Multifunctional underwater decontamination robot and decontamination method for converter station cooling water pond

Abstract

The invention discloses a multifunctional underwater cleaning robot which comprises a robot body and a plurality of executing mechanisms, and the robot body is provided with a walking mechanism, an underwater moving power mechanism, an underwater road condition detection mechanism, a smashing mechanism, a mechanical arm and a plurality of hanging seats. At least one executing mechanism is used for cleaning the pool wall and sucking dirt, another executing mechanism is used for grabbing impurities to the smashing mechanism, a first quick-change connector is arranged at the tail end of the mechanical arm, each executing mechanism is provided with a second quick-change connector, and the first quick-change connector is used for sucking and buckling the second quick-change connectors. And the hanging seat is used for hanging the second quick-change connector and opening the buckling of the second quick-change connector and the first quick-change connector. The invention further discloses a decontamination method for the converter station cooling water pond. The decontamination method is carried out through the multifunctional underwater decontamination robot. The multifunctional underwater cleaning robot and the cleaning method for the converter station cooling water pool have multiple functions, can adapt to complex underwater environments and meet the cleaning operation requirements of different types of dirt, and are small in limitation.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater operation equipment, and in particular to a multifunctional underwater pollution-cleaning robot and a pollution-cleaning method for a cooling water pool of a converter station. Background Art

[0002] UHV converter stations are vital infrastructure in the power system, and their normal operation plays an important role in ensuring the electricity demand of people's daily life and social production. However, since the cooling water pools of UHV converter stations are in service in the complex outdoor environment all year round, various types of dirt will gradually adhere to the bottom of the pools over time. If they are not adequately cleaned and maintained for a long time, a large amount of dirt and impurities will accumulate. These pollutants will not only reduce the cooling effect and increase the operating load of the equipment, but may also cause equipment failures and safety accidents, posing a serious threat to the stable operation of the power grid. Therefore, regular cleaning of the bottom of the substation pool is the key to ensuring the healthy and stable operation of the converter station. Since the type and distribution of dirt at the bottom of the pool are somewhat unpredictable, manual cleaning operations are not only labor-intensive, but also require personnel to dive into the water, which poses a great operational risk. In addition, existing cleaning robots, such as the underwater cleaning robot with application number 201810038013.6, can only perform simple cleaning operations at the bottom of the pool by sucking dirt through the suction port, and have relatively single functions, and cannot adapt to complex underwater environments and cleaning operations of different types of dirt. For example, when faced with non-degradable and impurities that cannot be sucked away at the bottom of the pool, existing underwater cleaning robots are difficult to effectively remove them, and have obvious limitations.

[0003] The quick-change connectors of existing robotic arms, such as the quick-change connectors disclosed in the nuclear facility decommissioning dual-arm robot and control system with application number 202210551422.2, are all equipped with electrical, pneumatic, and hydraulic power signal connection modules. The mechanical connection is locked and unlocked by a pneumatically controlled locking device. On the one hand, the structure is complex and the cost is high. On the other hand, it is difficult to meet the requirements of underwater operations. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a multifunctional underwater cleaning robot and a converter station cooling water pool cleaning method which can adapt to complex underwater environments and meet the cleaning requirements of different types of dirt, has few limitations and is low in cost.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0006] A multifunctional underwater pollution cleaning robot comprises a robot body and a plurality of actuators, wherein the robot body is provided with a walking mechanism, an underwater mobile power mechanism, an underwater road condition detection mechanism, a crushing mechanism, a mechanical arm and a plurality of hanging seats, wherein at least one actuator is used for cleaning a pool wall and sucking dirt, and one actuator is used for grabbing impurities to the crushing mechanism, a first quick-change joint is provided at the end of the mechanical arm, and each of the actuators is provided with a second quick-change joint, the first quick-change joint is used for sucking and buckling the second quick-change joint, and the hanging seat is used for hanging and placing the second quick-change joint and for opening the buckle connection between the second quick-change joint and the first quick-change joint.

[0007] As a further improvement of the above technical solution:

[0008] At least one actuator is used to cut away foreign matter.

