Propeller cleaning robot

Abstract

The invention discloses a propeller cleaning robot which comprises machine body control equipment, propellers and a main body frame, the machine body control equipment is installed on the abdomen of the robot and serves as navigation control of the underwater propeller cleaning robot and the center of all mechanical arms, and the propellers of the underwater propeller cleaning robot are arranged in a vector distribution mode. The three propellers are used for providing power for vertical movement, the four propellers are arranged in the four directions of the underwater propeller cleaning robot in a perpendicular cross mode and used for assisting in resisting recoil force of the cavitation jet water gun on the underwater propeller cleaning robot underwater, and the cleaning mechanical arm is fixedly connected right in front of the main body frame. An underwater positioning mechanical arm is fixedly connected to the bottom of the main body frame, supports are arranged on the two sides of the main body frame, the cleaning and collecting mechanism and the auxiliary fastening mechanism are further included, and compared with nozzle fixing in a comparison file, a spraying pipe of the cleaning and collecting mechanism swings in a reciprocating mode so that the cleaning range can be enlarged; and each part of the paddle can be ensured to be fully cleaned.

Description

Technical Field

[0001] The invention relates to the field of propeller cleaning of underwater large ships, in particular to a propeller cleaning robot. Background Art

[0002] At present, motor ships rely on the main engine to drive the propeller to sail, and the propeller's propulsion efficiency has a great influence on the ship's sailing speed. After a ship has sailed for a certain period of time, dirt will be adsorbed on the surface of its propeller, which increases the friction between the propeller blades and the water. In this way, when the propeller rotates at high speed, it will inevitably consume more energy to overcome these frictions, resulting in a slower sailing speed, increased fuel consumption, and increased operating costs. There is an urgent need for a propeller cleaning method and device to provide technical and equipment support for decontamination of ship propeller surfaces.

[0003] In a Chinese patent with a patent publication number of CN109910025B, an underwater propeller cleaning robot is disclosed, wherein a shift assembly is mounted on the left side of the underwater robot assembly, and a manipulator gripper assembly is mounted on the bottom of the underwater robot assembly; the underwater robot assembly comprises a first frame and an electronic compartment, a thruster and a power compartment arranged in the first frame; the shift assembly comprises a ceramic guide rail, which is mounted on the left side of the first frame and is provided with a self-locking motor, and a linear module and a corresponding second motor are mounted on the ceramic guide rail; manipulators are respectively mounted on the two linear modules, and the cleaning assembly is connected to the manipulators through grippers; the bottom plate of the manipulator gripper assembly is connected to the bottom of the first frame, and two pairs of grippers are mounted under the bottom plate, each pair of grippers is provided with a respective second rotating shaft, and the two second rotating shafts are connected by a coupling, and the grippers are connected to the bottom plate through a first electric cylinder to realize opening and retraction, and each gripper is connected to a finger through a second electric cylinder, and the finger and the second electric cylinder realize opening and retraction.

[0004] However, the following defects still exist in the specific use of the comparative documents:

[0005] 1. In the comparative document, long-term and high-frequency starting, stopping and moving through the self-locking motor and ceramic guide rail will cause wear of the motor and the guide rail, thereby affecting the stability and accuracy of the system. The nozzle of the cleaning component is in a fixed state when in use. Since the propeller has a certain curvature and the position of the nozzle is fixed, the cleaning will not be thorough, thereby affecting the use of the propeller. In addition, when the cleaning component moves left and right on the blade, the debris after cleaning is not collected, which will cause the debris after cleaning to float to the inside of the guide rail, thereby affecting the use of the cleaning component.

[0006] 2. The robotic gripper assembly in the comparative document uses an electric cylinder to control the opening and retraction of the fingers during use. The electric cylinder will be worn during frequent opening and closing and shaft-holding actions, resulting in reduced accuracy or failure, which will directly affect the stability and efficiency of the entire cleaning system. The robotic gripper assembly is used to resist the recoil of the underwater propeller cleaning robot caused by the cavitation jet water gun underwater. Due to the effects of friction and force, the robotic gripper and blades will wear, which will affect the gripping ability of the robotic gripper and the performance of the blades.

