Underwater cleaning robot

Abstract

The invention provides an underwater cleaning robot, and belongs to the technical field of underwater garbage cleaning equipment, a magnetic attraction track driving wheel drives a walking track, and a magnetic attraction track loading wheel provides supplementary support, so that the walking track can adapt to various complex terrains, and good supporting performance is guaranteed; due to the design of a damper rotating shaft, the orientation of a magnetic attraction track loading wheel can be automatically adjusted, normal supporting of a walking track can be guaranteed no matter walking in the forward direction or rotating in the reverse direction, a cut piece is clamped through a clamping arm, and in the cutting process, a motor transmission shaft and a transverse transmission shaft are operated to drive a cutting knife to conduct left-right cutting; when the cutting knife encounters a hard object, cutting force is generated for effective cutting; when a soft structure is encountered, the soft object does not generate cutting force along with the movement of the cutting knife, the damage to the soft structure is avoided, meanwhile, the ducted water-jet propeller power heads and the ducted water-jet propeller power heads are arranged on the two sides, the pressure of propelling water flow is increased through the closed propelling duct, and the propelling efficiency is higher.

Description

Technical Field

[0001] The invention relates to the technical field of underwater garbage cleaning equipment, and in particular to an underwater cleaning robot. Background Art

[0002] As the problem of marine environmental pollution becomes increasingly serious, underwater garbage cleaning has become a technical problem that needs to be solved urgently. Although existing underwater cleaning equipment can complete the garbage collection work to a certain extent, most of them have problems such as poor ability to adapt to complex terrain, low cleaning efficiency, and difficult operation. Especially in irregular seabed or underwater structure environments, existing cleaning equipment is difficult to cope with various complex situations.

[0003] Traditional underwater cleaning equipment mostly relies on floating or dragging cleaning devices, which are prone to sliding or flipping on uneven ground due to lack of sufficient ground contact force, affecting the cleaning effect. Although existing cutting devices can effectively cut hard objects, they often cannot avoid damaging soft objects when processing them.

[0004] In addition, the design of underwater propulsion systems also has limitations. Traditional propulsion devices generally use externally exposed propellers, which are easily disturbed by external water flow, resulting in low propulsion efficiency and high noise, which cannot meet the needs of efficient and precise underwater operations. Therefore, how to improve the adaptability and propulsion efficiency of underwater cleaning robots in complex terrain has become a key issue in the field of underwater cleaning technology.

[0005] In order to solve the above problems, the present invention provides an underwater cleaning robot, which uses the design of magnetic tracks to effectively improve the support and adaptability of the cleaning equipment in complex underwater terrain; the damper shaft is used to enable the road wheels to automatically adjust their direction to ensure that the robot can travel smoothly; at the same time, an efficient ducted water jet propulsion system is designed, and the closed propulsion duct can greatly improve the propulsion efficiency and adapt to the operation requirements under different water conditions. In addition, the present invention also achieves precise cutting of hard targets through the special design of the cutting knife, while avoiding damage to soft objects, thereby improving the operating efficiency and safety of the equipment. Summary of the invention

[0006] The main purpose of the present invention is to provide an underwater cleaning robot that can effectively solve the problems in the background technology.

