeve. Then, the rotating sleeve rotates through the second connecting rod to drive the protective plate to slide along the inner wall of the storage frame. When the protective plate slides, the second connecting rod slides along the inner wall of the rotating sleeve. By setting the sliding of the protective plate, the opening and closing operation of the storage frame is realized, which is convenient for protecting the cleaning brush.

[0023] 4. By setting the connecting slot block and the fine-tuning disk, when the cleaning disk fits with the cleaning pipe pile, the fine-tuning spring drives the connecting block to slide through its own elastic force, and the sliding of the connecting block drives the fine-tuning slot plate to slide synchronously. The movement of the fine-tuning slot plate drives the movement of the abutment ball through the connecting slot block and the fine-tuning disk, and the movement of the abutment ball drives the cleaning disk at the bottom of the rotating cylinder to tilt through the connecting ring. By setting four groups of abutment balls, the cleaning disk is driven to fit closely with the outer wall of the cleaning pipe pile, which is beneficial to increase the contact area between the cleaning disk and the cleaning pipe pile, and greatly improves the cleaning efficiency of the cleaning pipe pile. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall first-view structure of the present invention;

[0025] Figure 2 It is a schematic diagram of the overall second viewing angle structure of the present invention;

[0026] Figure 3 It is a schematic diagram of the internal structure of the fine-tuning framework of the present invention;

[0027] Figure 4 It is a schematic diagram of the fine-tuning slot plate connection structure of the present invention;

[0028] Figure 5 It is a schematic diagram of the three-dimensional unfolding structure of the fine-tuning slot plate of the present invention;

[0029] Figure 6 It is a schematic cross-sectional view of the connecting slot block and the fine-tuning disk of the present invention;

[0030] Figure 7 This is a schematic diagram of the storage frame of the present invention;

[0031] Figure 8 It is a schematic diagram of the closed structure of the storage frame of the present invention;

[0032] Fig. 9 It is a cross-sectional structural schematic diagram of the rotary sleeve plate of the present invention;

[0033] Fig.10 It is a schematic diagram of the propulsion frame structure of the present invention;

[0034] Fig.11 It is a schematic diagram of the structure of the mounting frame of the present invention;

[0035] Fig.12 It is a schematic diagram of the limiting frame structure of the present invention;

[0036] Fig.13 for Fig.12 Enlarged view of point A in the middle.

[0037] In the figure: 1, fine-tuning frame; 2, cleaning motor; 201, universal joint; 3, rotating cylinder; 301, connecting ring; 302, contact ball; 303, connecting slot block; 304, fine-tuning plate; 305, fine-tuning slot plate; 306, connecting block; 307, fine-tuning spring; 4, cleaning plate; 401, waterproof cover; 402, cleaning brush; 5, main frame; 6, storage frame; 601, storage push rod; 602, first connecting rod; 603, rotating sleeve plate; 604, second connecting rod Rod; 605, protective plate; 7, detection body; 8, propulsion frame; 801, horizontal adjustment motor; 802, connecting gear; 803, connecting gear plate; 804, mounting frame; 805, vertical adjustment motor; 806, propulsion fan; 9, limit frame; 901, limit push rod; 902, lifting plate; 903, connecting rod; 904, first connecting plate; 905, first driving roller; 906, linkage rod; 907, second connecting plate; 908, second driving roller. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] See also Figures 1 to 6 In an embodiment of the present invention, a dual-mode underwater cleaning and detection robot includes a fine-tuning frame 1 and a fine-tuning mechanism arranged inside the fine-tuning frame 1, and the fine-tuning mechanism includes:

[0040] The transmission assembly includes a cleaning motor 2. The top of the fine-tuning frame 1 is fixedly connected to the cleaning motor 2, and the output end of the cleaning motor 2 is fixedly connected to a universal joint 201;

