Water inlet and outlet conveying system of underwater cleaning robot and control method of water inlet and outlet conveying system

Abstract

The invention discloses an underwater cleaning robot inlet and outlet water conveying system which comprises a vertical guide frame, a longitudinal guide frame, a lifting mechanism, a first grabbing mechanism, a longitudinal moving mechanism and a second grabbing mechanism, the vertical guide frame is arranged in a water pool, a parking platform for parking an underwater cleaning robot is arranged at the bottom of the vertical guide frame, and the lifting mechanism is arranged on the vertical guide frame in a lifting mode; a fixing mechanism is arranged on the lifting mechanism, the first grabbing mechanism is fixed to the fixing mechanism, the longitudinal guide frame is arranged above the water pool, the longitudinal moving mechanism is arranged on the longitudinal guide frame, the second grabbing mechanism is arranged on the longitudinal moving mechanism, one end of the longitudinal guide frame is in butt joint with the vertical guide frame, and a charging mechanism is arranged at the other end of the longitudinal guide frame. The invention further discloses a control method of the water inlet and outlet conveying system of the underwater cleaning robot. According to the water inlet and outlet conveying system of the underwater sewage disposal robot and the control method thereof, the requirement for automatic water inlet and outlet of the underwater sewage disposal robot is met, sewage disposal efficiency is improved, and cost is low.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater pollution cleaning equipment, and in particular to a water inlet and outlet conveying system of an underwater pollution cleaning robot and a control method thereof. Background Art

[0002] During operation, the equipment in the cooling pool of the UHV converter station is often affected by underwater dirt such as sediments such as silt. These dirt may seriously threaten the operation and life of the equipment and need to be removed in a timely manner, generally using underwater cleaning robots. At present, the underwater cleaning robot generally enters and exits the pool by crane. On the one hand, the operation of the crane requires manual intervention, which is difficult to meet the requirements of automatic entry and exit of the pool, and the cleaning efficiency is low. On the other hand, the cost is high and the entry and exit of the water is troublesome. Summary of the invention

[0003] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a low-cost underwater pollution cleaning robot water entry and exit transportation system and a control method thereof that is convenient for meeting the requirements of an underwater pollution cleaning robot for automatic entry and exit of a water pool, which is beneficial to improving pollution cleaning efficiency.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions: A water inlet and outlet conveying system for an underwater garbage cleaning robot comprises a vertical guide frame, a longitudinal guide frame, a lifting mechanism, a first grasping mechanism, a longitudinal movement mechanism and a second grasping mechanism, wherein the vertical guide frame is arranged in a water pool, and a parking platform for parking the underwater garbage cleaning robot is arranged at the bottom of the vertical guide frame, the lifting mechanism is arranged on the vertical guide frame for lifting, a fixing mechanism is arranged on the lifting mechanism, the first grasping mechanism is fixed on the fixing mechanism, the longitudinal guide frame is arranged above the water pool, the longitudinal movement mechanism is arranged on the longitudinal guide frame, the second grasping mechanism is arranged on the longitudinal movement mechanism, and the longitudinal guide frame is arranged on the vertical guide frame. One end of the lifting mechanism is connected to the vertical guide frame, and the other end is provided with a charging mechanism. The first grasping mechanism is used to grasp the underwater garbage cleaning robot on the parking platform and place the underwater garbage cleaning robot on the parking platform. The lifting mechanism is used to transport the underwater garbage cleaning robot between the longitudinal movement mechanism and the parking platform. The fixing mechanism is used to fix and release the first grasping mechanism. The second grasping mechanism is used to grasp the first grasping mechanism from the lifting mechanism and put the first grasping mechanism back on the fixing mechanism. The longitudinal movement mechanism is used to transport the underwater garbage cleaning robot between the lifting mechanism and the charging mechanism.

[0005] As a further improvement of the above technical solution: The lifting mechanism comprises a lifting seat and a lifting drive assembly. The lifting seat is slidably mounted on a vertical guide frame. The lifting drive assembly is arranged on the vertical guide frame and is used to drive the lifting seat to lift and slide. The fixing mechanism is arranged on the lifting seat.

[0006] The first grasping mechanism includes a mounting seat, a first grasping assembly and a transverse movement assembly. The mounting seat is fixed on the fixing mechanism, and the fixing mechanism is used to fix and release the mounting seat. The transverse movement assembly is arranged on the mounting seat, and the first grasping assembly is arranged on the transverse movement assembly for grasping and releasing the underwater pollution cleaning robot.

[0007] The fixing mechanism includes a telescopic part and an outer convex ring, and the telescopic part includes a cylinder and a piston. The cylinder is fixed on the lifting seat, and the piston is movably sleeved in the cylinder. The outer convex ring is fixed to the end of the piston extending out of the cylinder. The mounting seat is provided with a through hole larger than the outer convex ring and a limiting hole smaller than the outer convex ring. The through hole and the limiting hole are connected, and the piston is penetrated in the limiting hole. The mounting seat is clamped between the outer convex ring and the cylinder.

[0008] The first grabbing assembly includes two first clamping jaws, a first driving rod and a first telescopic driving member. The middle parts of the two first clamping jaws are rotatably set on the transverse movement assembly and are arranged relatively to each other. The first telescopic driving member is arranged on the transverse movement assembly. The middle part of the first driving rod is connected to the telescopic end of the first telescopic driving member. The two ends of the first driving rod are connected to one end of the two first clamping jaws. The other end of the first clamping jaw is provided with a first clamping part. The first telescopic driving member is used to drive the first driving rod to drive the two first clamping jaws to rotate in the opposite direction so that the first clamping parts of the two first clamping jaws clamp and release the underwater pollution cleaning robot for movement.

