Multifunctional underwater oil removal robot and method for cleaning cooling pool of converter station

Abstract

The application discloses a multifunctional underwater cleaning robot, which comprises a robot body and a plurality of executing mechanisms, wherein the robot body is provided with a walking mechanism, an underwater moving power mechanism, an underwater road condition detection mechanism, a crushing 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, one executing mechanism is used for grabbing impurities to the crushing mechanism, the tail end of the mechanical arm is provided with a first quick-change joint, each executing mechanism is provided with a second quick-change joint, the first quick-change joint is used for sucking the second quick-change joint, and the hanging seat is used for hanging the second quick-change joint and supporting the second quick-change joint and the first quick-change joint. A cooling water pool cleaning method for a converter station is also disclosed, which is carried out by using the multifunctional underwater cleaning robot. The multifunctional underwater cleaning robot and the cooling water pool cleaning method for the converter station have multiple functions, can adapt to complex underwater environments and meet the cleaning operation requirements of different types of dirt, and have small limitations.

Description

TECHNICAL FIELD

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

[0002] Extra-high voltage converter stations are critical infrastructure in power systems, and their normal operation is important for ensuring the power needs of people's daily life and social production. However, since the cooling water pool of the extra-high voltage converter station has been serving in the complex outdoor environment for a long time, various types of dirt will gradually accumulate on the bottom of the pool. If it is not cleaned and maintained thoroughly for a long time, a large amount of dirt and impurities will accumulate, which not only reduces the cooling effect and increases the operating load of the equipment, but also may cause equipment failure and safety accidents, posing a serious threat to the stable operation of the power grid. Therefore, regular cleaning of the bottom of the water pool in the substation is the key to ensuring the healthy and stable operation of the converter station. Since the type and distribution of dirt on the bottom of the pool are unpredictable, manual cleaning is not only labor-intensive, but also requires personnel to dive into the water, which poses a great risk. In addition, the existing cleaning robots, such as the water bottom cleaning robot with application number 201810038013.6, can only achieve simple cleaning of the bottom of the pool by sucking dirt through the dirt suction port, and the function is relatively single, which cannot adapt to complex underwater environments and different types of dirt cleaning operations. For example, when facing non-degradable and non-removable impurities on the bottom of the pool, the existing water bottom cleaning robot cannot effectively remove them, which has obvious limitations.

[0003] The quick connector of the existing mechanical arm, such as the quick connector disclosed in the application number 202210551422.2 nuclear facility decommissioning dual-arm robot and control system, has an electric, gas, and liquid power signal connection module. The mechanical connection is locked and unlocked by a pneumatic control 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

[0004] The technical problem to be solved by the present application is to overcome the shortcomings of the prior art and provide a multifunctional underwater cleaning robot with multiple functions, which can adapt to complex underwater environments and meet the requirements of different types of dirt cleaning operations, has less limitations, and is low in cost.

[0005] To solve the above technical problems, the present application adopts the following technical solutions:

[0006] The utility model provides a multifunctional underwater cleaning robot, which comprises a robot body and a plurality of actuators, wherein the robot body is provided with a walking mechanism, an underwater moving power mechanism, an underwater road condition detection mechanism, a crushing mechanism, a mechanical arm and a plurality of hanging seats, at least one actuator is used for cleaning pool walls and sucking dirt, one actuator is used for grabbing impurities to the crushing mechanism, the non-end of the mechanical arm is provided with a first quick-change joint, each actuator is provided with a second quick-change joint, the first quick-change joint is used for sucking the second quick-change joint, and the hanging seat is used for hanging the second quick-change joint and supporting 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 for cutting impurities.

[0009] Both sides of the robot body are provided with the mechanical arm, at least two hanging seats are arranged on the first side of the two sides of the robot body, at least one hanging seat is used for hanging the second quick-change joint of the actuator for cleaning pool walls and sucking dirt, one hanging seat is used for hanging the second quick-change joint of the actuator for cutting impurities, at least one hanging seat is arranged on the second side of the robot body and used 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, the mechanical arm, the hanging seat and the crushing mechanism are arranged on the mounting plates of the corresponding sides respectively.

[0011] The second quick-change joint is hinged with a buckling block, the buckling block and the second quick-change joint are provided with an elastic reset member, the bottom end of the buckling block is provided with a push receiving surface, the top end is provided with a buckling part protruding inward, the hanging seat is provided with a pushing part for pushing the push receiving surface to make the top end of the buckling block turn outward when the second quick-change joint is hung on the hanging seat, and the first quick-change joint is provided with an electromagnetic adsorption part and a buckling port matched with the buckling part.

