Spray gun equipment for underwater maintenance robot

Abstract

The spray gun equipment comprises a gun body and a spray nozzle, the spray nozzle is detachably arranged at a water outlet of the gun body, a sealing ring is arranged between the spray nozzle and the water outlet of the gun body, the outer wall of the spray nozzle is sleeved with the sealing ring, a free rotating mechanism is arranged on the gun body, and the free rotating mechanism is arranged on the gun body. The free rotating mechanism comprises a base plate, a base, a rotating seat, a directional motor and a rotating motor, the section of the base is in an L shape, the horizontal plane of the base is rotationally connected to the base plate, the output end of the directional motor is connected to the base, the rotating seat is rotationally connected to the vertical plane of the base, and the rotating seat is rotationally connected to the vertical plane of the base. The output end of the rotating motor is connected to the rotating base, the gun body is arranged on the rotating base, and the rotating base is provided with an autorotation assembly used for autorotation of the gun body. The spraying device has the advantages that the spraying direction is accurately controlled, and it is ensured that the cleaning liquid can be accurately sprayed to a target area.

Description

Technical Field

[0001] The present application relates to the technical field of underwater maintenance equipment, and in particular to a spray gun device for an underwater maintenance robot. Background Art

[0002] Underwater maintenance robots play a vital role in the maintenance of offshore wind power equipment. These robots are usually equipped with sophisticated sensors and advanced navigation systems to ensure accurate positioning and efficient maintenance operations in complex underwater environments. The workflow is roughly as follows: First, the robot autonomously navigates to the location of the offshore wind power equipment to be repaired through a preset program or remote control command. After arriving at the target location, the robot uses the various detection tools it carries, such as sonar, cameras, etc., to conduct a comprehensive inspection of the equipment. During the inspection process, if dirt, corrosion or other problems that need to be cleaned are found, the robot will start its water spray gun device. The spray gun device uses high-pressure water to accurately clean the target area to ensure the normal operation of the equipment and extend its service life. After completing the cleaning, the robot will continue with other necessary maintenance operations and eventually return to the base or standby position to wait for the next mission.

[0003] In actual applications, the water flow control capability of existing spray gun equipment is limited, and it is difficult to achieve precise spray direction control. As a result, during the cleaning process, the water flow may not fully cover the target area or cause unnecessary damage to surrounding equipment, so there is room for improvement. Summary of the invention

[0004] The present invention solves the problem that the water flow control ability of existing spray gun equipment is limited and it is difficult to achieve precise spray direction control, which results in that during the cleaning process, the water flow may not be able to completely cover the target area or cause unnecessary damage to surrounding equipment; the present invention provides a spray gun equipment for an underwater maintenance robot, which achieves precise control of the spray direction, ensures that the cleaning liquid can be accurately sprayed into the target area, and improves the cleaning efficiency.

[0005] The present application provides a spray gun device for an underwater maintenance robot that adopts the following technical solution:

[0006] A spray gun device for an underwater maintenance robot comprises a gun body and a nozzle, wherein the nozzle is detachably arranged at the water outlet of the gun body, the gun body is provided with a free rotation mechanism, the free rotation mechanism comprises a substrate, a pedestal, a rotating seat, a directional motor and a rotating motor, the cross section of the pedestal is L-shaped, the horizontal plane of the pedestal is rotatably connected to the substrate, the output end of the directional motor is connected to the pedestal, the rotating seat is rotatably connected to the vertical plane of the pedestal, the output end of the rotating motor is connected to the rotating seat, the gun body is arranged on the rotating seat, and a rotation component for the gun body to rotate is provided on the rotating seat.

[0007] Since the water flow control capability of existing spray gun equipment is limited, it is difficult to achieve precise spray direction control, which results in that during the cleaning process, the water flow may not fully cover the target area or cause unnecessary damage to surrounding equipment; by adopting the above technical solution, including a gun body and a nozzle, a free rotation mechanism is installed on the gun body, and the free rotation mechanism includes a substrate, a base, a rotating seat, a directional motor and a rotating motor;

[0008] When the spray gun equipment is cleaning the target, operate the underwater maintenance robot to carry the spray gun equipment close to the target area to be cleaned, start the directional motor, adjust the horizontal rotation angle of the base relative to the substrate, so that the rotating seat (and the gun body installed thereon) can point to the optimal cleaning angle of the target, and start the rotating motor as needed, adjust the rotation angle of the rotating seat relative to the vertical plane of the base, further fine-tune the direction of the gun body, turn on the water source or cleaning liquid source of the gun body, and spray the cleaning liquid through the nozzle. At the same time, according to the cleaning needs, operate the rotation component to make the gun body rotate on the rotating seat to change the spray direction of the nozzle, so as to achieve comprehensive cleaning of the target surface to adapt to target surfaces of different shapes and angles until the target surface is cleaned.