[0041] The fine-tuning assembly includes a rotating cylinder 3, the output end of the universal joint 201 is fixedly connected to the rotating cylinder 3, the outer wall of the rotating cylinder 3 is sleeved with a connecting ring 301, the outer wall of the connecting ring 301 is fixedly connected to an abutting ball 302, the top of the abutting ball 302 is embedded with a connecting groove block 303, the top of the connecting groove block 303 is fixedly connected to a fine-tuning disk 304, the outer wall of the fine-tuning disk 304 is embedded with a fine-tuning groove plate 305, the outer wall of the fine-tuning groove plate 305 is fixedly connected to a connecting abutting block 306, and the top of the connecting abutting block 306 is fixedly connected to a fine-tuning spring 307;

[0042] The cleaning assembly includes a cleaning disk 4. The bottom end of the rotating cylinder 3 extends to the bottom of the fine-tuning frame 1 and is fixedly connected to the cleaning disk 4. The connecting portion between the cleaning disk 4 and the fine-tuning frame 1 is fixedly connected to a waterproof cover 401. The bottom end of the cleaning disk 4 is fixedly connected to a cleaning brush 402.

[0043] Based on the above structure, when the cleaning disc 4 is in contact with the cleaning pipe pile, the fine-tuning spring 307 drives the connecting block 306 to slide through its own elastic force, and the sliding of the connecting block 306 drives the fine-tuning slot plate 305 to slide synchronously, and the movement of the fine-tuning slot plate 305 drives the abutment ball 302 to move through the connecting slot block 303 and the fine-tuning disc 304, and the movement of the abutment ball 302 drives the cleaning disc 4 at the bottom of the rotating cylinder 3 to tilt through the connecting ring 301. By setting four groups of abutment balls 302, the cleaning disc 4 is driven to fit closely with the outer wall of the cleaning pipe pile, which is beneficial to increase the contact area between the cleaning disc 4 and the cleaning pipe pile, and greatly improves the cleaning efficiency of the cleaning pipe pile.

[0044] For further information, see Figure 1 and Figure 2 A main frame 5 is arranged on the outside of the fine-tuning frame 1, and a storage frame 6 is fixedly connected to the inside of the main frame 5 and located on the outside of the fine-tuning frame 1. A detection body 7 is fixedly connected to the top of the main frame 5, and a propulsion frame 8 is fixedly connected to one end of the main frame 5. A limiting frame 9 is fixedly connected to the outer wall of the main frame 5 below the propulsion frame 8. When working, the storage frame 6 is arranged to facilitate the storage operation of the cleaning brush 402 and avoid wear of the cleaning brush 402. The limiting frame 9 is arranged to facilitate the limiting operation of the arc-shaped cleaning pipe pile and improve the stability of the movement of the main frame 5.

[0045] For further information, see Figure 2 and Figure 4 There are four groups of fine-tuning frames 1, which are distributed in a rectangular array. The center of the abutting ball 302 and the center of the connecting ring 301 are located in the same plane. When working, the abutting ball 302 moves through the connecting ring 301 to drive the cleaning disk 4 at the bottom of the rotating cylinder 3 to tilt. By setting four groups of abutting balls 302, the cleaning disk 4 is driven to fit closely with the outer wall of the cleaning pipe pile, which is beneficial to increase the contact area between the cleaning disk 4 and the cleaning pipe pile, and greatly improves the cleaning efficiency of the cleaning pipe pile.

[0046] For further information, see Figures 3 to 6 There are four groups of abutment balls 302, the thickness of the fine-tuning disk 304 is the same as the groove depth of the fine-tuning slot plate 305, and the connecting abutment block 306 forms a lifting structure with the fine-tuning frame 1 through the fine-tuning disk 304 and the fine-tuning slot plate 305. When working, the fine-tuning spring 307 drives the connecting abutment block 306 to slide through its own elastic force, and the sliding of the connecting abutment block 306 drives the fine-tuning slot plate 305 to slide synchronously, and the movement of the fine-tuning slot plate 305 drives the abutment ball 302 to move through the connecting slot block 303 and the fine-tuning disk 304.