[0012] The first quick-change joint and the second quick-change joint are respectively provided with a first positioning column and a first positioning hole matched when the two are connected.

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

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

[0015] The walking mechanism is a track mechanism.

[0016] A method for cleaning the cooling pool of a converter station, using the above-mentioned multifunctional underwater cleaning robot, the executing mechanism not performing a task is hung on the corresponding hanging seat through the second quick-change connector, comprising the following steps:

[0017] S1, the robot body is put into the cooling pool of the converter station, the starting point and the ending point position of the robot body are determined through the control system, and the robot body plans a path according to the detection signal of the underwater road condition detection mechanism;

[0018] S2, the robot reaches the starting point according to the planned path, the first quick-change connector is connected with the second quick-change connector of the executing mechanism for cleaning the pool wall and absorbing dirt, the second quick-change connector is adsorbed and lifted to make the second quick-change connector and the first quick-change connector be buckled, and then the executing mechanism is taken off from the hanging seat;

[0019] S3, the executing mechanism is transported to the cleaning area by the mechanical arm, and the side wall of the cooling pool of the converter station is cleaned and dirt is absorbed by the executing mechanism;

[0020] S4, after the side wall is cleaned, the walking mechanism of the robot body lands on the pool bottom, the executing mechanism for cleaning the pool wall and absorbing dirt is hung on the original hanging seat by the mechanical arm, then the first quick-change connector is connected with the second quick-change connector of the executing mechanism for grabbing impurities, the second quick-change connector is adsorbed and lifted to make the second quick-change connector and the first quick-change connector be buckled, and then the executing mechanism is taken off from the hanging seat;

[0021] S5, when the underwater road condition detection mechanism detects that there is non-degradable impurity on the pool bottom, the executing mechanism on the mechanical arm grabs the impurity, and the impurity is transferred to the crushing mechanism under the operation of the mechanical arm;

[0022] S6, after the impurity is cleaned, the executing mechanism for grabbing impurities is hung on the original hanging seat by the mechanical arm, then the first quick-change connector is connected with the second quick-change connector of the executing mechanism for cleaning the pool wall and absorbing dirt, the second quick-change connector is adsorbed and lifted to make the second quick-change connector and the first quick-change connector be buckled, and then the executing mechanism is taken off from the hanging seat;

[0023] S7, the robot body moves on the pool bottom with the walking mechanism, and the executing mechanism for cleaning the pool wall and absorbing dirt is driven by the mechanical arm to clean and absorb the pool bottom;

[0024] S8, after the pool bottom is cleaned, the robot body is floated to the water surface under the action of the moving power mechanism in the water, and then is recycled.

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

[0026] The multifunctional underwater cleaning robot of the present application, first, the mechanical arm can be selectively connected with the second quick-change joint of any execution mechanism through the first quick-change joint, meeting the execution requirements of various functions, such as connecting the first quick-change joint with the second quick-change joint of the execution mechanism (which can also be called a cleaning and sewage suction mechanism) for cleaning the pool wall and sucking sewage, cleaning the pool wall and sucking sewage, and connecting the first quick-change joint with the second quick-change joint of the execution mechanism (which can also be called a grabbing mechanism) for grabbing impurities, and sending the impurities on the pool bottom to the crushing mechanism. On the one hand, the function is multiple, which can adapt to complex underwater environment and meet the cleaning operation requirements of different types of dirt, such as effectively removing the impurities on the pool bottom which cannot be degraded and cannot be sucked, and the limitation is small. On the other hand, one mechanical arm can meet the execution requirements of multiple execution mechanisms, simplify the structure and reduce the cost; second, when the first quick-change joint hangs the second quick-change joint in the hanging seat, the hanging seat can support the second quick-change joint and the first quick-change joint, which facilitates the separation of the first quick-change joint and the second quick-change joint; the first quick-change joint adsorbs and lifts the second quick-change joint, which can release the supporting effect of the hanging seat, so that the first quick-change joint and the second quick-change joint are connected. The structure design is ingenious, which facilitates the taking and placing of each execution mechanism, and does not need to use electric or pneumatic mechanism 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 underwater operation requirements.