[0009] Through the settings of free rotation mechanism, self-rotation component and other settings, the gun body can rotate freely in three-dimensional space, so as to achieve precise control of the spraying direction, ensure that the cleaning liquid can be accurately sprayed to the target area, and avoid the problem that the water flow cannot completely cover the target area or accidentally damage the surrounding equipment. At the same time, the self-rotation component enables the gun body to rotate on the rotating seat, further changing the spraying direction of the nozzle. This self-rotation function combined with the adjustment of the free rotation mechanism enables the spray gun equipment to adapt to target surfaces of different shapes and angles, and realize comprehensive cleaning of the target surface. The spray gun equipment can complete the cleaning task in a shorter time, thereby improving the cleaning efficiency.

[0010] Furthermore, the rotation component includes a rotation motor and a rotation bearing seat, the rotation bearing seat is connected to the surface of the rotating seat, the gun body passes through the rotation bearing seat and is rotationally connected to the rotation bearing seat, the rotation motor is arranged on the rotating shaft, and the output end of the rotation motor is connected to the gun body.

[0011] By adopting the above technical solution, the rotation component includes a rotation motor and a rotation bearing seat, and the rotation motor is used to realize a small rotation of the gun body; through the setting of the rotation component, since the nozzle of the gun body has injection ports in multiple positions, the rotation component can drive the gun body to realize a small rotation on the rotation bearing seat, so that the injection direction of the nozzle can be flexibly adjusted to adapt to target surfaces of different shapes and angles, thereby ensuring that the cleaning liquid can evenly cover the entire target area and enhance operational flexibility.

[0012] Furthermore, an angle sensor is provided on the gun body, and the angle sensor is used to limit the rotation angle of the gun body.

[0013] By adopting the above technical solution, the angle sensor is installed on the gun body; through the setting of the angle sensor, the angle sensor can monitor the rotation angle of the gun body in real time. Once the preset safety limit is reached, it can immediately send a signal to stop the gun body from continuing to rotate, effectively preventing the pipeline from being entangled or articulated due to excessive angle rotation, avoiding potential fluid blockage, pipeline damage, and operation interruption problems, and improving operational safety.

[0014] Furthermore, an extension plate is provided at one end of the rotating seat, the extension plate is arranged in a direction away from the gun body, and a counterweight for balancing the weight is provided at the end of the extension plate.

[0015] By adopting the above technical solution, an extension plate is integrally formed at one end of the rotating seat, and a counterweight is installed on the extension plate; by setting the extension plate and the counterweight, the weight of one end of the rotating seat can be increased, thereby helping to balance the center of gravity of the entire spray gun equipment. This balancing effect helps to improve the stability of the equipment during operation, especially in complex environments such as underwater, and can effectively reduce shaking caused by factors such as water flow, ensuring the stable progress of cleaning operations.

[0016] Furthermore, an assembly opening for installing a counterweight is provided on the extension plate, and the counterweight is inserted and fixed in the assembly opening.

[0017] By adopting the above technical solution, an assembly port is opened on the extension plate, and the counterweight is installed at the assembly port of the extension plate; through the setting of the assembly port, counterweights of different weights or shapes can be easily inserted or replaced as needed, so that the spray gun equipment can be personalized according to different working environments and cleaning requirements to achieve optimal stability and balance.

[0018] Furthermore, a first magnetic component is provided at the connecting end of the nozzle, a second magnetic component is provided at the water outlet of the gun body, the first magnetic component and the second magnetic component are magnetically attracted to each other, and a snap-fit ​​assembly for fixing is provided at the connection between the nozzle and the gun body.

[0019] By adopting the above technical solution, the first magnetic part is installed on the nozzle, and the second magnetic part is installed at the water outlet of the gun body. The first magnetic part and the second magnetic part are magnetically attracted to each other and are further fixed by the snap-fit ​​assembly. By setting the first magnetic part, the second magnetic part and the snap-fit ​​assembly, the nozzle can be quickly and easily connected to the gun body, which not only simplifies the connection process, but also greatly saves the operation time. In addition to the magnetic connection, the snap-fit ​​assembly provides additional fixing guarantees for the connection between the nozzle and the gun body, further locking the relative position of the nozzle and the gun body, and ensuring their stability and reliability in the connected state.