[0007] Therefore, a propeller cleaning robot is proposed to solve the above problems. Summary of the invention

[0008] In view of this, the technical problem to be solved by the present invention is to propose a propeller cleaning robot to solve the problems in the prior art that the nozzle of the cleaning component is in a fixed state when in use, and the propeller has a certain curvature, while the position of the nozzle is fixed, which will lead to incomplete cleaning and thus affect the use of the propeller, and the electric cylinder will be worn during frequent opening and closing and shaft holding actions, resulting in reduced accuracy or failure.

[0009] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a propeller cleaning robot, comprising: a body control device, a propeller and a main frame, wherein the body control device is installed on the belly of the robot and is the center of the navigation control and all mechanical arms of the underwater propeller cleaning robot, the propeller of the underwater propeller cleaning robot is arranged in a vector distributed manner, and the up and down movement is powered by three propellers, and four propellers are arranged in a vertical cross in four directions of the underwater propeller cleaning robot to assist in counteracting the recoil of the underwater propeller cleaning robot by a cavitation jet water gun under water, a cleaning mechanical arm is fixedly connected to the front of the main frame, an underwater positioning mechanical arm is fixedly connected to the bottom of the main frame, brackets are arranged on both sides of the main frame, and a cleaning collection mechanism and an auxiliary fastening mechanism are also included, wherein the cleaning collection mechanism is arranged at one end of the cleaning mechanical arm, and the auxiliary fastening mechanism is arranged at one end of the underwater positioning mechanical arm;

[0010] The cleaning and collecting mechanism is used to collect debris generated after the propeller is cleaned;

[0011] The auxiliary fastening mechanism is used to maintain stable clamping.

[0012] As an improvement, the cleaning and collecting mechanism includes a connecting plate 1, which is fixedly connected to one end of the cleaning robot arm away from the main frame, the inner wall of the connecting plate 1 is fixedly connected to a protective frame 1, the inner wall of the protective frame 1 is rotatably connected to a worm, the inner wall of the protective frame 1 is rotatably connected to a worm wheel, the worm wheel is located below the worm, and the worm is meshed with the worm wheel.

[0013] As an improvement, the side of the worm is rotatably connected to a first connecting frame, and the first connecting frame is fixedly connected to the bottom surface of connecting plate 1. The rotating shaft of the worm wheel is fixedly connected to a second connecting frame, and the bottom surface of the second connecting frame is provided with a nozzle.

[0014] As an improvement, two connecting plates 2 are fixedly connected to the side of the second connecting frame, and the nozzle is located in the middle of the two connecting plates 2. The bottom surface of the connecting plate 2 is fixedly connected to a collecting bin, and the top surface of the collecting bin is provided with a first telescopic plate.

[0015] As an improvement, the inner wall of the collecting bin is fixedly connected with a baffle, and the baffle is provided with a plurality of circular holes, the inner wall side of the collecting bin is rotatably connected with a first cylinder, the outer surface of the first cylinder is provided with a threaded groove, the inner wall of the collecting bin is slidably connected with a slide rod, and the slide rod is slidably adapted to the threaded groove provided on the first cylinder, and an auxiliary paddle is fixedly connected to the end of the first cylinder close to the baffle.

[0016] As an improvement, the auxiliary fastening mechanism includes a gripper 1 and a gripper 2, wherein the gripper 1 and the gripper 2 are arranged at one end of the underwater positioning robot arm away from the main frame, a first telescopic rod is fixedly connected between the gripper 1 and the gripper 2, a slide plate is fixedly connected to a side of the gripper 1 close to the gripper 2, a plurality of slots are provided on the slide plate, and a protective frame 2 is fixedly connected to a side of the gripper 2 close to the gripper 1.

[0017] As an improvement, the slide plate is slidably connected to the inside of the protective frame 2, and the inside of the protective frame 2 is rotatably connected with a Z-shaped auxiliary block, one end side of the Z-shaped auxiliary block is fixedly connected to a second telescopic rod, and the other end of the second telescopic rod is fixedly connected to the inner wall of the protective frame 2, and a return spring 1 is fixedly connected between a side of the Z-shaped auxiliary block away from the second telescopic rod and the inner wall of the protective frame 2.