[0027] The cleaning method for the cooling water pool of the converter station of the present application adopts the multifunctional underwater cleaning robot, which has all the advantages of the multifunctional underwater cleaning robot. First, it can adapt to complex underwater environment and meet the cleaning operation requirements of different types of dirt, such as effectively removing the impurities on the pool bottom which cannot be degraded and cannot be sucked, and the limitation is small; second, each execution mechanism is convenient to take and place, which is convenient to control; second, each step is arranged reasonably, and the working efficiency is high. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 is a perspective structural schematic diagram of the multifunctional underwater cleaning robot of the present application.

[0029] Figure 2 is Figure 1 is an enlarged structural schematic diagram of position A in

[0030] Figure 3 is Figure 1 is an enlarged structural schematic diagram of position B in

[0031] Figure 4 is a front view structural schematic diagram of the multifunctional underwater cleaning robot of the present application.

[0032] Figure 5 is a perspective structural schematic diagram of the second quick-change joint of the multifunctional underwater cleaning robot of the present application.

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

[0034] Figure 7 is a three-dimensional structure schematic diagram of the hanging seat of the multifunctional underwater cleaning robot of the present application.

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

[0036] Figure 9 is a structure state diagram of the second quick-change joint hanging in the hanging seat of the multifunctional underwater cleaning robot of the present application.

[0037] Figure 10 is Figure 9 is an enlarged structure schematic diagram of the position C in FIG. 8.

[0038] Figure 11 is a structure state diagram of the first quick-change joint taking and placing the second quick-change joint of the multifunctional underwater cleaning robot of the present application.

[0039] Figure 12 is Figure 11 is an enlarged structure schematic diagram of the position D in FIG. 9.

[0040] The various reference signs in the drawings represent:

[0041] 1, robot body; 11, mounting plate; 2, execution mechanism; 3, walking mechanism; 4, underwater moving power mechanism; 5, underwater road condition detection mechanism; 6, crushing mechanism; 7, mechanical arm; 71, first quick-change joint; 711, electromagnetic adsorption part; 712, buckling 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 joint; 91, buckling block; 911, pushing surface; 912, buckling part; 92, first alignment hole; 93, second alignment hole. DETAILED DESCRIPTION

[0042] The present application will be further described in detail below in combination with the drawings and specific examples.

[0043] In the description of the present application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0044] In addition, the terms "first", "second", etc. are used only for descriptive purposes and should not be construed as indicating or implying relative importance or an indicated number of technical features. Therefore, the features defined as "first" and "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly specified and limited.

[0045] In the present application, unless otherwise explicitly specified and limited, the terms "assembly", "connection", "connection", "fixation" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above-mentioned terms in the present application can be understood according to the specific circumstances.

[0046] Embodiment one:

[0047] Figures 1 to 12 An embodiment of the multifunctional underwater cleaning robot of the present application is shown. The multifunctional underwater cleaning robot of the embodiment includes 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, and each actuator 2 is provided with a second quick-change joint 9. The first quick-change joint 71 is used to suck the second quick-change joint 9, and the hanging seat 8 is used to hang the second quick-change joint 9 and separate the second quick-change joint 9 and the first quick-change joint 71.

[0048] The multifunctional underwater cleaning robot, first, the mechanical arm 7 can be selectively connected with the second quick-change joint 9 of any execution mechanism 2 through the first quick-change joint 71, meeting the execution requirements of various functions, such as connecting the first quick-change joint 71 with the second quick-change joint 9 of the execution mechanism 2 (which can also be called a cleaning and suction mechanism) for cleaning the pool wall and sucking dirt, cleaning and sucking the pool wall, and connecting the first quick-change joint 71 with the second quick-change joint 9 of the execution mechanism 2 (which can also be called a grabbing mechanism) for grabbing impurities, and grabbing the impurities on the pool bottom to the crushing mechanism 6. On the one hand, the multifunctional underwater cleaning robot can adapt to complex underwater environments and meet the cleaning requirements of different types of dirt, such as effectively removing non-degradable and non-suckable impurities on the pool bottom, and has less limitations. On the other hand, one mechanical arm 7 can meet the execution requirements of multiple execution mechanisms 2, simplify the structure, and reduce the cost; second, when the first quick-change joint 71 is hung on the hanging seat 8, the hanging seat 8 can support the second quick-change joint 9 and the first quick-change joint 71, facilitating the separation of the first quick-change joint 71 and the second quick-change joint 9; the first quick-change joint 71 adsorbs and lifts the second quick-change joint 9, which can release the supporting effect of the hanging seat 8, so that the first quick-change joint 71 and the second quick-change joint 9 are buckled. The structure design is ingenious, convenient for taking and placing each execution mechanism 2, and does not 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 underwater operation requirements.