[0007] An underwater cleaning robot comprises a robot chassis assembly; an underwater action manipulator; and an underwater walking mechanism, wherein the underwater walking mechanisms are arranged on both sides of the robot chassis assembly, and the underwater action manipulator is arranged on the upper end of the robot chassis assembly; A safety protection frame is arranged at the upper end of the robot chassis assembly, two CCD high-definition cameras are arranged at the front end of the safety protection frame, a control module is arranged at the rear side of the upper end surface of the robot chassis assembly, a working manipulator turntable is arranged at the front end of the control module, the upper end of the working manipulator turntable is connected to the underwater manipulator, a ducted water jet propeller is arranged at the upper end of the robot chassis assembly, a ducted water jet propeller is arranged at the lower end of the ducted water jet propeller, and movable grooves are arranged at the lower ends of the two side surfaces of the robot chassis assembly, and the movable grooves are connected to the underwater walking mechanism; A manipulator connecting base is arranged at the rear end of the underwater action manipulator, a connecting and fixing shaft is arranged at the upper end of the manipulator connecting base, the connecting and fixing shaft is connected to a fixing arm, a manipulator arm is arranged at the front end of the manipulator connecting base, a running motor is arranged at the upper side of the front end of the manipulator arm, a transmission shaft is arranged at the front end of the running motor, a transverse transmission shaft is arranged at the lower side of the front end of the transmission shaft, a cutting knife is inserted into the front end of the transverse transmission shaft, a clamping arm is arranged at the front end of the manipulator arm, a fixing bolt is arranged between the manipulator connecting base and the manipulator arm for connection, and a transmission gear shaft is arranged at the tail end of the clamping arm; The underwater walking mechanism is provided with swinging track frames on both sides, the upper ends of the swinging track frames are connected to the movable grooves, the lower ends of the swinging track frames are connected to the magnetic track driving wheels, the outer sides of the front and rear magnetic track driving wheels are provided with walking tracks, the outer sides of the walking tracks are provided with array magnetic tracks, the middle of the magnetic track driving wheels are provided with magnetic track load wheels, the magnetic track load wheels are connected with the load wheel torsion bar dampers inside, the upper ends of the load wheel torsion bar dampers are provided with damper rotating shafts, and the other ends of the damper rotating shafts are fixed to the side of the robot chassis assembly.

[0008] Furthermore, the robot chassis assembly transmits power to the magnetic track driving wheel through the swinging track frame, the movable groove is a space reserved for the swinging track frame to swing up and down, the swinging track frame can adapt to different curved surfaces after swinging, the magnetic track road wheels support the walking tracks, the magnetic track road wheels can rotate 360 ​​through the damper shaft at the top of the road wheel torsion bar damper, and the magnetic track road wheels can still provide support when inverted.

[0009] Furthermore, the front end of the cutting knife is serrated, and the inner side of the clamping arm is provided with serrations. The clamping arm fixes the object to be cut, and the cutting knife swings left and right to cut the object. The soft structure will swing with the cutting knife and will not be cut.

[0010] Furthermore, the robot chassis assembly is externally connected with a towing cable.

[0011] Furthermore, the ducted waterjet power head and the ducted waterjet propeller can generate bidirectional propulsion force.

[0012] Furthermore, the robot chassis assembly can be equipped with different cleaning operation modules.

[0013] Compared with the prior art, the present invention has the following beneficial effects: This equipment uses a magnetic track driving wheel to drive the walking track, and the magnetic track road wheels provide supplementary support, so that the walking track can adapt to various complex terrains and ensure good support. The design of the damper shaft enables the magnetic track road wheels to automatically adjust their direction, whether it is moving forward or reverse, it can ensure the normal support of the walking track.

[0014] This equipment clamps the workpiece by the clamping arm. During the cutting process, the motor drive shaft and the transverse drive shaft are used to drive the cutting knife to cut left and right. When the cutting knife encounters a hard object, it generates cutting force for effective cutting. When encountering a soft structure, the soft object will move with the cutting knife without generating cutting force, thus avoiding damage to the soft structure.

[0015] Ducted water jet propulsion heads and ducted water jet propulsion heads are arranged on both sides of the equipment, which increase the pressure of the propulsion water flow through the closed propulsion duct and have higher propulsion efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the walking posture of the outer cylindrical surface of the present invention; Figure 3 It is a schematic diagram of the walking posture of the inner cylindrical surface of the present invention; Figure 4 It is a schematic diagram of the structure of the manipulator of the present invention; Figure 5 It is a structural schematic diagram of part A of the present invention.