[0018] As an improvement, a reset spring 2 is fixedly connected to the side of the inner wall of the protective frame 2 away from the reset spring 1, and the other end of the reset spring 2 is fixedly connected to an auxiliary plate, and the auxiliary plate is located on the right side of the Z-shaped auxiliary block, and an air inlet is opened at the clamping point of the grab clamp 1 and the grab clamp 2, and an air intake device is arranged inside the grab clamp 1 and the grab clamp 2.

[0019] Compared with the prior art, the present invention provides a propeller cleaning robot, which has the following beneficial effects:

[0020] 1. The worm gear is driven to rotate by the worm, which in turn drives the nozzle to swing back and forth. Compared with the fixed nozzle in the comparative document, the reciprocating swing of the nozzle can expand the cleaning range, ensuring that every part of the blade can be fully cleaned, including the edges and corners that are difficult to reach. The reciprocating swing of the nozzle can evenly distribute the cleaning force, ensuring that all parts of the blade are cleaned to the same extent, avoiding the problem of uneven cleaning. The reciprocating swing of the nozzle can more flexibly adapt to the shape changes of the blade, ensuring the consistency and comprehensiveness of the cleaning effect.

[0021] 2. The auxiliary blades are driven to rotate by the first cylinder, thereby forming a vortex in the water to collect the debris being cleaned. The vortex can limit the diffusion range of the debris, prevent it from being widely distributed in the water area and causing environmental pollution. The debris is automatically collected by forming a vortex, which reduces the need for manual salvage or cleaning of propeller blades and the need for underwater operations. In addition, the formation of a vortex can increase the disturbance and mixing of the water flow, which helps the nozzle to more effectively clean the dirt and debris on the surface of the propeller blades.

[0022] 3. The Z-shaped auxiliary block is clamped in the slot provided on the slide, thereby fixing the position of the underwater positioning mechanical arm on the propeller blade. The clamping and the slot cooperation further ensure that the underwater positioning mechanical arm can be firmly connected to the propeller blade and is not prone to loosening or falling off, thereby ensuring the stability of the clamp during the cleaning process and avoiding poor cleaning effect or safety problems caused by loosening or falling off of the clamp. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a three-dimensional side view of the overall structure of the present invention;

[0024] Figure 2 This is a schematic diagram of the cleaning and collecting mechanism structure of the present invention;

[0025] Figure 3 This is a schematic diagram of the internal structure of a protection frame of the present invention;

[0026] Figure 4 This is a schematic diagram of the first cylindrical connection relationship structure of the present invention;

[0027] Figure 5 This is a schematic diagram of the connection relationship structure of the auxiliary blades of the present invention;

[0028] Figure 6 It is a structural schematic diagram of the auxiliary fastening mechanism of the present invention;

[0029] Figure 7 This is a schematic diagram of the internal structure of the protection frame 2 of the present invention;

[0030] Figure 8 For the present invention Figure 7Enlarged structural diagram at point A in the middle.

[0031] In the figure:

[0032] 1. Main frame; 11. Underwater positioning mechanical arm; 12. Cleaning mechanical arm; 13. Bracket;

[0033] 2. Cleaning and collecting mechanism; 21. Connecting plate 1; 22. Protective frame 1; 23. Worm; 24. Worm wheel; 25. First connecting frame; 26. Second connecting frame; 27. Nozzle; 28. Connecting plate 2; 29. ​​Collecting bin; 210. First telescopic plate; 211. Baffle; 212. First cylinder; 213. Sliding rod; 214. Auxiliary blade;

[0034] 3. Auxiliary fastening mechanism; 31. Grab clamp 1; 32. Grab clamp 2; 33. First telescopic rod; 34. Protective frame 2; 35. Slide plate; 36. Second telescopic rod; 37. Z-shaped auxiliary block; 38. Reset spring 1; 39. Reset spring 2; 310. Auxiliary plate; 311. Air intake device. DETAILED DESCRIPTION

[0035] 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.

[0036] The present invention is further described in detail below based on the accompanying drawings and embodiments.