[0047] For further information, see Figures 7 to 9 The storage frame 6 includes a storage push rod 601, the output end of the storage push rod 601 is fixedly connected to the top of the fine-tuning frame 1, the outer walls of both sides of the fine-tuning frame 1 are screwed with a first connecting rod 602, the outer wall of the first connecting rod 602 is sleeved with a rotating sleeve 603 screwed with the inner wall of the storage frame 6, one end of the rotating sleeve 603 passes through a second connecting rod 604, and the bottom end of the second connecting rod 604 is screwed with a protective plate 605 slidably connected to the inner wall of the storage frame 6. When working, the storage push rod 601 drives the cleaning disk 4 at the bottom of the fine-tuning frame 1 to be pushed out from the storage frame 6 and connected to the cleaning tube The outer walls of the piles fit together, and at the same time, the fine-tuning frame 1 slides through the first connecting rod 602 to drive the rotating sleeve 603 to rotate. When the rotating sleeve 603 rotates, the first connecting rod 602 slides along the inner wall of the rotating sleeve 603, and then, the rotating sleeve 603 rotates through the second connecting rod 604 to drive the protective plate 605 to slide along the inner wall of the storage frame 6. When the protective plate 605 slides, the second connecting rod 604 slides along the inner wall of the rotating sleeve 603. By setting the sliding of the protective plate 605, the opening and closing operation of the storage frame 6 is realized, which is convenient for protecting the cleaning brush 402.

[0048] For further information, see Figures 7 to 9 The shape of the rotating sleeve 603 is "L" shaped. The rotating sleeve 603 forms a rotating structure through the fine-tuning frame 1 and the first connecting rod 602. The protective plate 605 forms an opening and closing structure with the storage frame 6 through the rotating sleeve 603 and the second connecting rod 604. The fine-tuning frame 1 slides through the first connecting rod 602 to drive the rotating sleeve 603 to rotate. Then, the rotating sleeve 603 rotates through the second connecting rod 604 to drive the protective plate 605 to slide along the inner wall of the storage frame 6. By setting the sliding of the protective plate 605, the opening and closing operation of the storage frame 6 is realized, which is convenient for protecting the cleaning brush 402.

[0049] For further information, see Fig.10 and Fig.11The propulsion frame 8 includes a horizontal adjustment motor 801, the inner wall of the propulsion frame 8 is fixedly connected with the horizontal adjustment motor 801, the output end of the horizontal adjustment motor 801 is fixedly connected with a connecting gear 802, the meshing surface of the connecting gear 802 is meshed with a connecting toothed disc 803 screwed to the inner wall of the propulsion frame 8, the inner wall of the connecting toothed disc 803 is screwed with a mounting frame 804, one end of the mounting frame 804 is fixedly connected with a vertical adjustment motor 805, and the output end of the vertical adjustment motor 805 is fixedly connected with a propulsion fan 806 screwed to one end of the mounting frame 804. When working, the horizontal adjustment motor 801 works to drive the mounting frame 804 to rotate horizontally through the meshing of the connecting gear 802 and the connecting toothed disc 803, thereby adjusting the horizontal angle of the propulsion fan 806. At the same time, the vertical adjustment motor 805 works to drive the propulsion fan 806 to rotate vertically, thereby adjusting the vertical angle of the propulsion fan 806. Then, the propulsion fan 806 works to push the main frame 5 to quickly approach the underwater cleaning pipe pile.

[0050] For further information, see Figure 1 , Fig.10 and Fig.11 There are four groups of propulsion frames 8, which are located at the four corners of the edge of the main frame 5. The appearance of the mounting frame 804 is semicircular. When working, by setting four groups of propulsion frames 8, it is beneficial to realize the propulsion operation of the main frame 5 in different directions.