[0017] In the figure: 1. Robot chassis assembly; 2. Underwater action manipulator; 3. Underwater walking mechanism; 101. Safety protection frame; 102. Ducted water jet propeller head; 103. Control module; 104. Operation manipulator turntable; 105. CCD high-definition camera; 106. Movable slot; 107. Ducted water jet propeller; 201. Manipulator connection base; 202. Connection fixed shaft; 203. Connection fixed arm; 2 04. Robotic arm; 205. Running motor; 206. Fixing bolt; 207. Transmission shaft; 208. Transverse transmission shaft; 209. Cutting knife; 210. Clamping arm; 211. Transmission gear shaft; 301. Swinging track frame; 302. Array magnetic track; 303. Magnetic track driving wheel; 304. Walking track; 305. Magnetic track road wheel; 306. Road wheel torsion bar damper; 307. Damper shaft. DETAILED DESCRIPTION

[0018] The subject matter described herein will now be discussed with reference to example embodiments. It should be understood that the discussion of these embodiments is only to enable those skilled in the art to better understand and implement the subject matter described herein, and is not a limitation of the scope of protection, applicability or examples set forth in the claims. The functions and arrangements of the elements discussed can be changed without departing from the scope of protection of the contents of this specification. Various examples can omit, replace or add various processes or components as needed. For example, the described method can be performed in an order different from the described order, and various steps can be added, omitted or combined. In addition, the features described relative to some examples can also be combined in other examples.

[0019] As used herein, the term "including" and its variations represent open terms, meaning "including but not limited to". The term "based on" means "based at least in part on". The terms "one embodiment" and "an embodiment" mean "at least one embodiment". The term "another embodiment" means "at least one other embodiment". The terms "first", "second", etc. may refer to different or the same objects. Other definitions may be included below, whether explicit or implicit. Unless the context clearly indicates otherwise, the definition of a term is consistent throughout the specification.

[0020] Example 1, please refer to Figure 1-5 , an underwater cleaning robot, the device includes a robot chassis assembly 1; an underwater action manipulator 2; an underwater walking mechanism 3, the underwater walking mechanisms 3 are arranged on both sides of the robot chassis assembly 1, and the underwater action manipulator 2 is arranged on the upper end of the robot chassis assembly 1; A safety protection frame 101 is arranged at the upper end of the robot chassis assembly 1, and two CCD high-definition cameras 105 are arranged at the front end of the safety protection frame 101. A control module 103 is arranged at the rear side of the upper end surface of the robot chassis assembly 1, and an operating manipulator turntable 104 is arranged at the front end of the control module 103. The upper end of the operating manipulator turntable 104 is connected to an underwater action manipulator 2. A ducted water jet propeller 102 is arranged at the upper end of the robot chassis assembly 1, and a ducted water jet propeller 107 is arranged at the lower end of the ducted water jet propeller 102. Active grooves 106 are arranged at the lower ends of the two side surfaces of the robot chassis assembly 1, and the active grooves 106 are connected to the underwater walking mechanism 3. A manipulator connecting base 201 is provided at the rear end of the underwater action manipulator 2, a connecting fixed shaft 202 is provided at the upper end of the manipulator connecting base 201, and the connecting fixed shaft 202 is connected to a fixed arm 203. A manipulator arm 204 is provided at the front end of the manipulator connecting base 201, a running motor 205 is provided at the upper side of the front end of the manipulator arm 204, a transmission shaft 207 is provided at the front end of the running motor 205, a transverse transmission shaft 208 is provided at the lower side of the front end of the transmission shaft 207, a cutting knife 209 is inserted into the front end of the transverse transmission shaft 208, a clamping arm 210 is provided at the front end of the manipulator arm 204, a fixing bolt 206 is provided between the manipulator connecting base 201 and the manipulator arm 204 for connection, and a transmission gear shaft 211 is provided at the tail end of the clamping arm 210; The underwater walking mechanism 3 is provided with swinging track frames 301 on both sides, the upper end of the swinging track frame 301 is connected to the movable groove 106, the lower end of the swinging track frame 301 is connected to the magnetic track driving wheel 303, the outer side of the front and rear magnetic track driving wheels 303 is provided with a walking track 304, the outer side of the walking track 304 is provided with an array magnetic track 302, the middle of the magnetic track driving wheel 303 is provided with a magnetic track load wheel 305, the magnetic track load wheel 305 is internally connected with a load wheel torsion bar damper 306, the upper end of the load wheel torsion bar damper 306 is provided with a damper shaft 307, and the other end of the damper shaft 307 is fixed to the side of the robot chassis assembly 1.

