An underwater sewage cleaning robot's water inlet and outlet conveying system and its control method

Abstract

The present invention discloses an underwater sewage cleaning robot entry and exit water transportation system, which includes a vertical guide frame, a longitudinal guide frame, a lifting mechanism, a first grasping mechanism, a longitudinal movement mechanism and a second grasping mechanism. The vertical guide frame is arranged in a pool, and a parking platform for parking the underwater sewage cleaning robot is provided at the bottom of the vertical guide frame. The lifting mechanism is arranged on the vertical guide frame in a lifting manner, and a fixing mechanism is provided on the lifting mechanism. The first grasping mechanism is fixed on the fixing mechanism. The longitudinal guide frame is arranged above the pool, the longitudinal movement mechanism is arranged on the longitudinal guide frame, the second grasping mechanism is arranged on the longitudinal movement mechanism, one end of the longitudinal guide frame is docked with the vertical guide frame, and a charging mechanism is provided at the other end. A control method for the above underwater sewage cleaning robot entry and exit water transportation system is also disclosed. The underwater sewage cleaning robot entry and exit water transportation system and its control method are convenient for meeting the requirements of the automatic entry and exit of the underwater sewage cleaning robot from the pool, are beneficial to improving the sewage cleaning efficiency, and have low costs.

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, is beneficial to improving pollution cleaning efficiency.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0005] 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.

[0006] As a further improvement of the above technical solution:

[0007] 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.

[0008] The first grasping mechanism includes a mounting base, a first grasping component, and a transverse movement component. The mounting base is fixed on the fixing mechanism, which is used to fix and release the mounting base. The transverse movement component is arranged on the mounting base, and the first grasping component is arranged on the transverse movement component for grasping and releasing the underwater cleaning robot.

[0009] The fixing mechanism includes a telescopic member and an outer convex ring. The telescopic member includes a cylinder barrel and a piston. The cylinder barrel is fixed on the lifting seat, the piston is movably sleeved in the cylinder barrel, and the outer convex ring is fixed at one end of the piston extending out of the cylinder barrel. The mounting base 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 communicated, the piston passes through the limiting hole, and the mounting base is clamped between the outer convex ring and the cylinder barrel.

[0010] The first grasping component 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 arranged on the transverse movement component and are arranged oppositely. The first telescopic driving member is arranged on the transverse movement component. 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 ends of the two first clamping jaws. The other end of the first clamping jaw is provided with a first clamping portion. The first telescopic driving member is used to drive the first driving rod to drive the two first clamping jaws to rotate in opposite directions so that the first clamping portions of the two first clamping jaws clamp and release the underwater cleaning robot for movement.

[0011] The underwater cleaning robot is provided with two oppositely arranged first hanging portions. The first clamping portion is in a hook shape and is used to pass through the first hanging portion to lift the underwater cleaning robot.

[0012] 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 arranged on the longitudinal movement mechanism and are arranged oppositely. 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 ends of the two second clamping jaws. The other end of the second clamping jaw is provided with a second clamping portion. The second telescopic driving member is used to drive the second driving rod to drive the two second clamping jaws to rotate in opposite directions so that the second clamping portions of the two second clamping jaws clamp and release the mounting base for movement.

[0013] The mounting base is provided with two oppositely arranged second hanging portions. The second clamping portion is in a hook shape and is used to pass through the second hanging portion to lift the mounting base.

[0014] The underwater cleaning robot access and transportation system further includes a control center. A first position sensor is provided on the parking platform for detecting the position of the underwater cleaning robot. A second position sensor is provided on the lifting mechanism for detecting the lifting position of the lifting mechanism. A first in-place sensor is provided above the lifting mechanism on the longitudinal guide frame for detecting whether the lifting mechanism is in place. A second in-place sensor is provided above the charging mechanism on the longitudinal guide frame for detecting whether the underwater cleaning robot is in place. 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 moving mechanism, the second grasping mechanism, the fixing mechanism and the underwater cleaning robot are all signal-connected to the control center.