[0009] Robot arms are provided on both sides of the robot body, and at least two hanging seats are provided on the first side of the two sides of the robot body, wherein at least one hanging seat is used to hang the second quick-change joint of the actuator for cleaning the pool wall and sucking dirt, and one hanging seat is used to hang the second quick-change joint of the actuator for cutting impurities, and the second side is provided with at least one hanging seat for hanging the actuator for grabbing impurities to the crushing mechanism, and the crushing mechanism is arranged on the second side of the robot body.

[0010] Both sides of the robot body are provided with mounting plates, and the mechanical arm, the hanging seat and the crushing mechanism are respectively arranged on the mounting plates on the corresponding sides.

[0011] A buckle block is hinged on the second quick-change joint, an elastic reset part is provided between the buckle block and the second quick-change joint, a push surface is provided at the bottom end of the buckle block, and a buckle-in portion protruding inward is provided at the top end, a pushing portion is provided on the hanging seat for pushing the push surface to turn the top end of the buckle block outward when the second quick-change joint is hung on the hanging seat, and an electromagnetic adsorption component and a buckle interface for cooperating with the buckle-in portion are provided on the first quick-change joint.

[0012] The first quick-change connector and the second quick-change connector are respectively provided with a first alignment column and a first alignment hole which match each other when the two are butted.

[0013] The hanging seat and the second quick-change joint are respectively provided with a second alignment column and a second alignment hole which cooperate when the second quick-change joint is hung on the hanging seat.

[0014] The hanging seat is provided with a hanging hole, and one side of the hanging hole is provided with an inlet and outlet, the inlet and outlet are used for the horizontal entry and exit of the second quick-change joint, and the hanging hole is used for the lifting and placement of the second quick-change joint.

[0015] The walking mechanism is a crawler mechanism.

[0016] A method for cleaning a cooling water pool of a converter station is provided, which is performed by using the above-mentioned multifunctional underwater cleaning robot, wherein an actuator that is not performing a task is hung on a corresponding hanging seat through a second quick-change joint, and comprises the following steps:

[0017] S1. Place the robot body into the cooling water pool of the converter station, determine the starting and ending positions of the robot body through the control system, and plan the path of the robot body according to the detection signal of the water road condition detection mechanism;

[0018] S2, the robot arrives at the starting point according to the planned path, the robot arm operates to dock the first quick-change joint with the second quick-change joint of the actuator used for cleaning the pool wall and sucking dirt, sucks and lifts the second quick-change joint to make the second quick-change joint and the first quick-change joint buckle, and then removes the actuator from the hanging seat;

[0019] S3. The robot arm transports the actuator to the cleaning area, where the actuator cleans and absorbs dirt from the side walls of the converter station cooling pool;

[0020] S4. After the side wall is cleaned, the walking mechanism of the robot body lands on the bottom of the pool, and the robot arm hangs the actuator used for cleaning the pool wall and sucking dirt on the original hanging seat, and then runs to dock the first quick-change joint with the second quick-change joint of the actuator used for grabbing impurities, sucks and lifts the second quick-change joint to buckle the second quick-change joint with the first quick-change joint, and then removes the actuator from the hanging seat;

[0021] S5. When the water road condition detection mechanism detects non-degradable impurities at the bottom of the pool, the actuator on the mechanical arm grabs the impurities and transfers the impurities to the crushing mechanism under the operation of the mechanical arm;

[0022] S6. After the impurities are cleaned, the robot arm hangs the actuator for grabbing impurities on the original hanging seat, then operates to dock the first quick-change joint with the second quick-change joint of the actuator for cleaning the pool wall and sucking dirt, sucks and lifts the second quick-change joint to make the second quick-change joint and the first quick-change joint buckle, and then removes the actuator from the hanging seat;

[0023] S7, the robot body moves on the pool bottom along with the walking mechanism, and the robot arm drives the actuator for cleaning the pool wall and sucking the dirt to clean the pool bottom and suck the dirt;

[0024] S8. After the pool bottom is cleaned, the robot body floats to the water surface under the action of the underwater moving power mechanism and is then recovered.