[0009] The underwater pollution-cleaning robot is provided with two first hanging parts arranged opposite to each other, and the first clamping part is in the shape of a hook and is used for hanging the underwater pollution-cleaning robot through the first hanging parts.

[0010] The second grasping mechanism includes two second clamping jaws, a second driving rod and a second telescopic driving member. The middle parts of the two second clamping jaws are rotatably set on the longitudinal movement mechanism and are arranged relatively to each other. The second telescopic driving member is arranged on the longitudinal movement mechanism. The middle part of the second driving rod is connected to the telescopic end of the second telescopic driving member. The two ends of the second driving rod are connected to one end of the two second clamping jaws. The other end of the second clamping jaw is provided with a second clamping part. The second telescopic driving member is used to drive the second driving rod to drive the two second clamping jaws to rotate in the opposite direction so that the second clamping parts of the two second clamping jaws clamp and move the mounting seat.

[0011] The mounting seat is provided with two second hanging parts which are arranged opposite to each other. The second clamping part is in the shape of a hook and is used for hanging the mounting seat through the second hanging parts.

[0012] The underwater garbage cleaning robot in and out of water transportation system also includes a control center, a first position sensor is provided on the parking platform, which is used to detect the position of the underwater garbage cleaning robot, a second position sensor is provided on the lifting mechanism, which is used to detect the lifting position of the lifting mechanism, a first in-place sensor is provided above the lifting mechanism, which is used to detect whether the lifting mechanism is in place, and a second in-place sensor is provided above the charging mechanism of the longitudinal guide frame, which is used to detect whether the underwater garbage cleaning robot is in place, and the first position sensor, the second position sensor, the first in-place sensor, the second in-place sensor, the lifting mechanism, the first grasping mechanism, the longitudinal movement mechanism, the second grasping mechanism, the fixing mechanism and the underwater garbage cleaning robot are all connected to the control center signal.

[0013] A control method for the above-mentioned underwater pollution cleaning robot water inlet and outlet conveying system, including the underwater pollution cleaning robot water outlet and water inlet steps; The water discharge step of the underwater pollution cleaning robot comprises: S1. The underwater pollution cleaning robot moves to the parking platform; S2, the first grasping mechanism grasps the underwater pollution cleaning robot; S3, the lifting mechanism drives the first grabbing mechanism and the underwater pollution cleaning robot to rise to a set height; S4, the second grabbing mechanism grabs the first grabbing mechanism from the lifting mechanism; S5, the fixing mechanism releases the first grasping mechanism; S6, the longitudinal movement mechanism drives the first grasping mechanism and the underwater pollution cleaning robot to move the charging mechanism along the longitudinal guide frame; S7, the first grasping mechanism places the underwater pollution cleaning robot on the charging mechanism; The step of entering water of the underwater pollution cleaning robot comprises: Y1. The first grasping mechanism grasps the underwater pollution cleaning robot on the charging mechanism; Y2, the longitudinal movement mechanism drives the first grasping mechanism and the underwater pollution cleaning robot to move along the longitudinal guide frame to the corresponding position above the lifting mechanism; Y3, the fixing mechanism fixes the first grasping mechanism; Y4, the second grasping mechanism releases the first grasping mechanism; Y5. The lifting mechanism drives the first grabbing mechanism and the underwater pollution-cleaning robot to descend, and sends the underwater pollution-cleaning robot to the parking platform; Y6. The first grabbing mechanism releases the underwater pollution cleaning robot.

[0014] Compared with the prior art, the advantages of the present invention are: The underwater garbage cleaning robot water entry and exit transportation system of the present invention, on the one hand, is convenient to meet the requirements of the underwater garbage cleaning robot for automatic entry and exit of the pool through the cooperation of the first grasping mechanism, the lifting mechanism, the fixing mechanism, the longitudinal movement mechanism and the second grasping mechanism, which is conducive to improving the garbage cleaning efficiency. On the second hand, the underwater garbage cleaning robot is convenient to enter and exit the pool, and the cost is low. On the third hand, the fixing mechanism and the first grasping mechanism can be fixed and separated, and the second grasping mechanism grasps the first grasping mechanism for longitudinal movement. The first grasping mechanism participates in the overall process of the underwater garbage cleaning robot entering and exiting the water, avoiding the use of the first grasping mechanism and the second grasping mechanism to hand over and grasp the underwater garbage cleaning robot and cause interference, which is convenient for the overall layout.

[0015] This control method is carried out using the underwater garbage cleaning robot's water entry and exit transportation system, and has all the advantages of the underwater garbage cleaning robot's water entry and exit transportation system. That is, on the first hand, through the cooperation of the first grasping mechanism, the lifting mechanism, the fixing mechanism, the longitudinal movement mechanism and the second grasping mechanism, it is convenient to meet the requirements of the underwater garbage cleaning robot's automatic entry and exit of the pool, which is conducive to improving the garbage cleaning efficiency. On the second hand, the underwater garbage cleaning robot is convenient to enter and exit the pool, and the cost is low. On the third hand, the fixing mechanism and the first grasping mechanism can be fixed and separated, and the second grasping mechanism grasps the first grasping mechanism for longitudinal movement. The first grasping mechanism participates in the overall process of the underwater garbage cleaning robot's entry and exit movement, avoiding the use of the first grasping mechanism and the second grasping mechanism to hand over and grasp the underwater garbage cleaning robot and cause interference, which is convenient for the overall layout. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a three-dimensional structural schematic diagram of the water inlet and outlet conveying system of the underwater pollution cleaning robot of the present invention.