[0015] A control method for the underwater cleaning robot access and transportation system as described above includes the steps of the underwater cleaning robot emerging from the water and entering the water;

[0016] The steps for the underwater cleaning robot to emerge from the water include:

[0017] S1. The underwater cleaning robot moves to the parking platform;

[0018] S2. The first grasping mechanism grasps the underwater cleaning robot;

[0019] S3. The lifting mechanism drives the first grasping mechanism and the underwater cleaning robot to rise to a set height;

[0020] S4. The second grasping mechanism grasps the first grasping mechanism from the lifting mechanism;

[0021] S5. The fixing mechanism releases the first grasping mechanism;

[0022] S6. The longitudinal moving mechanism drives the first grasping mechanism and the underwater cleaning robot to move along the longitudinal guide frame to the charging mechanism;

[0023] S7. The first grasping mechanism places the underwater cleaning robot on the charging mechanism;

[0024] The steps for the underwater cleaning robot to enter the water include:

[0025] Y1. The first grasping mechanism grasps the underwater cleaning robot on the charging mechanism;

[0026] Y2. The longitudinal moving mechanism drives the first grasping mechanism and the underwater cleaning robot to move along the longitudinal guide frame to the corresponding position above the lifting mechanism;

[0027] Y3. The fixing mechanism fixes the first grasping mechanism;

[0028] Y4. The second grasping mechanism releases the first grasping mechanism;

[0029] Y5. The lifting mechanism drives the first grasping mechanism and the underwater cleaning robot to descend, and sends the underwater cleaning robot to the parking platform.

[0030] Y6. The first grasping mechanism releases the underwater cleaning robot.

[0031] Compared with the prior art, the advantages of the present invention are as follows:

[0032] For the underwater cleaning robot's water inlet and outlet conveying system of the present invention, on the one 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 automatic entry and exit of the underwater cleaning robot from the pool, which is beneficial to improving the cleaning efficiency. On the other hand, it is convenient for the underwater cleaning robot 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. The second grasping mechanism grabs the first grasping mechanism and moves longitudinally. The first grasping mechanism participates in the overall process of the underwater cleaning robot's water inlet and outlet movement, avoiding the interference caused by using the first grasping mechanism and the second grasping mechanism to transfer and grab the underwater cleaning robot, which is convenient for the overall layout.

[0033] This control method is carried out by using the underwater cleaning robot's water inlet and outlet conveying system, and has all the advantages of the underwater cleaning robot's water inlet and outlet conveying system. That is, on the one 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 automatic entry and exit of the underwater cleaning robot from the pool, which is beneficial to improving the cleaning efficiency. On the other hand, it is convenient for the underwater cleaning robot 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. The second grasping mechanism grabs the first grasping mechanism and moves longitudinally. The first grasping mechanism participates in the overall process of the underwater cleaning robot's water inlet and outlet movement, avoiding the interference caused by using the first grasping mechanism and the second grasping mechanism to transfer and grab the underwater cleaning robot, which is convenient for the overall layout. Description of the Drawings

[0034] Figure 1 is a three-dimensional structural schematic diagram of the underwater cleaning robot's water inlet and outlet conveying system of the present invention.

[0035] Figure 2 is a state diagram of the lifting mechanism of the underwater cleaning robot's water inlet and outlet conveying system of the present invention during lifting.

[0036] Figure 3 is Figure 2 an enlarged structural schematic diagram of part A in

[0037] Figure 4 is a state diagram of the first grasping mechanism of the underwater cleaning robot's water inlet and outlet conveying system of the present invention before grasping the underwater cleaning robot.

[0038] Figure 5 It is a state diagram of the first grasping mechanism of the underwater sewage cleaning robot access water delivery system of the present invention when grasping the underwater sewage cleaning robot.

[0039] Figure 6 It is a state diagram of the lifting mechanism of the underwater sewage cleaning robot access water delivery system of the present invention when rising to the set height.

[0040] Figure 7 It is a schematic structural diagram of the longitudinal movement mechanism of the underwater sewage cleaning robot access water delivery system of the present invention.

[0041] Figure 8 It is a mating diagram of the fixing mechanism and the mounting seat of the underwater sewage cleaning robot access water delivery system of the present invention.