[0025] Compared with the prior art, the advantages of the present invention are:

[0026] The multifunctional underwater cleaning robot of the present invention has the following advantages: first, the mechanical arm can selectively connect with the second quick-change joint of any actuator through the first quick-change joint to meet the execution requirements of various functions, such as connecting with the second quick-change joint of the actuator for cleaning the pool wall and sucking dirt (also called the cleaning and sucking mechanism) through the first quick-change joint to clean the pool wall and suck dirt; and connecting with the second quick-change joint of the actuator for grabbing impurities (also called the grabbing mechanism) through the first quick-change joint to grab the impurities on the bottom of the pool and send them to the crushing mechanism. On the one hand, it has many functions and can adapt to complex underwater environments and meet the cleaning operation requirements of different types of dirt, such as being able to effectively remove non-degradable and impurities that cannot be sucked out of the pool bottom. The limitation is small. On the one hand, one robotic arm can meet the execution requirements of multiple actuators, simplifying the structure and reducing the cost. Secondly, when the first quick-change joint hangs the second quick-change joint on the hanging seat, the hanging seat can open the buckle connection between the second quick-change joint and the first quick-change joint, so as to facilitate the separation of the first quick-change joint and the second quick-change joint. The first quick-change joint absorbs and lifts the second quick-change joint to release the opening effect of the hanging seat, so that the first quick-change joint and the second quick-change joint are buckled. The structural design is ingenious, which is convenient for taking and placing various actuators. There is no need to use electric or pneumatic mechanisms to lock and unlock the first quick-change joint and the second quick-change joint. On the one hand, the structure is simpler and the cost is lower. On the other hand, it meets the requirements of underwater operations.

[0027] The converter station cooling pool cleaning method of the present invention adopts a multifunctional underwater cleaning robot, which has all the advantages of a multifunctional underwater cleaning robot. First, it can adapt to complex underwater environments and meet the cleaning requirements of different types of dirt, such as being able to effectively remove non-degradable and non-absorbable impurities at the bottom of the pool, with little limitation; second, each actuator is easy to take and put, and easy to control; second, each step is reasonably arranged, and the work efficiency is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a three-dimensional structural schematic diagram of the multifunctional underwater pollution cleaning robot of the present invention.

[0029] Figure 2 yes Figure 1 Schematic diagram of the enlarged structure at point A in the middle.

[0030] Figure 3 yes Figure 1 Schematic diagram of the enlarged structure at point B in the middle.

[0031] Figure 4 It is a schematic diagram of the main structure of the multifunctional underwater pollution cleaning robot of the present invention.

[0032] Figure 5 It is a schematic diagram of the three-dimensional structure of the second quick-change joint of the multifunctional underwater pollution cleaning robot of the present invention.

[0033] Figure 6 It is a half-section structural schematic diagram of the second quick-change joint of the multifunctional underwater pollution cleaning robot of the present invention.

[0034] Figure 7 It is a three-dimensional structural schematic diagram of the hanging seat of the multifunctional underwater pollution cleaning robot of the present invention.

[0035] Figure 8 It is a three-dimensional structural schematic diagram of the first quick-change joint of the multifunctional underwater pollution cleaning robot of the present invention.

[0036] Fig. 9 This is a structural state diagram of the multifunctional underwater pollution cleaning robot of the present invention, in which the second quick-change joint is hung on a hanging seat.

[0037] Fig.10 yes Fig. 9 Schematic diagram of the enlarged structure at point C in the middle.

[0038] Fig.11 It is a structural state diagram of the multifunctional underwater pollution cleaning robot of the present invention, in which the first quick-change joint takes and places the second quick-change joint.

[0039] Fig.12 yes Fig.11 Schematic diagram of the enlarged structure at D in the middle.