[0021] Furthermore, the robot chassis assembly 1 transmits power to the magnetic track driving wheel 303 through the swinging track frame 301, and the movable groove 106 is a space reserved for the swinging track frame 301 to swing up and down. The swinging track frame 301 can adapt to different curved surfaces after swinging, and the magnetic track road wheel 305 supports the walking track 304. The magnetic track road wheel 305 can rotate 360 ​​through the damper shaft 307 at the top of the road wheel torsion bar damper 306, and the magnetic track road wheel 305 can still be supported when inverted.

[0022] Furthermore, the front end of the cutting knife 209 is serrated, and the inner side of the clamping arm 210 is provided with serrations. The clamping arm 210 fixes the object to be cut, and the cutting knife 209 swings left and right to cut the object. The soft structure will swing with the cutting knife 209 and will not be cut.

[0023] Furthermore, the robot chassis assembly 1 is externally connected with a towing cable.

[0024] Furthermore, the ducted waterjet power head 102 and the ducted waterjet propeller 107 can generate bidirectional propulsion force.

[0025] Furthermore, the robot chassis assembly 1 can be equipped with different cleaning operation modules.

[0026] This underwater cleaning robot device has a complex structural design, involving multiple functional modules such as underwater walking, cleaning, cutting, etc. The following is the operation process, component functions and coordination logic of the device: Robot chassis assembly: The robot chassis assembly provides support and power source for the entire underwater cleaning robot. The chassis is equipped with multiple important functional modules, including safety protection frame, control module, operation manipulator turntable, ducted water jet propulsion head, etc. It provides a stable platform and power source to support the work of all other components.

[0027] Safety protection frame: The safety protection frame is located at the upper end of the robot chassis assembly, and two CCD high-definition cameras are installed at the front. Its function is to protect the internal components of the robot from external damage, while providing real-time monitoring and image feedback to help operators accurately position underwater operations.

[0028] Control module: The control module is located on the rear side of the upper end of the robot chassis assembly and is responsible for receiving operation instructions and transmitting them to various execution components. It receives and transmits operation signals through internal circuits, regulates the working status of various components of the robot, and ensures the coordination of equipment operation.

[0029] Manipulator turntable: This turntable is located at the front end of the control module and is responsible for supporting and rotating the underwater manipulator. The manipulator can flexibly change its angle through rotation to achieve multi-directional operation of the cleaning target.

[0030] Underwater manipulator: The underwater manipulator consists of a manipulator connection base, a fixed arm, a mechanical arm and a clamping arm, and is used to grab, cut and clean underwater objects. During underwater operations, the clamping arm and the cutting knife are used to accurately cut or clamp the target object.

[0031] Ducted water jet propulsion head: It is installed on the upper end of the robot chassis assembly and cooperates with the ducted water jet propeller to provide propulsion power. Through the closed design of the ducted system, the pressure of the propulsion water flow is increased, the propulsion efficiency is improved, and the robot can be flexibly propulsed and adapt to complex water environments.

[0032] Underwater walking mechanism: The underwater walking mechanism consists of a swinging crawler frame, a magnetic crawler driving wheel, a walking crawler, an array magnetic crawler, and a magnetic crawler road wheel, etc., and is located on both sides of the robot chassis assembly. It ensures that the robot can walk stably on various complex terrains underwater, and enhances its adhesion to the seabed surface through the magnetic attraction function.

[0033] Magnetic crawler driving wheel and road wheel: The magnetic crawler driving wheel drives the walking track through the track frame, and the road wheel provides support through the torsion bar damper. The driving wheel provides driving force, and the road wheel ensures the stability of the walking track through the damper, ensuring that the robot can adapt to different terrains and directions.