[0051] For further information, see Fig.12 and Fig.13 The limit frame 9 includes a limit push rod 901, the outer wall of the limit frame 9 is fixedly connected to the limit push rod 901, the output end of the limit push rod 901 is fixedly connected to a lifting plate 902, both ends of the lifting plate 902 are screwed with connecting rods 903, one end of the connecting rod 903 is screwed with a first connecting plate 904 screwed with the outer wall of the main frame 5, the outer wall of the first connecting plate 904 is provided with a first driving roller 905, the side wall of the connecting rod 903 is screwed with a linkage rod 906, one end of the linkage rod 906 is screwed with a second connecting plate 907 screwed with one end of the first connecting plate 904, the outer wall of the second connecting plate 907 A second driving roller 908 is provided. When working, the lifting plate 902 slides through the connecting rod 903 to drive the first connecting plate 904 to rotate. The rotation of the first connecting plate 904 drives the first driving roller 905 to fit with the cleaning pipe pile. At the same time, the connecting rod 903 moves to drive the second connecting plate 907 to rotate through the linkage rod 906, and the second driving roller 908 on the outer wall of the second connecting plate 907 fits with the cleaning pipe pile. By setting the first driving roller 905 and the second driving roller 908 to fit with the cleaning pipe pile, it is convenient to limit the arc-shaped cleaning pipe pile, thereby improving the stability of the movement of the main frame 5.

[0052] For further information, see Fig.12 and Fig.13 The first connecting plate 904 and the second connecting plate 907 are in an "L" shape. The first connecting plate 904 forms a rotating structure with the main frame 5 through the lifting plate 902 and the connecting rod 903. The second connecting plate 907 forms a rotating structure with the first connecting plate 904 through the connecting rod 903 and the linkage rod 906. The lifting plate 902 slides through the connecting rod 903 to drive the first connecting plate 904 to rotate. The rotation of the first connecting plate 904 drives the first driving roller 905 to fit with the cleaning pipe pile. At the same time, the connecting rod 903 moves through the linkage rod 906 to drive the second connecting plate 907 to rotate, so that the second driving roller 908 on the outer wall of the second connecting plate 907 fits with the cleaning pipe pile.

[0053] The working principle of the present invention is: when using the dual-mode underwater cleaning and inspection robot, first, the staff places the main frame 5 in the cleaning water area, and then adjusts the propulsion direction of the main frame 5 to propel the main frame 5 to the underwater cleaning pipe pile. The horizontal adjustment motor 801 works to drive the mounting frame 804 to rotate horizontally through the connecting gear 802 and the connecting gear plate 803, thereby adjusting the horizontal angle of the propulsion fan 806. At the same time, the vertical adjustment motor 805 works to drive the propulsion fan 806 to rotate vertically, thereby adjusting the vertical angle of the propulsion fan 806. Then, the propulsion fan 806 works to push the main frame 5 to quickly approach the underwater cleaning pipe pile.

[0054] Next, the main frame 5 is limited. In the limit frame 9, the limit push rod 901 drives the lifting plate 902 to slide vertically. The lifting plate 902 slides and drives the first connecting plate 904 to rotate through the connecting rod 903. The rotation of the first connecting plate 904 drives the first driving roller 905 to fit with the cleaning pipe pile. At the same time, the connecting rod 903 moves and drives the second connecting plate 907 to rotate through the linkage rod 906, and the second driving roller 908 on the outer wall of the second connecting plate 907 is fitted with the cleaning pipe pile. By setting the first driving roller 905 and the second driving roller 908 to fit with the cleaning pipe pile, it is convenient to perform the limit operation on the arc-shaped cleaning pipe pile, thereby improving the stability of the movement of the main frame 5.