[0040] The symbols in the figure represent:

[0041] 1. Robot body; 11. Mounting plate; 2. Actuator; 3. Walking mechanism; 4. Underwater mobile power mechanism; 5. Underwater road condition detection mechanism; 6. Crushing mechanism; 7. Robot arm; 71. First quick-change connector; 711. Electromagnetic adsorption component; 712. Buckle interface; 713. First alignment column; 8. Hanging seat; 81. Pushing part; 82. Second alignment column; 83. Hanging hole; 84. Inlet and outlet; 9. Second quick-change connector; 91. Buckle block; 911. Pushing surface; 912. Buckle-in part; 92. First alignment hole; 93. Second alignment hole. DETAILED DESCRIPTION

[0042] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0043] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0044] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0045] In the present invention, unless otherwise clearly specified and limited, the terms "assemble", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0046] Embodiment 1:

[0047] Figures 1 to 12 An embodiment of the multifunctional underwater garbage cleaning robot of the present invention is shown. The multifunctional underwater garbage cleaning robot of this embodiment includes a robot body 1 and multiple actuators 2. The robot body 1 is provided with a walking mechanism 3, an underwater mobile power mechanism 4, an underwater road condition detection mechanism 5, a crushing mechanism 6, a mechanical arm 7 and multiple hanging seats 8. At least one actuator 2 is used for cleaning the pool wall and sucking dirt, and one actuator 2 is used to grab impurities to the crushing mechanism 6. The end of the mechanical arm 7 is provided with a first quick-change connector 71, and each actuator 2 is provided with a second quick-change connector 9. The first quick-change connector 71 is used to suck the second quick-change connector 9, and the hanging seat 8 is used to hang the second quick-change connector 9 and to open the buckle of the second quick-change connector 9 and the first quick-change connector 71.

[0048] The multifunctional underwater cleaning robot has the advantages of firstly, that the mechanical arm 7 can selectively connect with the second quick-change joint 9 of any actuator 2 through the first quick-change joint 71 to meet the execution requirements of various functions, such as connecting with the second quick-change joint 9 of the actuator 2 (also called the cleaning and suction mechanism) for cleaning the pool wall and sucking dirt through the first quick-change joint 71 to clean the pool wall and suck dirt, and also connecting with the second quick-change joint 9 of the actuator 2 (also called the grabbing mechanism) for grabbing impurities through the first quick-change joint 71 to grab the impurities on the bottom of the pool and send them to the crushing mechanism 6. On the one hand, it has many functions, can adapt to complex underwater environments and meet the cleaning operation requirements of different types of dirt, such as being able to effectively remove non-degradable and impurities that cannot be sucked out of the pool bottom, with little limitation, and on the other ... and can effectively remove non-degradable and impurities that cannot be sucked out of the pool bottom, with little limitation, and on the other hand, it has many functions, can adapt to complex underwater environments and meet the cleaning operation requirements of various types of dirt, and on the other hand, it has many functions, can adapt to complex underwater environments and meet the cleaning operation requirements of various types of dirt, and on the other hand, it has many functions, can adapt to complex underwater environments and meet the cleaning operation requirements of various types of dirt, and on the other hand, it has many functions, can adapt to complex underwater environments and meet the cleaning operation requirements of various types of dirt, and on the other hand, it has many functions, can adapt to complex underwater environments and meet the cleaning operation requirements of various types of dirt, and on the other hand, it has many functions, can adapt to complex underwater On the one hand, one robotic arm 7 can meet the execution requirements of multiple actuators 2, simplifying the structure and reducing the cost; second, when the first quick-change joint 71 hangs the second quick-change joint 9 on the hanging seat 8, the hanging seat 8 can open the buckle connection between the second quick-change joint 9 and the first quick-change joint 71, so as to facilitate the separation of the first quick-change joint 71 and the second quick-change joint 9; the first quick-change joint 71 absorbs and lifts the second quick-change joint 9, so as to release the opening effect of the hanging seat 8, so that the first quick-change joint 71 and the second quick-change joint 9 are buckled. The structural design is ingenious, which is convenient for taking and placing each actuator 2, and there is no need to use an electric or pneumatic mechanism to lock and unlock the first quick-change joint 71 and the second quick-change joint 9. On the one hand, the structure is simpler and the cost is lower. On the other hand, it meets the requirements of underwater operations.