[0049] Further, in the present embodiment, at least one execution mechanism 2 is used for cutting impurities, which can also be called a cutting mechanism. In this way, when encountering large non-degradable and non-suckable impurities, the mechanical arm 7 is connected with the second quick-change joint 9 of the cutting mechanism through the first quick-change joint 71, and the large non-degradable and non-suckable impurities are cut into small pieces by the cutting mechanism driven by the mechanical arm 7. The mechanical arm 7 is returned to the cutting mechanism, and then the first quick-change joint 71 is connected with the second quick-change joint 9 of the grabbing mechanism to grab the impurities on the pool bottom and send them 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, it meets the grabbing requirements of the grabbing mechanism, so that the grabbing mechanism does not need to be too large. On the other hand, it meets the requirements of the crushing mechanism 6, avoiding the impurities from being too large to be put in.

[0050] Further, as Figure 1 and Figure 4As shown, in the embodiment, the robot body 1 is provided with mechanical arms 7 on both sides, at least two hanging seats 8 are provided on the first side of the robot body 1, at least one of which is used to hang the second quick-change joint 9 of the execution mechanism 2 for cleaning the pool wall and sucking dirt, and one of which is used to hang the second quick-change joint 9 of the execution mechanism 2 for cutting impurities, and at least one hanging seat 8 for hanging the execution mechanism 2 for grabbing impurities to the crushing mechanism 6 is provided on the second side of the robot body 1, and the crushing mechanism 6 is provided 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 any execution mechanism 2 on the same side to work. The cutting mechanism (for the execution mechanism 2 for cutting impurities) and the grabbing mechanism (for the execution mechanism 2 for hanging the impurities to the crushing mechanism 6) are distributed on both sides of the robot body 1, so that when the robot body 1 moves forward, the mechanical arm 7 on one side is docked 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 in the forward direction, and when the robot body 1 turns around and moves backward, the mechanical arm 7 on the other side is docked with the second quick-change joint 9 of the grabbing mechanism through the first quick-change joint 71, which can just grab small impurities to the crushing mechanism 6 in the forward direction (the reverse path of the cutting mechanism), thereby improving the cooperation and work efficiency.

[0051] Further, in the embodiment, the robot body 1 is provided with a mounting plate 11 on both sides, and the mechanical arm 7, the hanging seat 8 and the crushing mechanism 6 are respectively arranged on the mounting plate 11 on the corresponding side. The mounting plate 11 has both a bearing function and a dirt blocking function.

[0052] Further, as shown in Figure 5 、 Figure 6 、 Figures 9 to 12 In the embodiment, the second quick-change joint 9 is hinged with a buckling block 91, and the buckling block 91 and the second quick-change joint 9 are provided with an elastic reset member, the bottom end of the buckling block 91 is provided with a push surface 911, and the top end is provided with a buckling part 912 protruding inwardly, the hanging seat 8 is provided with a pushing part 81 which pushes the push surface 911 when the second quick-change joint 9 is hung on the hanging seat 8 to make the top end of the buckling block 91 turn outwardly, and the first quick-change joint 71 is provided with an electromagnetic adsorption part 711 and a buckling port 712 for cooperating with the buckling part 912.

[0053] The first quick-change connector 71 hangs the second quick-change connector 9 on the hanging seat 8, the thrust part 81 of the hanging seat 8 thrusts the thrust surface 911 to make the buckling block 91 turn over the top end to open the buckling of the second quick-change connector 9 and the first quick-change connector 71, and then the first quick-change connector 71 and the second quick-change connector 9 are separated by lifting up; the first quick-change connector 71 sucks and lifts up the second quick-change connector 9, the thrust part 81 is separated from the thrust surface 911, the buckling block 91 turns inwards under the elastic restoring force of the elastic reset member to buckle with the first quick-change connector 71, and the first quick-change connector 71 and the second quick-change connector 9 are prevented from being separated. The structure is ingenious, the buckling of the first quick-change connector 71 and the second quick-change connector 9 is released by the gravity of the execution mechanism 2, the buckling of the first quick-change connector 71 and the second quick-change connector 9 is realized by the sucking and lifting, and the mechanical arm 7 is convenient for replacing the execution mechanism 2.