[0042] Each label in the figure represents:

[0043] 1. Vertical guide frame; 101. Pool; 11. Parking platform; 111. First position sensor; 2. Longitudinal guide frame; 21. First in-place sensor; 22. Second in-place sensor; 3. Lifting mechanism; 301. Second position sensor; 31. Lifting seat; 32. Lifting drive assembly; 4. First grasping mechanism; 401. Second hanging part; 41. Mounting seat; 411. Through hole; 412. Limiting hole; 42. First grasping component; 421. First clamping jaw; 422. First drive rod; 423. First telescopic drive member; 424. First clamping part; 43. Transverse movement component; 431. Transverse movement seat; 432. Transverse lead screw; 433. Transverse movement motor; 5. Longitudinal movement mechanism; 51. Longitudinal movement seat; 52. Longitudinal lead screw; 53. Longitudinal movement motor; 6. Second grasping mechanism; 61. Second clamping jaw; 62. Second drive rod; 63. Second telescopic drive member; 64. Second clamping part; 7. Fixing mechanism; 71. Telescopic member; 711. Cylinder barrel; 712. Piston; 72. Outer convex ring; 8. Underwater sewage cleaning robot; 81. First hanging part; 9. Charging mechanism. Specific embodiments

[0044] The present invention will be further described in detail below with reference to the accompanying drawings of the specification and specific embodiments.

[0045] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is 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 construed as a limitation to the present invention.

[0046] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality of" means two or more unless otherwise specifically defined.

[0047] In the present invention, unless otherwise clearly specified and defined, terms such as "assemble", "connect", "join", "fix", etc. shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0048] Embodiment 1:

[0049] Figures 1 to 8 An embodiment of the underwater sewage cleaning robot's water entry and exit conveying system of the present invention is shown. The underwater sewage cleaning robot's water entry and exit conveying 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 moving 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 the underwater sewage cleaning robot 8 is provided at the bottom of the vertical guide frame 1. The lifting mechanism 3 is arranged on the vertical guide frame 1 in a liftable manner. 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 pool 101. The longitudinal moving mechanism 5 is arranged on the longitudinal guide frame 2. The second grasping mechanism 6 is arranged on the longitudinal moving mechanism 5. One end of the longitudinal guide frame 2 is docked with the vertical guide frame 1, and a charging mechanism 9 is provided at the other end. The first grasping mechanism 4 is used to grasp the underwater sewage cleaning robot 8 on the parking platform 11 and place the underwater sewage cleaning robot 8 on the parking platform 11. The lifting mechanism 3 is used to convey the underwater sewage cleaning robot 8 between the longitudinal moving 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. The longitudinal moving mechanism 5 is used to convey the underwater sewage cleaning robot 8 between the lifting mechanism 3 and the charging mechanism 9.

[0050] The underwater sewage cleaning robot's water entry and exit conveying system is used for the underwater sewage cleaning robot 8 to enter and exit the water.

[0051] The water outlet process of the underwater sewage cleaning robot 8 includes: the first step, the underwater sewage cleaning robot 8 moves to the parking platform 11; the second step, the first grasping mechanism 4 grasps the underwater sewage cleaning robot 8; the third step, the lifting mechanism 3 drives the first grasping mechanism 4 and the underwater sewage cleaning robot 8 to rise to a set height; the fourth step, the second grasping mechanism 6 grasps the first grasping mechanism 4 from the lifting mechanism 3; the fifth step, the fixing mechanism 7 releases the first grasping mechanism 4; the sixth step, the longitudinal moving mechanism 5 drives the first grasping mechanism 4 and the underwater sewage cleaning robot 8 to move along the longitudinal guide frame 2 to the charging mechanism 9; the seventh step, the first grasping mechanism 4 places the underwater sewage cleaning robot 8 on the charging mechanism 9;

[0052] The water inlet process of the underwater sewage cleaning robot 8 includes: the first step, the first grasping mechanism 4 grasps the underwater sewage cleaning robot 8 on the charging mechanism 9; the second step, the longitudinal moving mechanism 5 drives the first grasping mechanism 4 and the underwater sewage 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 sewage cleaning robot 8 to descend, sending the underwater sewage cleaning robot 8 to the parking platform 11; the sixth step, the first grasping mechanism 4 releases the underwater sewage cleaning robot 8.