[0049] Furthermore, in this embodiment, at least one actuator 2 is used to cut impurities, and the actuator 2 can also be called a cutting mechanism. In this way, when encountering large impurities that are not degradable and cannot be sucked out, the mechanical arm 7 is connected to the second quick-change joint 9 of the cutting mechanism through the first quick-change joint 71, and the mechanical arm 7 drives the cutting mechanism to cut the large impurities that are not degradable and cannot be sucked out into small pieces. The mechanical arm 7 is put back into the cutting mechanism, and then connected to the second quick-change joint 9 of the grabbing mechanism through the first quick-change joint 71, and the impurities at the bottom of the pool are grabbed and sent to the crushing mechanism 6. In the face of large impurities, they are also cut into small pieces, and then grabbed and sent to the crushing mechanism 6. On the one hand, the grabbing requirements of the grabbing mechanism are met, so that the grabbing mechanism does not need to be made very large. On the other hand, the requirements of the crushing mechanism 6 are met to avoid impurities that are too large to be put in.

[0050] Furthermore, if Figure 1 and Figure 4As shown, in this embodiment, both sides of the robot body 1 are provided with mechanical arms 7, and the first side of the two sides of the robot body 1 is provided with at least two hanging seats 8, wherein at least one hanging seat 8 is used to hang the second quick-change joint 9 of the actuator 2 for cleaning the pool wall and sucking dirt, and one hanging seat 8 is used to hang the second quick-change joint 9 of the actuator 2 for cutting impurities, and the second side is provided with at least one hanging seat 8 for hanging the actuator 2 for grabbing impurities to the crushing mechanism 6, and the crushing mechanism 6 is arranged on the second side of the robot body 1. The mechanical arm 7 on each side of the robot body 1 is used to dock with any actuator 2 on the same side for operation. The cutting mechanism (used to hang the actuator 2 for cutting impurities) and the grasping mechanism (used to hang the actuator 2 for grasping impurities to the crushing mechanism 6) are distributed on both sides of the robot body 1. In this way, when the robot body 1 is moving forward, the mechanical arm 7 on one side is connected with the second quick-change joint 9 of the cutting mechanism through the first quick-change joint 71, and the cutting mechanism is operated to cut large impurities into small pieces along the forward direction. When the robot body 1 turns around and moves forward in the reverse direction, the mechanical arm 7 on the other side is connected with the second quick-change joint 9 of the grasping mechanism through the first quick-change joint 71, which can just grasp small impurities to the crushing mechanism 6 along the forward direction (the reverse path of the cutting mechanism), thereby improving collaboration and work efficiency.

[0051] Furthermore, in this embodiment, both sides of the robot body 1 are provided with mounting plates 11, and the robot arm 7, the hanging seat 8 and the crushing mechanism 6 are respectively arranged on the mounting plates 11 on the corresponding sides. The mounting plates 11 have both a bearing function and a dirt blocking function.

[0052] Furthermore, if Figure 5 , Figure 6 , Figures 9 to 12 As shown, in this embodiment, a buckle block 91 is hinged on the second quick-change connector 9, and an elastic reset member is provided between the buckle block 91 and the second quick-change connector 9. The bottom end of the buckle block 91 is provided with a push surface 911, and the top end is provided with a buckle-in portion 912 protruding inwardly. The hanging seat 8 is provided with a pushing portion 81 for pushing the push surface 911 to turn the top end of the buckle block 91 outward when the second quick-change connector 9 is hung on the hanging seat 8. The first quick-change connector 71 is provided with an electromagnetic adsorption component 711 and a buckle interface 712 for cooperating with the buckle-in portion 912.

[0053] During the process of hanging the actuator 2, the first quick-change joint 71 hangs the second quick-change joint 9 on the hanging seat 8, and the pushing portion 81 of the hanging seat 8 pushes the pushed surface 911 to make the top end of the buckle block 91 turn outward under the elastic force of the elastic reset member to open the buckle connection between the second quick-change joint 9 and the first quick-change joint 71, and then the suction effect of the first quick-change joint 71 and the second quick-change joint 9 is released to lift and separate the first quick-change joint 71 and the second quick-change joint 9 of the actuator 2; during the process of sucking the actuator 2, the first quick-change joint 71 absorbs and lifts the second quick-change joint 9, the pushing portion 81 is separated from the pushed surface 911, and the buckle block 91 turns inward at the top end under the elastic restoring force of the elastic reset member and buckles with the first quick-change joint 71 to prevent the first quick-change joint 71 and the second quick-change joint 9 from detaching. The structural design is ingenious. The first quick-change joint 71 and the second quick-change joint 9 can be released from the buckle by the gravity of the actuator 2, and the first quick-change joint 71 and the second quick-change joint 9 can be buckled by the suction and lifting effect, which makes it easy for the robot arm 7 to replace the actuator 2.