[0054] Further, in the embodiment, the first quick-change connector 71 and the second quick-change connector 9 are respectively provided with the first positioning column 713 and the first positioning hole 92 matched when the two are connected. The first positioning column 713 and the first positioning hole 92 are matched and positioned to improve the accuracy of the connection of the first quick-change connector 71 and the second quick-change connector 9. Preferably, as shown in the figure, the first positioning column 713 is arranged on the first quick-change connector 71, and as shown in the figure, the first positioning hole 92 is arranged on the second quick-change connector 9. Figure 8 Figure 5 Further, in the embodiment, the first quick-change connector 71 and the second quick-change connector 9 are respectively provided with the first positioning column 713 and the first positioning hole 92 matched when the two are connected. The first positioning column 713 and the first positioning hole 92 are matched and positioned to improve the accuracy of the connection of the first quick-change connector 71 and the second quick-change connector 9. Preferably, as shown in the figure, the first positioning column 713 is arranged on the first quick-change connector 71, and as shown in the figure, the first positioning hole 92 is arranged on the second quick-change connector 9.

[0055] Further, in the embodiment, the first quick-change connector 71 and the second quick-change connector 9 are respectively provided with the first positioning column 713 and the first positioning hole 92 matched when the two are connected. The first positioning column 713 and the first positioning hole 92 are matched and positioned to improve the accuracy of the connection of the first quick-change connector 71 and the second quick-change connector 9. Preferably, as shown in the figure, the first positioning column 713 is arranged on the first quick-change connector 71, and as shown in the figure, the first positioning hole 92 is arranged on the second quick-change connector 9. Figure 7 Figure 9 Further, in the embodiment, the first quick-change connector 71 and the second quick-change connector 9 are respectively provided with the first positioning column 713 and the first positioning hole 92 matched when the two are connected. The first positioning column 713 and the first positioning hole 92 are matched and positioned to improve the accuracy of the connection of the first quick-change connector 71 and the second quick-change connector 9. Preferably, as shown in the figure, the first positioning column 713 is arranged on the first quick-change connector 71, and as shown in the figure, the first positioning hole 92 is arranged on the second quick-change connector 9.

[0056] Further, in the embodiment, the hanging seat 8 is provided with the hanging hole 83, one side of the hanging hole 83 is provided with the inlet and outlet 84, the inlet and outlet 84 are used for the horizontal entry and exit of the second quick-change connector 9, and the hanging hole 83 is used for the lifting and taking of the second quick-change connector 9. When the execution mechanism 2 is hung, the second quick-change connector 9 first enters the hanging hole 83 horizontally through the inlet and outlet 84, and then is placed on the hanging seat 8 by descending; conversely, when the execution mechanism 2 is taken, the second quick-change connector 9 is first lifted to the unbuckling position, and then is horizontally moved out through the hanging hole 83.

[0057] ​​Further, in the embodiment, the walking mechanism 3 is a caterpillar mechanism, and the walking stability is high.

[0058] Further, in the embodiment, at least one execution mechanism 2 is used for scraping impurities.

[0059] Further, in the embodiment, at least one execution mechanism 2 is used for sucking impurities.

[0060] Embodiment two:

[0061] A method for cleaning impurities in a cooling pool of a converter station, which is performed by the multifunctional underwater cleaning robot of embodiment one, and the execution mechanism 2 not performing a task is hung on the corresponding hanging seat 8 through the second quick-change joint 9, and the method comprises the following steps:

[0062] S1, the robot body 1 is put into the cooling pool of the converter station, the starting point and the ending point position of the robot body 1 are determined through the control system, and the robot body 1 plans a path according to the detection signal of the water road condition detection mechanism 5;

[0063] S2, the robot reaches the starting point according to the planned path, the first quick-change joint 71 is connected with the second quick-change joint 9 of the execution mechanism 2 for cleaning the pool wall and sucking dirt through the operation of the mechanical arm 7, the second quick-change joint 9 is adsorbed and lifted to make the buckling of the second quick-change joint 9 and the first quick-change joint 71, and then the execution mechanism 2 is taken off from the hanging seat 8;