[0055] Next, the cleaning disc 4 is tightly fitted with the cleaning pipe pile. In the storage frame 6, the storage push rod 601 works to drive the cleaning disc 4 at the bottom end of the fine-tuning frame 1 to be pushed out from the storage frame 6 and fit with the outer wall of the cleaning pipe pile. At the same time, the fine-tuning frame 1 slides through the first connecting rod 602 to drive the rotating sleeve 603 to rotate. When the rotating sleeve 603 rotates, the first connecting rod 602 slides along the inner wall of the rotating sleeve 603. Then, the rotating sleeve 603 rotates through the second connecting rod 604 to drive the protective plate 605 to slide along the inner wall of the storage frame 6. When the protective plate 605 slides, the second connecting rod 604 slides along the inner wall of the rotating sleeve 603. By setting the sliding of the protective plate 605, the opening and closing operation of the storage frame 6 is realized, which is convenient for protecting the cleaning brush 402.

[0056] When the cleaning disc 4 is in contact with the cleaning pipe pile, the fine-tuning spring 307 drives the connecting block 306 to slide through its own elastic force, and the sliding of the connecting block 306 drives the fine-tuning slot plate 305 to slide synchronously, and the movement of the fine-tuning slot plate 305 drives the abutment ball 302 to move through the connecting slot block 303 and the fine-tuning disc 304, and the movement of the abutment ball 302 drives the cleaning disc 4 at the bottom of the rotating cylinder 3 to tilt through the connecting ring 301. By setting four groups of abutment balls 302, the cleaning disc 4 is driven to fit closely with the outer wall of the cleaning pipe pile, which is beneficial to increase the contact area between the cleaning disc 4 and the cleaning pipe pile, and greatly improves the cleaning efficiency of the cleaning pipe pile.

[0057] Finally, the cleaning motor 2 drives the rotating drum 3 to rotate through the universal joint 201, and the rotating drum 3 drives the cleaning brush 402 at the bottom of the cleaning disk 4 to rotate, so as to clean the impurities attached to the outer wall of the cleaning pile, and then the cleaning pile is inspected by the inspection body 7.

[0058] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A dual-mode underwater cleaning and inspection robot, comprising a fine-tuning frame (1) and a fine-tuning mechanism arranged inside the fine-tuning frame (1), characterized in that: The fine-tuning mechanism comprises: A transmission assembly, the transmission assembly comprising a cleaning motor (2), the top end of the fine-tuning frame (1) being fixedly connected to the cleaning motor (2), and the output end of the cleaning motor (2) being fixedly connected to a universal joint (201); A fine-tuning assembly, the fine-tuning assembly comprising a rotating cylinder (3), the output end of the universal joint (201) being fixedly connected to the rotating cylinder (3), the outer wall of the rotating cylinder (3) being sleeved with a connecting ring (301), the outer wall of the connecting ring (301) being fixedly connected to an abutting ball (302), the top end of the abutting ball (302) being embedded with a connecting groove block (303), the top end of the connecting groove block (303) being fixedly connected to a fine-tuning disk (304), the outer wall of the fine-tuning disk (304) being embedded with a fine-tuning groove plate (305), the outer wall of the fine-tuning groove plate (305) being fixedly connected to a connecting abutting block (306), and the top end of the connecting abutting block (306) being fixedly connected to a fine-tuning spring (307); A cleaning assembly, the cleaning assembly comprising a cleaning disc (4), the bottom end of the rotating cylinder (3) extending to the bottom of the fine-tuning frame (1) and being fixedly connected to the cleaning disc (4), a waterproof cover (401) being fixedly connected to the connecting portion between the cleaning disc (4) and the fine-tuning frame (1), and a cleaning brush (402) being fixedly connected to the bottom end of the cleaning disc (4); A main frame (5) is arranged outside the fine-tuning frame (1); a storage frame (6) is fixedly connected to the inside of the main frame (5) and located outside the fine-tuning frame (1); a detection body (7) is fixedly connected to the top of the main frame (5); a propulsion frame (8) is fixedly connected to one end of the main frame (5); and a limit frame (9) is fixedly connected to the outer wall of the main frame (5) below the propulsion frame (8); The propulsion frame (8) comprises a horizontal adjustment motor (801), the inner wall of the propulsion frame (8) is fixedly connected to the horizontal adjustment motor (801), the output end of the horizontal adjustment motor (801) is fixedly connected to a connecting gear (802), the meshing surface of the connecting gear (802) is meshed with a connecting toothed disc (803) screwed to the inner wall of the propulsion frame (8), the inner wall of the connecting toothed disc (803) is screwed to a mounting frame (804), one end of the mounting frame (804) is fixedly connected to a vertical adjustment motor (805), and the output end of the vertical adjustment motor (805) is fixedly connected to a propulsion fan (806) screwed to one end of the mounting frame (804).