[0054] Furthermore, in this embodiment, the first quick-change connector 71 and the second quick-change connector 9 are respectively provided with a first alignment post 713 and a first alignment hole 92 that cooperate when the two are connected. Under the cooperation and positioning effect of the first alignment post 713 and the first alignment hole 92, the accuracy of the connection between the first quick-change connector 71 and the second quick-change connector 9 is improved. Preferably, as Figure 8 As shown, the first alignment post 713 is disposed on the first quick-change connector 71. Figure 5 As shown, the first alignment hole 92 is provided on the second quick-change connector 9 .

[0055] Furthermore, in this embodiment, the hanging seat 8 and the second quick-change joint 9 are respectively provided with a second alignment post 82 and a second alignment hole 93 that cooperate when the second quick-change joint 9 is hung on the hanging seat 8. Under the cooperation and positioning effect of the second alignment post 82 and the second alignment hole 93, the accuracy of hanging the second quick-change joint 9 is improved. Preferably, as Figure 7 As shown, the second alignment post 82 is arranged on the hanging seat 8. Fig. 9 As shown, the second alignment hole 93 is provided on the second quick-change connector 9 .

[0056] Furthermore, in this embodiment, a hanging hole 83 is provided on the hanging seat 8, and an inlet and outlet 84 is provided on one side of the hanging hole 83. The inlet and outlet 84 is used for the second quick-change connector 9 to enter and exit horizontally, and the hanging hole 83 is used for the second quick-change connector 9 to be lifted and taken out. When the actuator 2 is hung, the second quick-change connector 9 first passes through the inlet and outlet 84 and enters the hanging hole 83 horizontally, and then is lowered and placed on the hanging seat 8; conversely, when the actuator 2 is taken out, the second quick-change connector 9 is first raised to the unfastened position, and then the second quick-change connector 9 is horizontally moved out through the hanging hole 83.

[0057] Furthermore, in this embodiment, the walking mechanism 3 is a crawler mechanism with high walking stability.

[0058] Furthermore, in this embodiment, at least one actuator 2 is used to scrape off impurities.

[0059] Furthermore, in this embodiment, at least one actuator 2 is used to suck impurities.

[0060] Embodiment 2:

[0061] A method for cleaning a cooling water pool of a converter station is provided, which is performed by using the multifunctional underwater cleaning robot of the first embodiment. The actuator 2 that is not performing a task is hung on a corresponding hanging seat 8 through a second quick-change joint 9, and comprises the following steps:

[0062] S1, placing the robot body 1 into the cooling water pool of the converter station, determining the starting and ending positions of the robot body 1 through the control system, and the robot body 1 plans the path according to the detection signal of the water road condition detection mechanism 5;

[0063] S2, the robot arrives at the starting point according to the planned path, the robot arm 7 operates to dock the first quick-change joint 71 with the second quick-change joint 9 of the actuator 2 used for cleaning the pool wall and sucking dirt, sucks and lifts the second quick-change joint 9 to make the second quick-change joint 9 and the first quick-change joint 71 buckle, and then removes the actuator 2 from the hanging seat 8;

[0064] S3, the robot arm 7 transports the actuator 2 to the cleaning area, and the actuator 2 cleans and sucks dirt from the side wall of the converter station cooling water pool;

[0065] S4, after the side wall is cleaned, the walking mechanism 3 of the robot body 1 lands on the bottom of the pool, and the robot arm 7 hangs the actuator 2 used for cleaning the pool wall and sucking dirt on the original hanging seat 8, and then runs to dock the first quick-change joint 71 with the second quick-change joint 9 of the actuator 2 used for grabbing impurities, sucks and lifts the second quick-change joint 9 to buckle the second quick-change joint 9 with the first quick-change joint 71, and then removes the actuator 2 from the hanging seat 8;