[0017] Figure 2 It is a state diagram of the lifting mechanism of the water inlet and outlet conveying system of the underwater pollution cleaning robot of the present invention during lifting.

[0018] Figure 3 yes Figure 2 Schematic diagram of the enlarged structure at point A in the middle.

[0019] Figure 4 This is a state diagram of the first grabbing mechanism of the water inlet and outlet transportation system of the underwater pollution cleaning robot of the present invention before grabbing the underwater pollution cleaning robot.

[0020] Figure 5 This is a state diagram of the first grabbing mechanism of the water inlet and outlet transportation system of the underwater pollution cleaning robot of the present invention when grabbing the underwater pollution cleaning robot.

[0021] Figure 6 It is a state diagram of the lifting mechanism of the water inlet and outlet conveying system of the underwater pollution cleaning robot of the present invention when it rises to a set height.

[0022] Figure 7 It is a structural schematic diagram of the longitudinal movement mechanism of the water inlet and outlet conveying system of the underwater pollution cleaning robot of the present invention.

[0023] Figure 8 It is a diagram showing the coordination of the fixing mechanism and the mounting seat of the water inlet and outlet conveying system of the underwater pollution cleaning robot of the present invention.

[0024] The symbols in the figure represent: 1. Vertical guide frame; 101. Pool; 11. Parking platform; 111. First position sensor; 2. Longitudinal guide frame; 21. First in-position sensor; 22. Second in-position sensor; 3. Lifting mechanism; 301. Second position sensor; 31. Lifting seat; 32. Lifting drive assembly; 4. First grabbing mechanism; 401. Second hanging part; 41. Mounting seat; 411. Passing hole; 412. Limiting hole; 42. First grabbing assembly; 421. First clamping claw; 422. First driving rod; 423. First telescopic driving member; 424. First clamping part; 43. Transverse shift assembly; 431. Transverse shift seat; 432. Transverse screw rod; 433. Transverse shift motor; 5. Longitudinal shift mechanism; 51. Longitudinal shift seat; 52. Longitudinal screw rod; 53. Longitudinal shift motor; 6. Second grasping mechanism; 61. Second clamping claw; 62. Second driving rod; 63. Second telescopic driving member; 64. Second clamping part; 7. Fixing mechanism; 71. Telescopic member; 711. Cylinder; 712. Piston; 72. Outer convex ring; 8. Underwater pollution cleaning robot; 81. First hanging part; 9. Charging mechanism. DETAILED DESCRIPTION

[0025] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] Embodiment 1: Figures 1 to 8 An embodiment of the underwater garbage cleaning robot water entry and exit transportation system of the present invention is shown. The underwater garbage cleaning robot water entry and exit transportation system of this embodiment includes a vertical guide frame 1, a longitudinal guide frame 2, a lifting mechanism 3, a first grasping mechanism 4, a longitudinal movement mechanism 5 and a second grasping mechanism 6. The vertical guide frame 1 is arranged in a pool 101, and a parking platform 11 for parking an underwater garbage cleaning robot 8 is arranged at the bottom of the vertical guide frame 1. The lifting mechanism 3 is lifted and arranged on the vertical guide frame 1. A fixing mechanism 7 is arranged on the lifting mechanism 3. The first grasping mechanism 4 is fixed on the fixing mechanism 7. The longitudinal guide frame 2 is arranged above the pool 101. The longitudinal movement mechanism 5 is arranged on the longitudinal guide frame 2. The second grasping mechanism 6 It is arranged on the longitudinal movement mechanism 5, one end of the longitudinal guide frame 2 is docked with the vertical guide frame 1, and the other end is provided with a charging mechanism 9, the first grabbing mechanism 4 is used to grab the underwater garbage cleaning robot 8 on the parking platform 11 and place the underwater garbage cleaning robot 8 on the parking platform 11, the lifting mechanism 3 is used to transport the underwater garbage cleaning robot 8 between the longitudinal movement mechanism 5 and the parking platform 11, the fixing mechanism 7 is used to fix and release the first grabbing mechanism 4, the second grabbing mechanism 6 is used to grab the first grabbing mechanism 4 from the lifting mechanism 3 and put the first grabbing mechanism 4 back on the fixing mechanism 7, and the longitudinal movement mechanism 5 is used to transport the underwater garbage cleaning robot 8 between the lifting mechanism 3 and the charging mechanism 9.

[0030] The underwater pollution cleaning robot water inlet and outlet conveying system is used for the underwater pollution cleaning robot 8 to enter and exit the water.