[0053] For this underwater sewage cleaning robot water inlet and outlet conveying system, on the one hand, through the cooperation of the first grasping mechanism 4, the lifting mechanism 3, the fixing mechanism 7, the longitudinal moving mechanism 5 and the second grasping mechanism 6, it is convenient to meet the requirement of the automatic entry and exit of the underwater sewage cleaning robot 8 from the pool 101, which is beneficial to improving the sewage cleaning efficiency. On the other hand, it is convenient for the underwater sewage cleaning robot 8 to enter and exit the pool 101 with low cost. On the third hand, the fixing mechanism 7 and the first grasping mechanism 4 can be fixed and separated. The second grasping mechanism 6 grasps the first grasping mechanism 4 for longitudinal movement. The first grasping mechanism 4 participates in the overall process of the water inlet and outlet movement of the underwater sewage cleaning robot 8, avoiding the interference caused by the handover of the first grasping mechanism 4 and the second grasping mechanism 6 for grasping and releasing the underwater sewage cleaning robot 8, which is convenient for the overall layout.

[0054] Further, as Figure 2 and Figure 4 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 arranged on the vertical guide frame 1, and the lifting drive assembly 32 is arranged on the vertical guide frame 1 for driving the lifting seat 31 to lift and slide. The fixing mechanism 7 is arranged 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 move up and down, thereby driving the first grasping mechanism 4 to grasp the underwater sewage cleaning robot 8 to move up and down for water inlet and outlet.

[0055] Further, as Figure 2 、 Figure 4 and Figure 5As 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.

[0056] 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.

[0057] 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.

[0058] When the longitudinal movement mechanism 5 drives the first grasping mechanism 4 and the underwater sewage 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 grasping mechanism 4, and the second grasping mechanism 6 releases the first grasping mechanism 4. The specific process is as follows: The longitudinal movement mechanism 5 drives the first grasping mechanism 4 to longitudinally move towards the lifting mechanism 3 until the piston 712 penetrates into the through hole 411. 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 limiting hole 412. Next, the piston 712 contracts inward, so that the outer convex ring 72 and the cylinder barrel 711 clamp the mounting seat 41. Then, the second grasping mechanism 6 releases the first grasping mechanism 4, and the lifting mechanism 3 can drive the first grasping mechanism 4 to descend. The structural design of the fixing mechanism 7 is ingenious and convenient for automatic control.

[0059] Further, as Figure 2 shown, in this embodiment, the transverse movement assembly 43 includes a transverse movement seat 431 (not fully shown in the drawings), a transverse lead screw 432, and a transverse movement motor 433. The transverse movement seat 431 is transversely movably arranged on the mounting seat 41. The transverse lead screw 432 is rotatably arranged on the mounting seat 41 and is threadedly connected to the transverse movement seat 431. The transverse movement motor 433 is arranged on the mounting seat 41 and is used to drive the transverse lead screw 432 to rotate, thereby driving the transverse movement seat 431 to move transversely. The first grasping mechanism 4 is arranged on the transverse movement seat 431.

[0060] Further, as Figure 2 and Figure 4 shown, in this embodiment, the first grasping assembly 42 includes two first clamping jaws 421, a first driving rod 422, and a first telescopic driving member 423. The middle parts of the two first clamping jaws 421 are rotatably arranged on the transverse movement seat 431 and are arranged oppositely. The first telescopic driving member 423 is arranged on the transverse movement 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 ends of the two first clamping jaws 421. The other end of the first clamping jaw 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 jaws 421 to rotate in opposite directions, so that the first clamping portions 424 of the two first clamping jaws 421 clamp and release the underwater sewage cleaning robot 8 for movement. Preferably, the first telescopic driving member 423 is a cylinder, an oil cylinder, or an electric cylinder.