[0066] S5. When the water road condition detection mechanism 5 detects non-degradable impurities on the bottom of the pool, the actuator 2 on the mechanical arm 7 grabs the impurities and transfers the impurities to the crushing mechanism 6 under the operation of the mechanical arm 7;

[0067] S6. After the impurities are cleaned, the robot arm 7 hangs the actuator 2 for grabbing impurities on the original hanging seat 8, and then operates to dock the first quick-change joint 71 with the second quick-change joint 9 of the actuator 2 for cleaning the pool wall and sucking dirt, and sucks up the second quick-change joint 9 to make the second quick-change joint 9 and the first quick-change joint 71 buckle, and then remove the actuator 2 from the hanging seat 8;

[0068] S7, the robot body 1 moves on the pool bottom along with the walking mechanism 3, and the robot arm 7 drives the actuator 2 for cleaning the pool wall and sucking the dirt to clean the pool bottom and suck the dirt;

[0069] S8. After the pool bottom is cleaned, the robot body 1 floats to the water surface under the action of the underwater moving power mechanism 4 and is then recovered.

[0070] The present converter station cooling pool cleaning method adopts a multifunctional underwater cleaning robot, which has all the advantages of a multifunctional underwater cleaning robot. First, it can adapt to complex underwater environments and meet the cleaning requirements of different types of dirt, such as being able to effectively remove non-degradable and non-absorbable impurities at the bottom of the pool, with few limitations; second, each actuator 2 is easy to take and place, and easy to control; second, each step is reasonably arranged, and the work efficiency is high.

[0071] Although the present invention has been disclosed as above with preferred embodiments, it is not intended to limit the present invention. Any technician familiar with the art can make many possible changes and modifications to the technical solution of the present invention by using the technical content disclosed above without departing from the scope of the technical solution of the present invention, or modify it into an equivalent embodiment of equivalent changes. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention should fall within the scope of protection of the technical solution of the present invention.

Claims

1. A multifunctional underwater pollution cleaning robot, characterized in that: The invention comprises a robot body (1) and a plurality of actuators (2). The robot body (1) is provided with a walking mechanism (3), an underwater moving power mechanism (4), an underwater road condition detection mechanism (5), a crushing mechanism (6), a mechanical arm (7) and a plurality of hanging seats (8). At least one actuator (2) is used for cleaning the pool wall and sucking dirt, and one actuator (2) is used for grabbing impurities to the crushing mechanism (6). The end of the mechanical arm (7) is provided with a first quick-change joint (71). Each of the actuators (2) is provided with a second quick-change joint (9). The first quick-change joint (71) is used for sucking and buckling the second quick-change joint (9). The hanging seat (8) is used for hanging and buckling the second quick-change joint (9) and for opening the buckle connection between the second quick-change joint (9) and the first quick-change joint (71).

2. The multifunctional underwater pollution cleaning robot according to claim 1, characterized in that: At least one actuator (2) is used to cut impurities.

3. The multifunctional underwater pollution cleaning robot according to claim 2 is characterized in that: Mechanical arms (7) are provided on both sides of the robot body (1), and at least two hanging seats (8) are provided on the first side of the two sides of the robot body (1), wherein at least one hanging seat (8) is used to hang a second quick-change joint (9) of an actuator (2) for cleaning a pool wall and sucking dirt, and one hanging seat (8) is used to hang a second quick-change joint (9) of an actuator (2) for cutting impurities, and at least one hanging seat (8) is provided on the second side for hanging an actuator (2) for grabbing impurities to a crushing mechanism (6), and the crushing mechanism (6) is provided on the second side of the robot body (1).

4. The multifunctional underwater pollution cleaning robot according to claim 3 is characterized in that: Both sides of the robot body (1) are provided with mounting plates (11), and the mechanical arm (7), the hanging seat (8) and the crushing mechanism (6) are respectively arranged on the mounting plates (11) on the corresponding sides.