[0034] Road wheel torsion bar damper: It is set inside the magnetic track road wheel and provides support and stability through the damper shaft. It provides stable support for the magnetic track road wheel and enables it to work stably when inverted.

[0035] Cutting knife: The front end of the cutting knife is serrated and is specially used for cutting underwater objects. It is used to accurately cut hard objects such as metals, rocks, etc. Soft objects will not be cut as the cutting knife swings, avoiding damage to soft structures.

[0036] Clamping arm: It is located at the front end of the robot arm and is used to clamp and fix the object to be cut. It clamps the target object to prevent it from moving during the cutting process and ensure cutting accuracy.

[0037] Cable connection: The robot chassis assembly is connected to the external power supply through a trailing cable, which provides a continuous power supply to the robot and supports the normal operation of each component.

[0038] Equipment workflow and coordination of components Startup process: The operator starts the robot chassis assembly through the remote control system, and the control module starts working after receiving the command. The ducted water jet propulsion head and propeller start working to provide propulsion, and the robot starts to walk underwater. The magnetic track driving wheel and road wheel start to move with the walking track to ensure the stable walking of the robot.

[0039] Target positioning: The CCD high-definition camera captures the underwater environment image and transmits it to the control module, so that the operator can accurately locate the cleaning target. The control module transmits the command to the operating manipulator turntable, which starts to rotate and adjusts the manipulator angle so that it can approach the cleaning target.

[0040] Object clamping and cutting: The robot arm fixes the target object through the clamping arm to ensure that the object does not move during the cutting process. The running motor drives the cutting knife to swing left and right through the transmission shaft and the transverse transmission shaft to accurately cut the target object. During the cutting process, the hard object and the cutting knife generate an opposing force for effective cutting; while the soft object moves with the cutting knife and does not generate cutting force, avoiding damage to the soft structure.

[0041] Propulsion and operation adjustment: The underwater propeller continuously provides power to ensure that the robot can flexibly move to the area where it needs to operate. The robot can adapt to different terrains and underwater surfaces through the swinging crawler frame, ensuring the adaptability of the equipment in complex environments.

[0042] End of operation: After the operation is completed, the robot can adjust its position as needed, release the object with the clamping arm, and return to the starting position with the thrusters.

[0043] Internal electrical connection and control signal transmission Signal transmission: The operation signal is transmitted from the remote control system to the control module of the robot chassis assembly through cables. The control module parses the instructions and transmits them to various actuators (such as ducted water jet propulsion, motors, robotic arms, etc.) through internal distribution circuits.

[0044] Power supply: The robot is connected to an external power source via a towing cable to provide power support for all electric components, ensuring that the equipment can continue to work in an underwater environment.

[0045] Feedback mechanism: The CCD camera transmits image data to the operator in real time, allowing him to adjust the robot's operating strategy. The sensor and control module monitor the equipment status in real time to ensure the normal operation of the robot's various tasks and adjust the robot's movement trajectory and operating force in a timely manner.

[0046] Through this operation process and the coordination of various components, the underwater cleaning robot can efficiently and accurately complete cleaning and cutting tasks in complex underwater environments.

[0047] The specific embodiments set forth above describe exemplary embodiments, but do not represent all embodiments that may be implemented or fall within the scope of protection of the claims. The term "exemplary" used throughout this specification means "used as an example, instance, or illustration" and does not mean "preferred" or "having advantages" over other embodiments. For the purpose of providing an understanding of the described techniques, the specific embodiments include specific details. However, these techniques may be implemented without these specific details. In some instances, in order to avoid obscuring the concepts of the described embodiments, well-known structures and devices are shown in block diagram form.

[0048] The above description of the present disclosure is provided to enable any person of ordinary skill in the art to implement or use the present disclosure. Various modifications to the present disclosure will be apparent to those of ordinary skill in the art, and the general principles defined herein may be applied to other variations without departing from the scope of protection of the present disclosure. Therefore, the present disclosure is not limited to the examples and designs described herein, but is consistent with the widest range of principles and novel features disclosed herein.