[0061] Specifically, the middle parts of the two first clamping jaws 421 are rotatably arranged on the transverse movement assembly 43 and are arranged oppositely. 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 clamping jaws 421. The other end of the first clamping jaw 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 jaws 421 to rotate in opposite directions, so that the first clamping portions 424 of the two first clamping jaws 421 clamp and release the underwater sewage cleaning robot 8 for movement.

[0062] Further, in this embodiment, the underwater sewage cleaning robot 8 is provided with two first hanging portions 81 arranged oppositely. The first clamping portion 424 is in a hook shape and is used to pass through the first hanging portion 81 to lift the underwater sewage cleaning robot 8. The first hanging portion 81 is provided with a through hole for the first hanging portion 81 to pass through. The first telescopic driving member 423 drives the first driving rod 422 to drive the tops (the ends connected to the first driving rod 422) of the two first clamping jaws 421 to move outwards, so that the first clamping portions 424 of the two first clamping jaws 421 respectively penetrate into the two first hanging portions 81 to clamp the two first hanging portions 81. Here, the first clamping portion 424 may not apply a clamping force to the two first hanging portions 81. On the contrary, the first telescopic driving member 423 drives the first driving rod 422 to drive the tops (the ends connected to the first driving rod 422) of the two first clamping jaws 421 to move inwards, so that the first clamping portions 424 of the two first clamping jaws 421 respectively move out of the two first hanging portions 81 to release the two first hanging portions 81.

[0063] Further, as Figure 6 shown, in this embodiment, the second grasping mechanism 6 includes 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 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 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 opposite directions, so that the second clamping portions 64 of the two second clamping jaws 61 clamp and release the mounting seat 41 for movement. Preferably, the second telescopic driving member 63 is a cylinder, an oil cylinder or an electric cylinder.

[0064] Further, in this embodiment, the longitudinal movement mechanism 5 includes a longitudinal movement base 51, a longitudinal lead screw 52, and a longitudinal movement motor 53. The longitudinal movement base 51 is longitudinally movably arranged on the longitudinal guide frame 2. The longitudinal lead screw 52 is rotatably arranged on the longitudinal guide frame 2 and is threadedly connected to the longitudinal movement base 51. The longitudinal movement motor 53 is arranged on the longitudinal guide frame 2 and is used to drive the longitudinal lead screw 52 to rotate, thereby driving the longitudinal movement base 51 to move longitudinally. The second grasping mechanism 6 is arranged on the longitudinal movement base 51.

[0065] Specifically, the middle parts of the two second jaws 61 are rotatably arranged on the longitudinal movement base 51 and are arranged oppositely. The second telescopic driving member 63 is arranged on the longitudinal movement base 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 jaws 61. The other end of the second 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 jaws 61 to rotate in opposite directions, so that the second clamping portions 64 of the two second jaws 61 clamp and release the mounting base 41.

[0066] Further, in this embodiment, two relatively arranged second hanging portions 401 are provided on the mounting base 41. The second clamping portion 64 is in a hook shape and is used to pass through the second hanging portion 401 to lift the mounting base 41.

[0067] The second hanging portion 401 is provided with a through hole for the second clamping portion 64 to pass through. The second driving rod 62 drives the top ends (the ends connected to the second driving rod 62) of the two second jaws 61 to move outwards, so that the second clamping portions 64 of the two second jaws 61 respectively penetrate into the two second hanging portions 401 to clamp the two second hanging portions 401. Here, the second clamping portion 64 may not apply a clamping force to the two second hanging portions 401. On the contrary, the second driving rod 62 drives the top ends (the ends connected to the second driving rod 62) of the two second jaws 61 to move inwards, so that the second clamping portions 64 of the two second jaws 61 respectively move out of the two second hanging portions 401 to release the two second hanging portions 401.

[0068] Further, in this embodiment, the underwater cleaning robot's water inlet and outlet conveying system further includes a control center. A first position sensor 111 is provided on the parking platform 11 for detecting the position of the underwater cleaning robot 8. A second position sensor 301 is provided on the lifting mechanism 3 for detecting the lifting position of the lifting mechanism 3. A first in-place sensor 21 is provided above the lifting mechanism 3 on the longitudinal guide frame 2 for detecting whether the lifting mechanism 3 is in place. A second in-place sensor 22 is provided above the charging mechanism 9 on the longitudinal guide frame 2 for detecting whether the underwater 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 grasping mechanism 4, the longitudinal moving mechanism 5, the second grasping mechanism 6, the fixing mechanism 7, and the underwater cleaning robot 8 are all connected to the control center for signal connection. Through the control center, automatic control is achieved.