[0031] The process of the underwater cleaning robot 8 leaving the water includes: the first step, the underwater cleaning robot 8 is moved to the parking platform 11; the second step, the first grabbing mechanism 4 grabs the underwater cleaning robot 8; the third step, the lifting mechanism 3 drives the first grabbing mechanism 4 and the underwater cleaning robot 8 to rise to a set height; the fourth step, the second grabbing mechanism 6 grabs the first grabbing mechanism 4 from the lifting mechanism 3; the fifth step, the fixing mechanism 7 releases the first grabbing mechanism 4; the sixth step, the longitudinal movement mechanism 5 drives the first grabbing mechanism 4 and the underwater cleaning robot 8 to move the charging mechanism 9 along the longitudinal guide frame 2, and the seventh step, the first grabbing mechanism 4 places the underwater cleaning robot 8 on the charging mechanism 9; The process of the underwater garbage cleaning robot 8 entering the water includes: the first step, the first grasping mechanism 4 grasps the underwater garbage cleaning robot 8 on the charging mechanism 9; the second step, the longitudinal movement mechanism 5 drives the first grasping mechanism 4 and the underwater garbage cleaning robot 8 to move along the longitudinal guide frame 2 to the corresponding position above the lifting mechanism 3; the third step, the fixing mechanism 7 fixes the first grasping mechanism 4; the fourth step, the second grasping mechanism 6 releases the first grasping mechanism 4; the fifth step, the lifting mechanism 3 drives the first grasping mechanism 4 and the underwater garbage cleaning robot 8 to descend, and sends the underwater garbage cleaning robot 8 to the parking platform 11; the sixth step, the first grasping mechanism 4 releases the underwater garbage cleaning robot 8.

[0032] The present underwater garbage cleaning robot in and out of water transportation system, on the one hand, through the cooperation of the first grabbing mechanism 4, the lifting mechanism 3, the fixing mechanism 7, the longitudinal movement mechanism 5 and the second grabbing mechanism 6, is convenient to meet the requirements of the underwater garbage cleaning robot 8 to automatically enter and exit the water pool 101, which is conducive to improving the garbage cleaning efficiency. On the second hand, the underwater garbage cleaning robot 8 can enter and exit the water pool 101 conveniently and at low cost. On the third hand, the fixing mechanism 7 and the first grabbing mechanism 4 can be fixed and separated, and the second grabbing mechanism 6 grabs the first grabbing mechanism 4 for longitudinal movement. The first grabbing mechanism 4 participates in the overall process of the underwater garbage cleaning robot 8 entering and exiting the water, avoiding the use of the first grabbing mechanism 4 and the second grabbing mechanism 6 to hand over and capture the underwater garbage cleaning robot 8 and cause interference, which is convenient for the overall layout.

[0033] Furthermore, if Figure 2 and Figure 4 As shown, in this embodiment, the lifting mechanism 3 includes a lifting seat 31 and a lifting drive assembly 32. The lifting seat 31 is slidably mounted on the vertical guide frame 1. The lifting drive assembly 32 is disposed on the vertical guide frame 1 and is used to drive the lifting seat 31 to lift and slide. The fixing mechanism 7 is disposed on the lifting seat 31. The lifting drive assembly 32 drives the lifting seat 31 to lift and slide, driving the fixing mechanism 7 to lift and move, thereby driving the first grasping mechanism 4 to grasp the underwater pollution cleaning robot 8 and lift and move in and out of the water.

[0034] Furthermore, if Figure 2 , Figure 4 and Figure 5 As shown, in this embodiment, the first grabbing mechanism 4 includes a mounting seat 41, a first grabbing assembly 42 and a transverse movement assembly 43. The mounting seat 41 is fixed on the fixing mechanism 7, and the fixing mechanism 7 is used to fix and release the mounting seat 41. The transverse movement assembly 43 is arranged on the mounting seat 41, and the first grabbing assembly 42 is arranged on the transverse movement assembly 43, and is used to grab and release the underwater pollution cleaning robot 8. The transverse movement assembly 43 is used to drive the first grabbing assembly 42 to move laterally, so as to facilitate the alignment and adjustment of the first grabbing assembly 42 and the underwater pollution cleaning robot 8 to avoid inaccurate grabbing.

[0035] Furthermore, if Figure 2 , Figure 3 and Figure 8 As shown, in this embodiment, the fixing mechanism 7 includes a telescopic member 71 and an outer convex ring 72, the telescopic member 71 includes a cylinder 711 and a piston 712, the cylinder 711 is fixed on the lifting seat 31, the piston 712 is movably sleeved in the cylinder 711, the outer convex ring 72 is fixed to one end of the piston 712 extending out of the cylinder 711, and the mounting seat 41 is provided with a through hole 411 larger than the outer convex ring 72 and a limiting hole 412 smaller than the outer convex ring 72, the through hole 411 and the limiting hole 412 are connected, the piston 712 is penetrated in the limiting hole 412, and the mounting seat 41 is clamped between the outer convex ring 72 and the cylinder 711.

[0036] When the lifting mechanism 3 drives the first grabbing mechanism 4 and the underwater pollution cleaning robot 8 to rise to the set height, the second grabbing mechanism 6 grabs the first grabbing mechanism 4 from the lifting mechanism 3, and the fixing mechanism 7 releases the first grabbing mechanism 4. The specific process of the fixing mechanism 7 releasing the first grabbing mechanism 4 is as follows: the piston 712 extends outward to release the clamping effect of the outer convex ring 72 and the cylinder 711 on the mounting seat 41, and the lifting mechanism 3 drives the fixing mechanism 7 to descend, so that the piston 712 descends from the limiting hole 412 to the through hole 411, and the restriction on the longitudinal movement of the mounting seat 41 is released. Then, the longitudinal movement mechanism 5 can drive the mounting seat 41 to move longitudinally. Specifically, the limiting hole 412 is located above the through hole 411. The fixing mechanism 7 is arranged on the side of the lifting seat 31 toward the extension direction of the longitudinal guide frame 2.