5. The multifunctional underwater pollution cleaning robot according to any one of claims 1 to 4, characterized in that: A buckle block (91) is hingedly connected to the second quick-change joint (9), an elastic reset member is provided between the buckle block (91) and the second quick-change joint (9), a push surface (911) is provided at the bottom end of the buckle block (91), and a buckle-in portion (912) protruding inwardly is provided at the top end, the hanging seat (8) is provided with a pushing portion (81) for pushing the push surface (911) to turn the top end of the buckle block (91) outward when the second quick-change joint (9) is hung on the hanging seat (8), and an electromagnetic adsorption component (711) and a buckle interface (712) for cooperating with the buckle-in portion (912) are provided on the first quick-change joint (71).

6. The multifunctional underwater pollution cleaning robot according to claim 5, characterized in that: The first quick-change connector (71) and the second quick-change connector (9) are respectively provided with a first alignment column (713) and a first alignment hole (92) which cooperate with each other when the two are butt-jointed.

7. The multifunctional underwater pollution cleaning robot according to claim 5, characterized in that: The hanging seat (8) and the second quick-change joint (9) are respectively provided with a second alignment column (82) and a second alignment hole (93) which cooperate when the second quick-change joint (9) is hung on the hanging seat (8).

8. The multifunctional underwater pollution cleaning robot according to any one of claims 1 to 4, characterized in that: The hanging seat (8) is provided with a hanging hole (83), and one side of the hanging hole (83) is provided with an inlet and outlet (84), the inlet and outlet (84) is used for the second quick-change connector (9) to enter and exit horizontally, and the hanging hole (83) is used for the second quick-change connector (9) to be lifted and taken out.

9. The multifunctional underwater pollution cleaning robot according to any one of claims 1 to 4, characterized in that: The walking mechanism (3) is a crawler mechanism.

10. A method for cleaning a cooling water pool in a converter station, characterized in that: The multifunctional underwater pollution cleaning robot according to any one of claims 1 to 9 is used, and the actuator (2) not performing the task is hung on the corresponding hanging seat (8) through the second quick-change joint (9), comprising the following steps: S1, placing the robot body (1) into the cooling water pool of the converter station, determining the starting and ending positions of the robot body (1) through the control system, and the robot body (1) planning a path according to the detection signal of the underwater road condition detection mechanism (5); S2, the robot arrives at the starting point according to the planned path, the robot arm (7) operates to dock the first quick-change joint (71) with the second quick-change joint (9) of the actuator (2) used for cleaning the pool wall and sucking dirt, sucks and lifts the second quick-change joint (9) to make the second quick-change joint (9) and the first quick-change joint (71) buckle, and then removes the actuator (2) from the hanging seat (8); S3, the robot arm (7) transports the actuator (2) to the cleaning area, and the actuator (2) cleans and absorbs dirt from the side wall of the converter station cooling water pool; S4. After the side wall is cleaned, the walking mechanism (3) of the robot body (1) lands on the bottom of the pool, and the robot arm (7) hangs the actuator (2) used for cleaning the pool wall and sucking dirt on the original hanging seat (8), and then operates to dock the first quick-change joint (71) with the second quick-change joint (9) of the actuator (2) used for grabbing impurities, sucks and lifts the second quick-change joint (9) to make the second quick-change joint (9) and the first quick-change joint (71) buckle, and then removes the actuator (2) from the hanging seat (8); S5. When the water road condition detection mechanism (5) detects that there are non-degradable impurities on the bottom of the pool, the actuator (2) on the mechanical arm (7) grabs the impurities and transfers the impurities to the crushing mechanism (6) under the operation of the mechanical arm (7); S6. After the impurities are cleaned, the robot arm (7) hangs the actuator (2) for grabbing the impurities on the original hanging seat (8), then operates to dock the first quick-change joint (71) with the second quick-change joint (9) of the actuator (2) for cleaning the pool wall and sucking the dirt, sucks and lifts the second quick-change joint (9) to make the second quick-change joint (9) and the first quick-change joint (71) buckle, and then removes the actuator (2) from the hanging seat (8); S7, the robot body (1) moves on the pool bottom along with the walking mechanism (3), and the robot arm (7) drives the actuator (2) for cleaning the pool wall and sucking the dirt to clean the pool bottom and suck the dirt; S8. After the pool bottom is cleaned, the robot body (1) floats to the water surface under the action of the underwater moving power mechanism (4) and is then recovered.

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