[0037] Example

[0038] Please refer to Figures 1 to 5 As shown:

[0039] In order to solve the problems mentioned in the technical solution, the embodiment of the present application provides a propeller cleaning robot, including: a body control device, a propeller and a main frame 1. The body control device is installed on the belly of the robot and is the center of the navigation control and all mechanical arms of the underwater propeller cleaning robot. The propeller of the underwater propeller cleaning robot is arranged in a vector distributed manner, and the up and down movement is powered by three propellers. There are four propellers arranged in a vertical cross in four directions of the underwater propeller cleaning robot to assist in counteracting the recoil of the cavitation jet water gun on the underwater propeller cleaning robot. A cleaning mechanical arm 12 is fixedly connected to the front of the main frame 1, and an underwater positioning mechanical arm 11 is fixedly connected to the bottom of the main frame 1. Brackets 13 are arranged on both sides of the main frame 1. It also includes a cleaning and collecting mechanism 2 and an auxiliary fastening mechanism 3. The cleaning and collecting mechanism 2 is arranged at one end of the cleaning mechanical arm 12, and the auxiliary fastening mechanism 3 is arranged at one end of the underwater positioning mechanical arm 11.

[0040] The cleaning and collecting mechanism 2 is used to collect the debris generated after the propeller is cleaned;

[0041] The cleaning and collecting mechanism 2 includes a connecting plate 21, which is fixedly connected to one end of the cleaning robot arm 12 away from the main frame 1, and the inner wall of the connecting plate 21 is fixedly connected to a protective frame 22, and the inner wall of the protective frame 22 is rotatably connected to a worm 23, and the inner wall of the protective frame 22 is rotatably connected to a worm wheel 24, which is located below the worm 23, and the worm 23 is meshed with the worm wheel 24.

[0042] The side of the worm 23 is rotatably connected to a first connection frame 25 , and the first connection frame 25 is fixedly connected to the bottom surface of the connecting plate 21 . The rotating shaft of the worm wheel 24 is fixedly connected to a second connection frame 26 , and a nozzle 27 is provided on the bottom surface of the second connection frame 26 .

[0043] Two second connecting plates 28 are fixedly connected to the side of the second connecting frame 26 , and the nozzle 27 is located in the middle of the two second connecting plates 28 . The bottom surface of the second connecting plate 28 is fixedly connected to the collecting bin 29 , and the top surface of the collecting bin 29 is provided with a first telescopic plate 210 .

[0044] The inner wall of the collecting bin 29 is fixedly connected with a baffle plate 211, and the baffle plate 211 is provided with a plurality of circular holes. The inner wall side of the collecting bin 29 is rotatably connected with a first cylinder 212, and the outer surface of the first cylinder 212 is provided with a threaded groove. The inner wall of the collecting bin 29 is slidably connected with a slide rod 213, and the slide rod 213 is slidably adapted to the threaded groove provided on the first cylinder 212. An auxiliary paddle 214 is fixedly connected to one end of the first cylinder 212 close to the baffle plate 211.

[0045] Among them: the body control device is the center of the navigation control and all mechanical arms of the underwater propeller cleaning robot. The body control device is used to drive the worm 23 and the first cylinder 212 to rotate while controlling the cleaning of the nozzle 27. The collection bin 29 is provided with a hole with a smaller circular hole, the baffle 211 is provided with a plurality of circular holes, the outer surface of the first cylinder 212 is provided with a threaded groove, and a slide rod 213 is slidably connected in the threaded groove. The body control device can drive the first telescopic plate 210 to extend and retract.

[0046] Compared with the comparative document, through the implementation of this embodiment, the worm 23 drives the worm wheel 24 to rotate, and then drives the nozzle 27 to swing back and forth. Compared with the fixed nozzle in the comparative document, the reciprocating swing of the nozzle 27 can expand the cleaning range, ensuring that every part of the blade can be fully cleaned, including the edges and corners that are difficult to reach, and the reciprocating swing of the nozzle 27 can evenly distribute the cleaning force, ensuring that all parts of the blade are cleaned to the same extent, avoiding the problem of uneven cleaning, and the reciprocating swing of the nozzle 27 can more flexibly adapt to the shape changes of the blade, ensuring the consistency and comprehensiveness of the cleaning effect.