[0069] Further, in this embodiment, the lifting drive assembly 32 includes a vertical lead screw and a lifting motor. The vertical lead screw 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 lead screw for driving the vertical lead screw. The vertical lead screw is threadedly connected to the lifting seat 31 to drive the lifting seat 31 to move up and down.

[0070] Embodiment Two:

[0071] The control method of the underwater cleaning robot's water inlet and outlet conveying system in Embodiment One includes the steps of the underwater cleaning robot 8 exiting the water and entering the water;

[0072] The steps for the underwater cleaning robot 8 to exit the water include:

[0073] S1. The underwater cleaning robot 8 moves to the parking platform 11;

[0074] S2. The first grasping mechanism 4 grasps the underwater cleaning robot 8;

[0075] S3. The lifting mechanism 3 drives the first grasping mechanism 4 and the underwater cleaning robot 8 to rise to a set height;

[0076] S4. The second grasping mechanism 6 grasps the first grasping mechanism 4 from the lifting mechanism 3;

[0077] S5. The fixing mechanism 7 releases the first grasping mechanism 4;

[0078] S6. The longitudinal moving mechanism 5 drives the first grasping mechanism 4 and the underwater cleaning robot 8 to move along the longitudinal guide frame 2 to the charging mechanism 9;

[0079] S7. The first grasping mechanism 4 places the underwater cleaning robot 8 on the charging mechanism 9;

[0080] The steps for the underwater cleaning robot 8 to enter the water include:

[0081] Y1. The first grasping mechanism 4 grasps the underwater cleaning robot 8 on the charging mechanism 9;

[0082] Y2. The longitudinal movement mechanism 5 drives the first grasping 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;

[0083] Y3. The fixing mechanism 7 fixes the first grasping mechanism 4;

[0084] Y4. The second grasping mechanism 6 releases the first grasping mechanism 4;

[0085] Y5. The lifting mechanism 3 drives the first grasping mechanism 4 and the underwater cleaning robot 8 to descend, and sends the underwater cleaning robot 8 to the parking platform 11;

[0086] Y6. The first grasping mechanism 4 releases the underwater cleaning robot 8.

[0087] This control method is carried out by using the underwater cleaning robot access and transfer system, and has all the advantages of the underwater cleaning robot access and transfer system. That is, on the one hand, through the cooperation of the first grasping mechanism 4, the lifting mechanism 3, the fixing mechanism 7, the longitudinal movement mechanism 5 and the second grasping mechanism 6, it is convenient to meet the requirements of the automatic entry and exit of the underwater cleaning robot 8 from the pool 101, which is beneficial to improving the cleaning efficiency. On the other hand, it is convenient for the underwater cleaning robot 8 to enter and exit the pool 101, and the cost is low. On the third hand, the fixing mechanism 7 and the first grasping mechanism 4 can be fixed and separated. The second grasping mechanism 6 grasps the first grasping mechanism 4 for longitudinal movement. The first grasping mechanism 4 participates in the whole process of the entry and exit movement of the underwater cleaning robot 8, avoiding the interference caused by the handover of the first grasping mechanism 4 and the second grasping mechanism 6 for grasping and releasing the underwater cleaning robot 8, which is convenient for the overall layout.

[0088] Although the present invention has been disclosed above with preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make many possible changes and modifications to the technical solution of the present invention by using the above-disclosed technical content, or modify it into an equivalent embodiment with 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 technical solution of the present invention shall fall within the scope of protection of the technical solution of the present invention.