[0037] When the longitudinal movement mechanism 5 drives the first grabbing mechanism 4 and the underwater cleaning robot 8 to move along the longitudinal guide frame 2 to the corresponding position above the lifting mechanism 3, the fixing mechanism 7 fixes the first grabbing mechanism 4, and the second grabbing mechanism 6 releases the first grabbing mechanism 4. The specific process is as follows: the longitudinal movement mechanism 5 drives the first grabbing mechanism 4 to move longitudinally in the direction of the lifting mechanism 3 until the piston 712 penetrates the through hole 411, and then the lifting mechanism 3 drives the fixing mechanism 7 to rise, so that the piston 712 rises from the through hole 411 to the limit hole 412, and then the piston 712 shrinks inward, so that the outer convex ring 72 and the cylinder 711 clamp the mounting seat 41, and then the second grabbing mechanism 6 releases the first grabbing mechanism 4, and the lifting mechanism 3 can drive the first grabbing mechanism 4 to descend. The structural design of the fixing mechanism 7 is ingenious and convenient for automatic control.

[0038] Furthermore, if Figure 2 As shown, in this embodiment, the transverse movement assembly 43 includes a transverse movement seat 431 (not fully shown in the drawings), a transverse screw rod 432 and a transverse movement motor 433. The transverse movement seat 431 is arranged on the mounting seat 41 for transverse movement, the transverse screw rod 432 is arranged on the mounting seat 41 for rotation and is threadedly connected with the transverse movement seat 431, the transverse movement motor 433 is arranged on the mounting seat 41 for driving the transverse screw rod 432 to rotate, thereby driving the transverse movement seat 431 to move transversely, and the first gripping mechanism 4 is arranged on the transverse movement seat 431.

[0039] Furthermore, if Figure 2 and Figure 4 As shown, in this embodiment, the first grabbing assembly 42 includes two first clamping claws 421, a first driving rod 422 and a first telescopic driving member 423. The middle parts of the two first clamping claws 421 are both rotatably arranged on the transverse displacement seat 431 and arranged relatively. The first telescopic driving member 423 is arranged on the transverse displacement seat 431. The middle part of the first driving rod 422 is connected to the telescopic end of the first telescopic driving member 423. The two ends of the first driving rod 422 are connected to one end of the two first clamping claws 421. The other end of the first clamping claw 421 is provided with a first clamping portion 424. The first telescopic driving member 423 is used to drive the first driving rod 422 to drive the two first clamping claws 421 to rotate in the opposite direction, so that the first clamping portions 424 of the two first clamping claws 421 clamp and release the underwater pollution cleaning robot 8 to move. Preferably, the first telescopic driving member 423 is a cylinder, an oil cylinder or an electric cylinder.

[0040] Specifically, the middle parts of the two first clamps 421 are rotatably set on the transverse movement assembly 43 and arranged relatively to each other, the first telescopic driving member 423 is arranged on the transverse movement assembly 43, the middle part of the first driving rod 422 is connected to the telescopic end of the first telescopic driving member 423, the two ends of the first driving rod 422 are connected to one end of the two first clamps 421, and the other end of the first clamp 421 is provided with a first clamping part 424, the first telescopic driving member 423 is used to drive the first driving rod 422 to drive the two first clamps 421 to rotate in the opposite direction, so that the first clamping parts 424 of the two first clamps 421 clamp the underwater pollution cleaning robot 8 to move.

[0041] Further, in this embodiment, the underwater garbage cleaning robot 8 is provided with two first hanging parts 81 arranged opposite to each other, and the first clamping part 424 is in the shape of a hook, which is used to pass through the first hanging part 81 to lift the underwater garbage cleaning robot 8. A through hole is provided in the first hanging part 81 for the first hanging part 81 to pass through. The first telescopic driving member 423 drives the first driving rod 422 to drive the top ends (the ends connected to the first driving rod 422) of the two first clamping claws 421 to move outward, so that the first clamping parts 424 of the two first clamping claws 421 respectively penetrate into the two first hanging parts 81 to clamp the two first hanging parts 81, and here, the first clamping part 424 may not apply a clamping force to the two first hanging parts 81. On the contrary, the first telescopic driving member 423 drives the first driving rod 422 to drive the top ends of the two first clamping jaws 421 (the ends connected to the first driving rod 422) to move inward, so that the first clamping portions 424 of the two first clamping jaws 421 are respectively moved out of the two first hanging portions 81 to release the two first hanging portions 81.

[0042] Furthermore, if Figure 6As shown, in this embodiment, the second grasping mechanism 6 includes two second clamping claws 61, a second driving rod 62 and a second telescopic driving member 63. The middle parts of the two second clamping claws 61 are both rotatably arranged on the longitudinal movement mechanism 5 and arranged oppositely. The second telescopic driving member 63 is arranged on the longitudinal movement mechanism 5. The middle part of the second driving rod 62 is connected to the telescopic end of the second telescopic driving member 63. The two ends of the second driving rod 62 are connected to one end of the two second clamping claws 61. The other end of the second clamping claw 61 is provided with a second clamping portion 64. The second telescopic driving member 63 is used to drive the second driving rod 62 to drive the two second clamping claws 61 to rotate in the opposite direction, so that the second clamping portions 64 of the two second clamping claws 61 clamp and move the mounting seat 41. Preferably, the second telescopic driving member 63 is a cylinder, an oil cylinder or an electric cylinder.