[0047] For further examples, please refer to Figures 6 to 8 As shown:

[0048] The auxiliary fastening mechanism 3 is used to maintain the stability of clamping;

[0049] The auxiliary fastening mechanism 3 includes a gripper 31 and a gripper 32. The gripper 31 and the gripper 31 are arranged at one end of the underwater positioning robot arm 11 away from the main frame 1. A first telescopic rod 33 is fixedly connected between the gripper 31 and the gripper 32. A slide plate 35 is fixedly connected to a side of the gripper 31 close to the gripper 32. The slide plate 35 has a plurality of slots. A protective frame 2 34 is fixedly connected to a side of the gripper 32 close to the gripper 31.

[0050] The slide plate 35 is slidably connected to the inside of the second protective frame 34, and the inside of the second protective frame 34 is rotatably connected to a Z-shaped auxiliary block 37. The side surface of one end of the Z-shaped auxiliary block 37 is fixedly connected to a second telescopic rod 36, and the other end of the second telescopic rod 36 is fixedly connected to the inner wall of the second protective frame 34. A return spring 1 38 is fixedly connected between the side of the Z-shaped auxiliary block 37 away from the second telescopic rod 36 and the inner wall of the second protective frame 34.

[0051] A reset spring 2 39 is fixedly connected to the side of the inner wall of the protection frame 2 34 away from the reset spring 1 38, and the other end of the reset spring 2 39 is fixedly connected to an auxiliary plate 310, and the auxiliary plate 310 is located on the right side of the Z-shaped auxiliary block 37, and an air inlet is opened at the clamping point of the gripper 1 31 and the gripper 2 32, and an air intake device 311 is arranged inside the gripper 1 31 and the gripper 2 32.

[0052] Among them: the slide plate 35 is provided with a plurality of slots, and the Z-shaped auxiliary block 37 can be snapped into the inside of the slots, the clamping position of the gripper 1 31 and the gripper 2 32 is provided with an air inlet, and the inner wall of the protective frame 2 34 is provided with a contact point, and when the underwater positioning robot arm 11 clamps, the slide plate 35 will touch the contact point and trigger the air intake device 311 to intake air.

[0053] Compared with the comparative document, through the implementation of this embodiment, the Z-shaped auxiliary block 37 is clamped in the slot hole set in the slide plate 35, thereby fixing the position of the underwater positioning robot arm 11 on the propeller blade. Through the clamping and slot hole cooperation, it is further ensured that the underwater positioning robot arm 11 can be firmly connected to the propeller blade and is not prone to loosening or falling off, thereby ensuring the stability of the clamp during the cleaning process and avoiding poor cleaning effect or safety problems caused by loosening or falling off of the clamp.

[0054] Everything in the above example works like this:

[0055] In the initial state, the Z-shaped auxiliary block 37 is not engaged in the slot of the slide plate 35 .

[0056] The following is the working process of the auxiliary fastening mechanism 3 for maintaining stable clamping:

[0057] When in use, the main frame 1 is released underwater by the lifting machine at the stern of the ship. After falling underwater, the bottom bracket 13 is unfolded to leave room for the underwater positioning mechanical arm 11 to work. The main frame 1 sails to the vicinity of the ship's propeller through the recognition of the camera. The underwater positioning mechanical arm 11 will measure the gripping point of each propeller blade. After firmly grasping it, the cleaning mechanical arm 12 opens the cavitation jet water gun through the nozzle 27 to clean the barnacles and other attachments on the propeller. Since the underwater positioning mechanical arm 11 has a long arm span and a high degree of freedom, it can perform double-sided cleaning on the same blade to increase the cleaning efficiency. When the underwater positioning mechanical arm 11 is clamped, the first telescopic rod 33 contracts to make the gripper 31 and the gripper 32 move toward each other. The gripper 31 and the gripper 32 move toward each other, driving the protective frame 2 34 and the slide plate 35 fixedly connected thereto to move toward each other. The plate 35 is slidably connected to the inside of the second protection frame 34, and when the slide plate 35 slides inside the second protection frame 34, it pushes the Z-shaped auxiliary block 37 to move in the direction close to the auxiliary plate 310. Since a slot is provided inside the slide plate 35, and the Z-shaped auxiliary block 37 can be snapped into the slot, that is, when the slide plate 35 pushes the Z-shaped auxiliary block 37 to move in the direction close to the auxiliary plate 310, the slide plate 35 will be snapped into the slot provided by the slide plate 35, thereby maintaining the clamping state of the first gripper 31 and the second gripper 32. By means of the snap connection of the Z-shaped auxiliary block 37 and the matching of the slot, it is further ensured that the underwater positioning mechanical arm 11 can be firmly connected to the propeller blade, and it is not easy to loosen or fall off, thereby ensuring the stability of the gripper during the cleaning process and avoiding poor cleaning effect or safety problems caused by loosening or falling off of the gripper.