Claims

1. An underwater sewage cleaning robot's water inlet and outlet conveying system, characterized in that: It 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 water tank (101), and a parking platform (11) for parking an underwater sewage cleaning robot (8) is provided at the bottom of the vertical guide frame (1). The lifting mechanism (3) is arranged on the vertical guide frame (1) in a lifting manner, 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 water tank (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 docked with the vertical guide frame (1), and a charging mechanism (9) is provided at the other end. The first grasping mechanism (4) is used to grasp the underwater sewage cleaning robot (8) on the parking platform (11) and place the underwater sewage cleaning robot (8) on the parking platform (11). The lifting mechanism (3) is used to convey the underwater sewage 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). The longitudinal movement mechanism (5) is used to convey the underwater sewage cleaning robot (8) between the lifting mechanism (3) and the charging mechanism (9).

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

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

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

5. The underwater sewage cleaning robot water inlet and outlet conveying system according to claim 3, characterized in that: The first grasping assembly (42) includes two first jaws (421), a first driving rod (422), and a first telescopic driving member (423). The middle parts of the two first jaws (421) are rotatably arranged on the transverse movement assembly (43) and are oppositely arranged. 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 jaws (421). The other end of the first jaw (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 jaws (421) to rotate in opposite directions, so that the first clamping portions (424) of the two first jaws (421) clamp and release the underwater sewage cleaning robot (8) for movement.

6. The underwater cleaning robot water inlet and outlet conveying system according to claim 5, characterized in that: The underwater sewage cleaning robot (8) is provided with two oppositely arranged first hanging portions (81). The first clamping portion (424) is in a hook shape and is used to pass through the first hanging portion (81) to lift the underwater sewage cleaning robot (8).

7. The underwater sewage cleaning robot water inlet and outlet conveying system according to claim 3, characterized in that: The second grasping mechanism (6) includes two second jaws (61), a second driving rod (62), and a second telescopic driving member (63). The middle parts of the two second jaws (61) are rotatably arranged on the longitudinal movement mechanism (5) and are oppositely arranged. 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 jaws (61). The other end of the second 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 jaws (61) to rotate in opposite directions, so that the second clamping portions (64) of the two second jaws (61) clamp and release the mounting seat (41) for movement.

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

9. The underwater sewage cleaning robot's water inlet and outlet conveying system according to any one of claims 1 to 8, characterized in that: The underwater cleaning robot access and transportation system further includes a control center. A first position sensor (111) is provided on the parking platform (11) to detect the position of the underwater cleaning robot (8). A second position sensor (301) is provided on the lifting mechanism (3) to detect the lifting position of the lifting mechanism (3). A first in-place sensor (21) is provided above the lifting mechanism (3) on the longitudinal guide frame (2) to detect whether the lifting mechanism (3) is in place. A second in-place sensor (22) is provided above the charging mechanism (9) on the longitudinal guide frame (2) to detect whether the underwater 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 grasping mechanism (4), the longitudinal moving mechanism (5), the second grasping mechanism (6), the fixing mechanism (7), and the underwater cleaning robot (8) are all connected to the control center in signal.

10. A control method for an underwater sewage cleaning robot's water inlet and outlet conveying system according to any one of claims 1 to 9, characterized in that, Including the steps of the underwater cleaning robot (8) exiting and entering the water; The steps for the underwater cleaning robot (8) to exit the water include: S1. The underwater cleaning robot (8) moves to the parking platform (11); S2. The first grasping mechanism (4) grasps the underwater cleaning robot (8); S3. The lifting mechanism (3) drives the first grasping mechanism (4) and the underwater 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 moving mechanism (5) drives the first grasping mechanism (4) and the underwater cleaning robot (8) to move along the longitudinal guide frame (2) to the charging mechanism (9); S7. The first grasping mechanism (4) places the underwater cleaning robot (8) on the charging mechanism (9); The steps for the underwater cleaning robot (8) to enter the water include: Y1. The first grasping mechanism (4) grasps the underwater cleaning robot (8) on the charging mechanism (9); Y2. The longitudinal moving mechanism (5) drives the first grasping 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); Y3. The fixing mechanism (7) fixes the first grasping 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 cleaning robot (8) to descend, and sends the underwater cleaning robot (8) to the parking platform (11); Y6. The first grasping mechanism (4) releases the underwater cleaning robot (8).

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