2. A dual-mode underwater cleaning and inspection robot according to claim 1, characterized in that: Four groups of the fine-tuning frames (1) are provided, and the four groups of the fine-tuning frames (1) are distributed in a rectangular array, and the center of the abutting ball (302) and the center of the connecting ring (301) are located in the same plane.

3. A dual-mode underwater cleaning and inspection robot according to claim 1, characterized in that: Four groups of the abutment balls (302) are provided, the thickness of the fine-tuning disk (304) is the same as the groove depth of the fine-tuning slot plate (305), and the connecting abutment block (306) forms a lifting structure between the fine-tuning disk (304) and the fine-tuning slot plate (305) and the fine-tuning frame (1).

4. The dual-mode underwater cleaning and inspection robot according to claim 1, characterized in that: The storage frame (6) comprises a storage push rod (601), the output end of the storage push rod (601) is fixedly connected to the top of the fine-tuning frame (1), the outer walls of both sides of the fine-tuning frame (1) are both screwed with first connecting rods (602), the outer wall of the first connecting rod (602) is sleeved with a rotating sleeve (603) screwed with the inner wall of the storage frame (6), one end of the rotating sleeve (603) passes through a second connecting rod (604), and the bottom end of the second connecting rod (604) is screwed with a protective plate (605) slidably connected to the inner wall of the storage frame (6).

5. A dual-mode underwater cleaning and inspection robot according to claim 4, characterized in that: The rotating sleeve (603) has an "L" shape. The rotating sleeve (603) forms a rotating structure through the fine-tuning frame (1) and the first connecting rod (602). The protective plate (605) forms an opening and closing structure through the rotating sleeve (603) and the second connecting rod (604) and the storage frame (6).

6. The dual-mode underwater cleaning and inspection robot according to claim 1, characterized in that: Four groups of the propulsion frames (8) are provided, and the four groups of the propulsion frames (8) are located at four corners of the edge of the main frame (5). The outer shape of the mounting frame (804) is semicircular.

7. The dual-mode underwater cleaning and inspection robot according to claim 1, characterized in that: The limit frame (9) comprises a limit push rod (901), the outer wall of the limit frame (9) is fixedly connected to the limit push rod (901), the output end of the limit push rod (901) is fixedly connected to a lifting plate (902), both ends of the lifting plate (902) are screwed to connecting rods (903), one end of the connecting rod (903) is screwed to a first connecting plate (904) screwed to the outer wall of the main frame (5), the outer wall of the first connecting plate (904) is provided with a first driving roller (905), the side wall of the connecting rod (903) is screwed to a linkage rod (906), one end of the linkage rod (906) is screwed to a second connecting plate (907) screwed to one end of the first connecting plate (904), and the outer wall of the second connecting plate (907) is provided with a second driving roller (908).

8. A dual-mode underwater cleaning and inspection robot according to claim 7, characterized in that: The first connecting plate (904) and the second connecting plate (907) are in an "L" shape. The first connecting plate (904) forms a rotating structure with the main frame (5) through the lifting plate (902) and the connecting rod (903). The second connecting plate (907) forms a rotating structure with the first connecting plate (904) through the connecting rod (903) and the linkage rod (906).

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