[0064] S3, the execution mechanism 2 is transported to the cleaning area by the mechanical arm 7, and the side wall of the cooling pool of the converter station is cleaned and dirt is sucked by the execution mechanism 2;

[0065] S4, after the cleaning of the side wall is completed, the walking mechanism 3 of the robot body 1 lands on the pool bottom, the execution mechanism 2 for cleaning the pool wall and sucking dirt is hung on the original hanging seat 8 through the operation of the mechanical arm 7, then the first quick-change joint 71 is connected with the second quick-change joint 9 of the execution mechanism 2 for grabbing impurities, the second quick-change joint 9 is adsorbed and lifted to make the buckling of the second quick-change joint 9 and the first quick-change joint 71, and then the execution mechanism 2 is taken off from the hanging seat 8;

[0066] S5, when the water road condition detection mechanism 5 detects that there is non-degradable impurity on the pool bottom, the execution mechanism 2 on the mechanical arm 7 grabs the impurity, and the impurity is transferred to the crushing mechanism 6 under the operation of the mechanical arm 7;

[0067] S6, after the cleaning of the impurity is completed, the execution mechanism 2 for grabbing the impurity is hung on the original hanging seat 8 through the operation of the mechanical arm 7, then the first quick-change joint 71 is connected with the second quick-change joint 9 of the execution mechanism 2 for cleaning the pool wall and sucking dirt, the second quick-change joint 9 is adsorbed and lifted to make the buckling of the second quick-change joint 9 and the first quick-change joint 71, and then the execution mechanism 2 is taken off from the hanging seat 8;

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

[0069] S8, after the pool bottom is cleaned, the robot body 1 is floated to the water surface under the action of the moving power mechanism 4 in water, and then is recycled.

[0070] The pool cleaning method has all advantages of the multifunctional underwater cleaning robot. Firstly, the multifunctional underwater cleaning robot can adapt to complex underwater environment and meet the cleaning operation requirements of different types of dirt, such as effectively removing the impurities that cannot be degraded and cannot be sucked off, and has small limitations. Secondly, each executing mechanism 2 is convenient to take and place, and is convenient to control. Thirdly, each step is reasonably arranged, and the working efficiency is high.

[0071] Although the present application has been disclosed with the preferred embodiments as above, it is not intended to limit the present application. Any person skilled in the art can make many possible changes and modifications to the technical solutions of the present application or modify equivalent embodiments with equivalent changes without departing from the scope of the technical solutions of the present application. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present application should fall within the scope of protection of the technical solutions of the present application.

Claims

1. A method for cleaning the cooling water tank of a converter station, characterized in that, A multi-functional underwater cleaning robot is used. The multi-functional underwater cleaning robot includes a robot body (1) and multiple actuators (2). The robot body (1) is equipped with a walking mechanism (3), an underwater movement power mechanism (4), an underwater road condition detection mechanism (5), a crushing mechanism (6), a robotic arm (7), and multiple mounting seats (8). At least one actuator (2) is used to clean the pool wall and suck up the sludge, and another actuator (2) is used to grab the impurities to the crushing mechanism (6). The end of the robotic arm (7) is equipped with a first quick-connect connector (71). Each actuator (2) is equipped with a second quick-connect connector (9). The first quick-connect connector (71) is used to attach the second quick-connect connector (9). The mounting seats (8) are used to hang the second quick-connect connector (9) and to open the connection between the second quick-connect connector (9) and the first quick-connect connector (71). The actuators (2) that are not performing tasks are hung on the corresponding mounting seats (8) through the second quick-connect connectors (9). The cleaning method of the converter station cooling water pool includes the following steps: S1. Place the robot body (1) into the converter station cooling water pool. Determine the starting and ending positions of the robot body (1) through the control system. The robot body (1) plans its path based on the detection signal of the water road condition detection mechanism (5). S2. The robot arrives at the starting point according to the planned path. The robotic arm (7) runs to connect the first quick-connect connector (71) with the second quick-connect connector (9) of the actuator (2) used for cleaning the pool wall and vacuuming. It then lifts the second quick-connect connector (9) to make the second quick-connect connector (9) and the first quick-connect connector (71) snap together. Finally, it removes the actuator (2) from the mounting base (8). S3. The robotic arm (7) transports the actuator (2) to the cleaning area, where the actuator (2) cleans and vacuums the side wall of the converter station cooling water pool. S4. After the sidewall cleaning is completed, the walking mechanism (3) of the robot body (1) lands on the bottom of the pool. The robotic arm (7) hangs the actuator (2) used for cleaning the pool wall and vacuuming the sludge on the original mounting seat (8). Then, it connects the first quick-connect connector (71) with the second quick-connect connector (9) of the actuator (2) used for grabbing impurities. It then lifts the second quick-connect connector (9) to make the second quick-connect connector (9) and the first quick-connect connector (71) snap together. Finally, it removes the actuator (2) from the mounting seat (8). S5. When the underwater road condition detection mechanism (5) detects non-degradable impurities at the bottom of the pool, the actuator (2) on the robotic arm (7) grabs the impurities and transfers them to the crushing mechanism (6) under the operation of the robotic arm (7). S6. After the impurities are cleaned, the robotic arm (7) hangs the actuator (2) used to grab the impurities on the original mounting seat (8). Then it runs to connect the first quick-connect connector (71) with the second quick-connect connector (9) of the actuator (2) used to clean the pool wall and suck up the sludge. It then lifts up the second quick-connect connector (9) to make the second quick-connect connector (9) and the first quick-connect connector (71) snap together. Finally, it removes the actuator (2) from the mounting seat (8). S7. The robot body (1) moves along the bottom of the pool with the walking mechanism (3), and the robotic arm (7) drives the actuator (2) used for cleaning the pool wall and vacuuming the sludge to clean and vacuum the bottom of the pool. S8. After the bottom of the pool is cleaned, the robot body (1) floats to the surface of the water under the action of the water-moving power mechanism (4) and is then recycled.