[0043] Furthermore, in this embodiment, the longitudinal movement mechanism 5 includes a longitudinal movement seat 51, a longitudinal screw rod 52 and a longitudinal movement motor 53. The longitudinal movement seat 51 is longitudinally movably arranged on the longitudinal guide frame 2, the longitudinal screw rod 52 is rotatably arranged on the longitudinal guide frame 2 and is threadedly connected to the longitudinal movement seat 51, the longitudinal movement motor 53 is arranged on the longitudinal guide frame 2, and is used to drive the longitudinal screw rod 52 to rotate, thereby driving the longitudinal movement seat 51 to move longitudinally, and the second grabbing mechanism 6 is arranged on the longitudinal movement seat 51.

[0044] Specifically, the middle parts of the two second clamping jaws 61 are rotatably set on the longitudinal movement seat 51 and arranged opposite to each other, the second telescopic driving member 63 is arranged on the longitudinal movement seat 51, the middle part of the second driving rod 62 is connected to the telescopic end of the second telescopic driving member 63, the two ends of the second driving rod 62 are connected to one end of the two second clamping jaws 61, and the other end of the second clamping jaw 61 is provided with a second clamping portion 64. The second telescopic driving member 63 is used to drive the second driving rod 62 to drive the two second clamping jaws 61 to rotate in the opposite direction, so that the second clamping portions 64 of the two second clamping jaws 61 clamp the mounting seat 41 for movement.

[0045] Furthermore, in this embodiment, two second hanging portions 401 arranged opposite to each other are provided on the mounting seat 41 , and the second clamping portion 64 is in a hook shape, and is used to pass through the second hanging portions 401 to lift the mounting seat 41 .

[0046] The second hanging part 401 is provided with a through hole for the second clamping part 64 to pass through. The second driving rod 62 drives the second driving rod 62 to drive the top ends (the ends connected to the second driving rod 62) of the two second clamping jaws 61 to move outward, so that the second clamping parts 64 of the two second clamping jaws 61 respectively penetrate into the two second hanging parts 401 to clamp the two second hanging parts 401, and here, the second clamping parts 64 may not apply clamping force to the two second hanging parts 401. Conversely, the second driving rod 62 drives the second driving rod 62 to drive the top ends (the ends connected to the second driving rod 62) of the two second clamping jaws 61 to move inward, so that the second clamping parts 64 of the two second clamping jaws 61 respectively move out of the two second hanging parts 401 to release the two second hanging parts 401.

[0047] Further, in this embodiment, the underwater garbage cleaning robot in-and-out water transportation system also includes a control center, a first position sensor 111 is provided on the parking platform 11, which is used to detect the position of the underwater garbage cleaning robot 8, a second position sensor 301 is provided on the lifting mechanism 3, which is used to detect the lifting position of the lifting mechanism 3, a first in-place sensor 21 is provided on the longitudinal guide frame 2 above the lifting mechanism 3, which is used to detect whether the lifting mechanism 3 is in place, and a second in-place sensor 22 is provided on the longitudinal guide frame 2 above the charging mechanism 9, which is used to detect whether the underwater garbage cleaning robot 8 is in place, and the first position sensor 111, the second position sensor 301, the first in-place sensor 21, the second in-place sensor 22, the lifting mechanism 3, the first grasping mechanism 4, the longitudinal movement mechanism 5, the second grasping mechanism 6, the fixing mechanism 7 and the underwater garbage cleaning robot 8 are all connected to the control center signal. Through the control center, automatic control is realized.

[0048] Furthermore, in this embodiment, the lifting drive assembly 32 includes a vertical screw rod and a lifting motor, wherein the vertical screw rod is rotatably arranged on the vertical guide frame 1, and the lifting motor is arranged on the vertical guide frame 1 and connected to the vertical screw rod to drive the vertical screw rod. The vertical screw rod is threadedly connected to the lifting seat 31 to drive the lifting seat 31 to move up and down.

[0049] Embodiment 2: The control method of the underwater cleaning robot water inlet and outlet conveying system of the first embodiment includes the steps of the underwater cleaning robot 8 entering and exiting the water; The steps of the underwater cleaning robot 8 exiting the water include: S1, the underwater pollution cleaning robot 8 moves to the parking platform 11; S2, the first grasping mechanism 4 grasps the underwater pollution cleaning robot 8; S3, the lifting mechanism 3 drives the first grabbing mechanism 4 and the underwater pollution cleaning robot 8 to rise to a set height; S4, the second grabbing mechanism 6 grabs the first grabbing mechanism 4 from the lifting mechanism 3; S5, the fixing mechanism 7 releases the first grasping mechanism 4; S6, the longitudinal movement mechanism 5 drives the first grasping mechanism 4 and the underwater pollution cleaning robot 8 to move the charging mechanism 9 along the longitudinal guide frame 2; S7, the first grasping mechanism 4 places the underwater pollution cleaning robot 8 on the charging mechanism 9; The steps of entering the water of the underwater cleaning robot 8 include: Y1, the first grasping mechanism 4 grasps the underwater pollution cleaning robot 8 on the charging mechanism 9; Y2, the longitudinal movement mechanism 5 drives the first grabbing mechanism 4 and the underwater pollution cleaning robot 8 to move along the longitudinal guide frame 2 to the corresponding position above the lifting mechanism 3; Y3, the fixing mechanism 7 fixes the first grabbing mechanism 4; Y4, the second grasping mechanism 6 releases the first grasping mechanism 4; Y5, the lifting mechanism 3 drives the first grabbing mechanism 4 and the underwater cleaning robot 8 to descend, and sends the underwater cleaning robot 8 to the parking platform 11; Y6. The first grabbing mechanism 4 releases the underwater pollution cleaning robot 8.