Claims

1. An underwater cleaning robot, comprising a robot chassis assembly (1); an underwater manipulator (2); and an underwater walking mechanism (3), characterized in that: Underwater walking mechanisms (3) are arranged on both sides of the robot chassis assembly (1), and an underwater action manipulator (2) is arranged on the upper end of the robot chassis assembly (1); A safety protection frame (101) is arranged at the upper end of the robot chassis assembly (1), two CCD high-definition cameras (105) are arranged at the front end of the safety protection frame (101), a control module (103) is arranged at the rear side of the upper end surface of the robot chassis assembly (1), a working manipulator turntable (104) is arranged at the front end of the control module (103), the upper end of the working manipulator turntable (104) is connected to the underwater action manipulator (2), a ducted water jet propeller (102) is arranged at the upper end of the robot chassis assembly (1), a ducted water jet propeller (107) is arranged at the lower end of the ducted water jet propeller head (102), and movable grooves (106) are arranged at the lower ends of both side surfaces of the robot chassis assembly (1), and the movable grooves (106) are connected to the underwater walking mechanism (3); A manipulator connecting base (201) is provided at the rear end of the underwater action manipulator (2), a connecting fixing shaft (202) is provided at the upper end of the manipulator connecting base (201), the connecting fixing shaft (202) is connected to a fixing arm (203), a manipulator arm (204) is provided at the front end of the manipulator connecting base (201), a running motor (205) is provided at the upper side of the front end of the manipulator arm (204), a transmission shaft (207) is provided at the front end of the running motor (205), a transverse transmission shaft (208) is provided at the lower side of the front end of the transmission shaft (207), a cutting knife (209) is inserted into the front end of the transverse transmission shaft (208), a clamping arm (210) is provided at the front end of the manipulator arm (204), a fixing bolt (206) is provided between the manipulator connecting base (201) and the manipulator arm (204) for connection, and a transmission gear shaft (211) is provided at the rear end of the clamping arm (210); Wherein, swing-type crawler frames (301) are arranged on both sides of the underwater walking mechanism (3), the upper end of the swing-type crawler frame (301) is connected to the movable groove (106), the lower end of the swing-type crawler frame (301) is connected to the magnetic crawler driving wheel (303), the outer sides of the front and rear magnetic crawler driving wheels (303) are provided with walking crawlers (304), the outer sides of the walking crawlers (304) are provided with array magnetic crawlers (302), the middle of the magnetic crawler driving wheels (303) is provided with a magnetic crawler road wheel (305), the inner side of the magnetic crawler road wheel (305) is connected to a road wheel torsion bar damper (306), the upper end of the road wheel torsion bar damper (306) is provided with a damper rotating shaft (307), and the other end of the damper rotating shaft (307) is fixed to the side of the robot chassis assembly (1).

2. An underwater cleaning robot according to claim 1, characterized in that: The robot chassis assembly (1) transmits power to the magnetic track driving wheel (303) via the swinging track frame (301); the movable groove (106) is a space reserved for the swinging track frame (301) to swing up and down; the swinging track frame (301) can adapt to different curved surfaces after swinging; the magnetic track road wheel (305) supports the walking track (304); the magnetic track road wheel (305) can rotate 360 ​​times via the damper shaft (307) at the top of the road wheel torsion bar damper (306); and the magnetic track road wheel (305) can still provide support when inverted.

3. The underwater cleaning robot according to claim 1, characterized in that: The front end of the cutting knife (209) is serrated, and saw teeth are arranged on the inner side of the clamping arm (210). The clamping arm (210) fixes the object to be cut, and the cutting knife (209) swings left and right to cut the object. The soft structure will swing with the cutting knife (209) and will not be cut.

4. The underwater cleaning robot according to claim 1, characterized in that: The robot chassis assembly (1) is externally connected with a trailing cable.

5. The underwater cleaning robot according to claim 1, characterized in that: The ducted waterjet propeller (102) and the ducted waterjet propeller (107) can generate bidirectional propulsion force.

6. The underwater cleaning robot according to claim 1, characterized in that: The robot chassis assembly (1) can be equipped with different cleaning operation modules.

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