[0058] Since a contact point is provided on the inner wall of the protective frame 2 34, and when the underwater positioning mechanical arm 11 clamps, the slide plate 35 will touch the contact point and trigger the air intake device 311 to intake air, and an air intake port is provided at the clamping position of the gripper 1 31 and the gripper 2 32. When the air intake device 311 takes air into the circular hole of the clamping surface, an air pressure difference will be formed between the clamping surface and the propeller blade. This air pressure difference will generate an inward adsorption force, so that the mechanical gripper can be clamped on the propeller blade more stably, and it is not easy to slip or fall off. In addition, in an underwater environment, the direct impact of the water flow on the clamping surface can be reduced to a certain extent, thereby improving the stability of the clamping.

[0059] Please refer to the above working process Figures 1 to 5 .

[0060] The following is the working process of the cleaning and collecting mechanism 2 for collecting the debris generated after the propeller is cleaned:

[0061] During use, as mentioned above, the main frame 1 has been clamped and fixed by the underwater positioning mechanical arm 11, and then the cleaning collection mechanism 2 is moved to the place where cleaning is required by the cleaning mechanical arm 12, and then the blades are cleaned by the nozzle 27. At this time, the worm 23 is driven to rotate synchronously by the body control device, and the rotation of the worm 23 drives the worm gear 24 fixedly connected to it to rotate, and the rotation of the worm gear 24 drives the second connecting frame 26 fixedly connected to it to swing, thereby driving the nozzle 27 to swing. Compared with the fixed nozzle in the comparative document, the reciprocating swing of the nozzle 27 can expand the cleaning range, ensuring that every part of the blade can be fully cleaned, including the edges and corners that are difficult to reach, and the reciprocating swinging nozzle 27 can evenly distribute the cleaning force, ensuring that each part of the blade is cleaned to the same extent, avoiding the problem of uneven cleaning, and the reciprocating swinging nozzle 27 can more flexibly adapt to the shape changes of the blade, ensuring the consistency and comprehensiveness of the cleaning effect.

[0062] While the body control device controls the nozzle 27 to clean, the first cylinder 212 is driven to rotate. The rotation of the first cylinder 212 drives the auxiliary blade 214 fixedly connected thereto to rotate, thereby forming a vortex to collect the cleaned debris. The vortex can limit the diffusion range of the debris to prevent it from being widely distributed in the water area and causing environmental pollution. In addition, the formation of the vortex can increase the disturbance and mixing of the water flow, which helps the nozzle 27 to clean the dirt and debris on the surface of the propeller blade more effectively. Since the outer surface of the first cylinder 212 is provided with a threaded groove, the sliding rod 213 is slidably connected inside the threaded groove, that is, the sliding rod 213 is driven to reciprocate by the rotation of the first cylinder 212, thereby knocking the baffle 211 to prevent the collected debris from adhering to the surface of the baffle 211 and blocking the holes opened in the baffle 211, which improves the efficiency of debris collection.

[0063] Please refer to the above working process Figures 6 to 8 .

[0064] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0065] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. Propeller cleaning robot, including: A body control device, a propeller and a main frame (1), wherein the body control device is installed on the belly of the robot and is the center of the navigation control and all mechanical arms of the underwater propeller cleaning robot. The propeller of the underwater propeller cleaning robot is arranged in a vector distributed manner, and the up and down movement is powered by three propellers. Four propellers are arranged in a vertical cross in four directions of the underwater propeller cleaning robot to assist in counteracting the recoil of the underwater propeller cleaning robot caused by the cavitation jet water gun under water. A cleaning mechanical arm (12) is fixedly connected to the front of the main frame (1), and an underwater positioning mechanical arm (11) is fixedly connected to the bottom of the main frame (1). Brackets (13) are arranged on both sides of the main frame (1), and the main frame (1) is characterized in that it also includes a cleaning and collecting mechanism (2) and an auxiliary fastening mechanism (3), wherein the cleaning and collecting mechanism (2) is arranged at one end of the cleaning mechanical arm (12), and the auxiliary fastening mechanism (3) is arranged at one end of the underwater positioning mechanical arm (11); The cleaning and collecting mechanism (2) is used to collect debris generated after the propeller is cleaned; The auxiliary fastening mechanism (3) is used to maintain stable clamping.