[0050] This control method is carried out by using the underwater garbage cleaning robot in and out water transportation system, and has all the advantages of the underwater garbage cleaning robot in and out water transportation system. That is, on the one hand, through the cooperation of the first grabbing mechanism 4, the lifting mechanism 3, the fixing mechanism 7, the longitudinal movement mechanism 5 and the second grabbing mechanism 6, it is convenient to meet the requirements of the underwater garbage cleaning robot 8 to automatically enter and exit the water pool 101, which is conducive to improving the garbage cleaning efficiency. On the other hand, the underwater garbage cleaning robot 8 can enter and exit the water pool 101 conveniently and at low cost. On the third hand, the fixing mechanism 7 and the first grabbing mechanism 4 can be fixed and separated, and the second grabbing mechanism 6 grabs the first grabbing mechanism 4 for longitudinal movement. The first grabbing mechanism 4 participates in the overall process of the underwater garbage cleaning robot 8 entering and exiting the water, avoiding the use of the first grabbing mechanism 4 and the second grabbing mechanism 6 to hand over and capture the underwater garbage cleaning robot 8 and cause interference, which is convenient for the overall layout.

[0051] 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 water inlet and outlet conveying system for an underwater pollution cleaning robot, characterized in that: The invention comprises a vertical guide frame (1), a longitudinal guide frame (2), a lifting mechanism (3), a first grasping mechanism (4), a longitudinal movement mechanism (5) and a second grasping mechanism (6), wherein the vertical guide frame (1) is arranged in a water pool (101), and a parking platform (11) is provided at the bottom of the vertical guide frame (1) for parking an underwater cleaning robot (8), the lifting mechanism (3) is lifted and arranged on the vertical guide frame (1), a fixing mechanism (7) is provided on the lifting mechanism (3), the first grasping mechanism (4) is fixed on the fixing mechanism (7), the longitudinal guide frame (2) is arranged above the water pool (101), the longitudinal movement mechanism (5) is arranged on the longitudinal guide frame (2), the second grasping mechanism (6) is arranged on the longitudinal movement mechanism (5), one end of the longitudinal guide frame (2) is connected to the vertical guide frame (1), and the vertical guide frame (1) is connected to the vertical guide frame (1). The guide frame (1) is docked, and a charging mechanism (9) is provided at the other end; the first grasping mechanism (4) is used to grasp the underwater garbage cleaning robot (8) on the parking platform (11) and place the underwater garbage cleaning robot (8) on the parking platform (11); the lifting mechanism (3) is used to transport the underwater garbage cleaning robot (8) between the longitudinal movement mechanism (5) and the parking platform (11); the fixing mechanism (7) is used to fix and release the first grasping mechanism (4); the second grasping mechanism (6) is used to grasp the first grasping mechanism (4) from the lifting mechanism (3) and place the first grasping mechanism (4) back on the fixing mechanism (7); and the longitudinal movement mechanism (5) is used to transport the underwater garbage cleaning robot (8) between the lifting mechanism (3) and the charging mechanism (9).

2. The water inlet and outlet conveying system of the underwater pollution cleaning robot according to claim 1, characterized in that: The lifting mechanism (3) comprises a lifting seat (31) and a lifting drive assembly (32); the lifting seat (31) is slidably mounted on the vertical guide frame (1); the lifting drive assembly (32) is disposed on the vertical guide frame (1) and is used to drive the lifting seat (31) to lift and slide; and the fixing mechanism (7) is disposed on the lifting seat (31).

3. The water inlet and outlet conveying system of the underwater pollution cleaning robot according to claim 2 is characterized in that: The first grasping mechanism (4) comprises a mounting seat (41), a first grasping assembly (42) and a transverse movement assembly (43); the mounting seat (41) is fixed on a fixing mechanism (7); the fixing mechanism (7) is used to fix and release the mounting seat (41); the transverse movement assembly (43) is arranged on the mounting seat (41); and the first grasping assembly (42) is arranged on the transverse movement assembly (43) and is used to grasp and release the underwater pollution cleaning robot (8).

4. The water inlet and outlet conveying system of the underwater pollution cleaning robot according to claim 3 is characterized in that: The fixing mechanism (7) comprises a telescopic member (71) and an outer convex ring (72); the telescopic member (71) comprises a cylinder (711) and a piston (712); the cylinder (711) is fixed on the lifting seat (31); the piston (712) is movably sleeved in the cylinder (711); the outer convex ring (72) is fixed to an end of the piston (712) extending out of the cylinder (711); a through hole (411) larger than the outer convex ring (72) and a limiting hole (412) smaller than the outer convex ring (72) are provided on the mounting seat (41); the through hole (411) and the limiting hole (412) are communicated; the piston (712) is penetrated in the limiting hole (412); and the mounting seat (41) is clamped between the outer convex ring (72) and the cylinder (711).