2. The method for cleaning the cooling water tank of a converter station according to claim 1, characterized in that: At least one actuator (2) is used to cut impurities.

3. The method for cleaning the cooling water tank of a converter station according to claim 2, characterized in that: Both sides of the robot body (1) are provided with mechanical arms (7). The first side of the robot body (1) is provided with at least two mounting seats (8). At least one mounting seat (8) is used to hang the second quick-change connector (9) of the cleaning pool wall and the suction mechanism (2), and one mounting seat (8) is used to hang the second quick-change connector (9) of the cutting impurity mechanism (2). The second side is provided with at least one mounting seat (8) for hanging the execution mechanism (2) that grabs impurities to the crushing mechanism (6). The crushing mechanism (6) is located on the second side of the robot body (1).

4. The method for cleaning the cooling water tank of a converter station according to claim 3, characterized in that: The robot body (1) has mounting plates (11) on both sides, and the robotic arm (7), hanging seat (8) and crushing mechanism (6) are respectively mounted on the mounting plates (11) on the corresponding sides.

5. The method for cleaning the cooling water tank of a converter station according to any one of claims 1 to 4, characterized in that: The second quick-connector (9) is hinged with a fastening block (91), and an elastic reset member is provided between the fastening block (91) and the second quick-connector (9). The bottom end of the fastening block (91) is provided with a push surface (911), and the top end is provided with an inwardly protruding fastening part (912). The hanging seat (8) is provided with a pushing part (81) that pushes the push surface (911) to make the top end of the fastening block (91) flip outward when the second quick-connector (9) is hung on the hanging seat (8). The first quick-connector (71) is provided with an electromagnetic adsorption component (711) and a fastening interface (712) for cooperating with the fastening part (912).

6. The method for cleaning the cooling water tank of a converter station according to claim 5, characterized in that: The first quick-connector (71) and the second quick-connector (9) are respectively provided with a first alignment post (713) and a first alignment hole (92) that cooperate when the two are connected.

7. The method for cleaning the cooling water tank of a converter station according to claim 5, characterized in that: The mounting base (8) and the second quick-connect coupling (9) are respectively provided with a second alignment post (82) and a second alignment hole (93) that cooperate when the second quick-connect coupling (9) is mounted on the mounting base (8).

8. The method for cleaning the cooling water pool of a converter station according to any one of claims 1 to 4, characterized in that: The mounting base (8) is provided with a mounting hole (83), and an inlet (84) is provided on one side of the mounting hole (83). The inlet (84) is used for the second quick-change connector (9) to enter and exit horizontally, and the mounting hole (83) is used for the second quick-change connector (9) to be lifted and lowered for loading and unloading.

9. The method for cleaning the cooling water pool of a converter station according to any one of claims 1 to 4, characterized in that: The walking mechanism (3) is a tracked mechanism.

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