2. The propeller cleaning robot according to claim 1, characterized in that: The cleaning and collecting mechanism (2) comprises a connecting plate (21), wherein the connecting plate (21) is fixedly connected to an end of the cleaning mechanical arm (12) away from the main frame (1), the inner wall of the connecting plate (21) is fixedly connected to a protective frame (22), the inner wall of the protective frame (22) is rotatably connected to a worm (23), the inner wall of the protective frame (22) is rotatably connected to a worm wheel (24), the worm wheel (24) is located below the worm (23), and the worm (23) is meshed with the worm wheel (24).

3. The propeller cleaning robot according to claim 2, characterized in that: The side surface of the worm (23) is rotatably connected to a first connection frame (25), and the first connection frame (25) is fixedly connected to the bottom surface of the connecting plate (21). The rotating shaft of the worm wheel (24) is fixedly connected to a second connection frame (26), and the bottom surface of the second connection frame (26) is provided with a nozzle (27).

4. The propeller cleaning robot according to claim 3, characterized in that: The side of the second connecting frame (26) is fixedly connected to two connecting plates (28), and the nozzle (27) is located in the middle of the two connecting plates (28). The bottom surface of the connecting plate (28) is fixedly connected to a collecting bin (29), and the top surface of the collecting bin (29) is provided with a first telescopic plate (210).

5. The propeller cleaning robot according to claim 4, characterized in that: The inner wall of the collecting bin (29) is fixedly connected to a baffle (211), and the baffle (211) is provided with a plurality of circular holes. The inner wall side of the collecting bin (29) is rotatably connected to a first cylinder (212), and the outer surface of the first cylinder (212) is provided with a thread groove. The inner wall of the collecting bin (29) is slidably connected to a slide rod (213), and the slide rod (213) is slidably matched with the thread groove provided on the first cylinder (212). An auxiliary blade (214) is fixedly connected to one end of the first cylinder (212) close to the baffle (211).

6. The propeller cleaning robot according to claim 1, characterized in that: The auxiliary fastening mechanism (3) comprises a first gripper (31) and a second gripper (32), wherein the first gripper (31) and the second gripper (32) are arranged at one end of the underwater positioning mechanical arm (11) away from the main frame (1), a first telescopic rod (33) is fixedly connected between the first gripper (31) and the second gripper (32), a slide plate (35) is fixedly connected to a surface of the first gripper (31) close to the second gripper (32), the slide plate (35) is provided with a plurality of slots, and a protection frame (34) is fixedly connected to a surface of the second gripper (32) close to the first gripper (31).

7. The propeller cleaning robot according to claim 6, characterized in that: The slide plate (35) is slidably connected to the inside of the second protection frame (34), and the inside of the second protection frame (34) is rotatably connected to a Z-shaped auxiliary block (37), one end side of the Z-shaped auxiliary block (37) is fixedly connected to a second telescopic rod (36), and the other end of the second telescopic rod (36) is fixedly connected to the inner wall of the second protection frame (34), and a return spring (38) is fixedly connected between a side of the Z-shaped auxiliary block (37) away from the second telescopic rod (36) and the inner wall of the second protection frame (34).

8. The propeller cleaning robot according to claim 7, characterized in that: A second return spring (39) is fixedly connected to the inner wall of the second protection frame (34) on one side away from the first return spring (38); the other end of the second return spring (39) is fixedly connected to an auxiliary plate (310), and the auxiliary plate (310) is located on the right side of the Z-shaped auxiliary block (37); an air inlet is provided at the clamping position of the first grabbing clamp (31) and the second grabbing clamp (32), and an air intake device (311) is provided inside the first grabbing clamp (31) and the second grabbing clamp (32).

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