5. The water inlet and outlet conveying system of the underwater pollution cleaning robot according to claim 3 is characterized by: The first grabbing assembly (42) comprises two first clamping claws (421), a first driving rod (422) and a first telescopic driving member (423); the middle parts of the two first clamping claws (421) are both rotatably arranged on the transverse moving assembly (43) and arranged opposite to each other; the first telescopic driving member (423) is arranged on the transverse moving assembly (43); the middle part of the first driving rod (422) is connected to the telescopic end of the first telescopic driving member (423); the two ends of the first driving rod (422) are connected to one end of the two first clamping claws (421); the other end of the first clamping claw (421) is provided with a first clamping portion (424); the first telescopic driving member (423) is used to drive the first driving rod (422) to drive the two first clamping claws (421) to rotate in the opposite direction, so that the first clamping portions (424) of the two first clamping claws (421) clamp and release the underwater pollution cleaning robot (8) to move.

6. The water inlet and outlet conveying system of the underwater pollution cleaning robot according to claim 5, characterized in that: The underwater pollution-cleaning robot (8) is provided with two first hanging parts (81) arranged opposite to each other, and the first clamping part (424) is in the shape of a hook and is used to pass through the first hanging part (81) to lift the underwater pollution-cleaning robot (8).

7. The water inlet and outlet conveying system of the underwater pollution cleaning robot according to claim 3 is characterized by: The second grasping mechanism (6) comprises two second clamping jaws (61), a second driving rod (62) and a second telescopic driving member (63); the middle parts of the two second clamping jaws (61) are rotatably arranged on the longitudinal movement mechanism (5) and are arranged opposite to each other; the second telescopic driving member (63) is arranged on the longitudinal movement mechanism (5); the middle part of the second driving rod (62) is connected to the telescopic end of the second telescopic driving member (63); the two ends of the second driving rod (62) are connected to one end of the two second clamping jaws (61); the other end of the second clamping jaw (61) is provided with a second clamping portion (64); the second telescopic driving member (63) is used to drive the second driving rod (62) to drive the two second clamping jaws (61) to rotate in the opposite direction, so that the second clamping portions (64) of the two second clamping jaws (61) clamp and move the mounting seat (41).

8. The water inlet and outlet conveying system of the underwater pollution cleaning robot according to claim 7, characterized in that: The mounting seat (41) is provided with two second hanging portions (401) arranged opposite to each other, and the second clamping portion (64) is in the shape of a hook and is used to pass through the second hanging portions (401) to lift the mounting seat.

9. The water inlet and outlet conveying system of the underwater pollution cleaning robot according to any one of claims 1 to 8, characterized in that: The underwater garbage cleaning robot in-and-out water transportation system further comprises a control center. The parking platform (11) is provided with a first position sensor (111) for detecting the position of the underwater garbage cleaning robot (8). The lifting mechanism (3) is provided with a second position sensor (301) for detecting the lifting position of the lifting mechanism (3). The longitudinal guide frame (2) is provided with a first in-place sensor (21) above the lifting mechanism (3) for detecting whether the lifting mechanism (3) is in place. The longitudinal guide frame (2) is provided with a second in-place sensor (22) above the charging mechanism (9) for detecting whether the underwater garbage cleaning robot (8) is in place. The first position sensor (111), the second position sensor (301), the first in-place sensor (21), the second in-place sensor (22), the lifting mechanism (3), the first gripping mechanism (4), the longitudinal movement mechanism (5), the second gripping mechanism (6), the fixing mechanism (7) and the underwater garbage cleaning robot (8) are all connected to the control center by signals.

10. A method for controlling the water inlet and outlet conveying system of an underwater pollution cleaning robot according to any one of claims 1 to 9, characterized in that: The method comprises the steps of an underwater pollution cleaning robot (8) exiting and entering water; The water discharge step of the underwater pollution cleaning robot (8) comprises: S1, the underwater pollution cleaning robot (8) moves to the parking platform (11); S2, the first grasping mechanism (4) grasps the underwater pollution cleaning robot (8); S3, the lifting mechanism (3) drives the first grasping mechanism (4) and the underwater pollution cleaning robot (8) to rise to a set height; S4, the second grasping mechanism (6) grasps the first grasping mechanism (4) from the lifting mechanism (3); S5, the fixing mechanism (7) releases the first grasping mechanism (4); S6, the longitudinal movement mechanism (5) drives the first grasping mechanism (4) and the underwater pollution cleaning robot (8) to move the charging mechanism (9) along the longitudinal guide frame (2); S7, the first grasping mechanism (4) places the underwater pollution cleaning robot (8) on the charging mechanism (9); The step of entering the water of the underwater pollution cleaning robot (8) comprises: Y1, a first grasping mechanism (4) grasps the underwater pollution cleaning robot (8) on the charging mechanism (9); Y2, the longitudinal movement mechanism (5) drives the first grasping mechanism (4) and the underwater pollution cleaning robot (8) to move along the longitudinal guide frame (2) to a corresponding position above the lifting mechanism (3); Y3, a fixing mechanism (7) fixes the first grabbing mechanism (4); Y4, the second grasping mechanism (6) releases the first grasping mechanism (4); Y5, the lifting mechanism (3) drives the first grasping mechanism (4) and the underwater pollution-cleaning robot (8) to descend, and sends the underwater pollution-cleaning robot (8) to the parking platform (11); Y6. The first grasping mechanism (4) releases the underwater pollution cleaning robot (8).

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