[0020] Furthermore, the snap-fit ​​assembly includes a snap-fit ​​hoop, which is sleeved at the connection between the nozzle and the gun body, and the snap-fit ​​hoop is provided with a fixing bolt for locking.

[0021] By adopting the above technical solution, the snap-fit ​​assembly includes a snap-fit ​​hoop, which is sleeved at the connection between the nozzle and the gun body and locked by a fixing bolt; through the arrangement of the snap-fit ​​hoop and the fixing bolt, the snap-fit ​​hoop can be tightly sleeved at the connection between the nozzle and the gun body, and the connection part is fixed by its clamping force, while the locking effect of the fixing bolt further enhances the stability of the connection, ensuring that the nozzle will not fall off or loosen due to water flow impact or improper operation during use, thereby improving the safety of the connection.

[0022] Furthermore, a sealing ring is provided between the nozzle and the water outlet of the gun body, and the sealing ring is sleeved on the outer wall of the nozzle.

[0023] By adopting the above technical solution, the sealing ring is installed on the outer wall of the nozzle; through the setting of the sealing ring, the sealing ring, as a key sealing element, can ensure the close connection between the nozzle and the water outlet of the gun body, and prevent pressure loss due to leakage during the spraying process. This stability helps to maintain the uniformity and consistency of the cleaning operation and improve the cleaning quality and efficiency.

[0024] Furthermore, the closed-loop control system collects the rotation angle deviation signal of the gun body through an angle sensor.

[0025] By adopting the above technical solution, the feedback data of the angle sensor is analyzed to generate a pulse width modulation (PWM) signal. The duty cycle of the PWM signal is linearly related to the deviation, which respectively drives the axial rotation of the directional motor, the pitch adjustment of the rotary motor and the circumferential fine-tuning of the autorotation motor. The action priorities of the three are dynamically allocated according to the preset cleaning path.

[0026] In summary, the present application includes at least one of the following beneficial technical effects:

[0027] 1. The spray gun device for an underwater maintenance robot provided by the present invention enables the gun body to rotate freely in three-dimensional space through the arrangement of a free rotation mechanism, a self-rotation component, etc., thereby realizing precise control of the spray direction, ensuring that the cleaning liquid can be accurately sprayed to the target area, avoiding the problem that the water flow cannot completely cover the target area or accidentally damages the surrounding equipment. At the same time, the self-rotation component enables the gun body to rotate on the rotating seat, further changing the spray direction of the nozzle. This self-rotation function combined with the adjustment of the free rotation mechanism enables the spray gun device to adapt to target surfaces of different shapes and angles, realizing comprehensive cleaning of the target surface. The spray gun device can complete the cleaning task in a shorter time, thereby improving the cleaning efficiency.

[0028] 2. The spray gun device for an underwater maintenance robot provided by the present invention has a self-rotating assembly. Since the nozzle of the gun body has spray ports at multiple positions, the self-rotating assembly can drive the gun body to achieve a small-amplitude self-rotation on the self-rotating bearing seat, so that the spraying direction of the nozzle can be flexibly adjusted to adapt to target surfaces of different shapes and angles, ensuring that the cleaning liquid can evenly cover the entire target area, thereby enhancing operational flexibility;

[0029] 3. The present invention provides a spray gun device for an underwater maintenance robot. Through the arrangement of a first magnetic part, a second magnetic part and a snap-fit ​​assembly, the nozzle can be quickly and easily connected to the gun body, which not only simplifies the connection process, but also greatly saves the operation time. In addition to the magnetic connection, the snap-fit ​​assembly provides additional fixing guarantees for the connection between the nozzle and the gun body, further locking the relative position of the nozzle and the gun body, and ensuring their stability and reliability in the connected state. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0031] Figure 1 It is a structural schematic diagram of a spray gun device for an underwater maintenance robot in a preferred embodiment of the present invention;

[0032] Figure 2 It is a structural schematic diagram for embodying a free rotation mechanism in a preferred embodiment of the present invention;

[0033] Figure 3 It is a schematic diagram of an exploded structure for reflecting the installation relationship between the first magnetic component and the second magnetic attraction component in a preferred embodiment of the present invention;

[0034] Figure 4It is a structural schematic diagram for reflecting the installation relationship between the nozzle and the sealing ring in a preferred embodiment of the present invention;

[0035] Figure 5 It is a structural schematic diagram for reflecting the buckling assembly in a preferred embodiment of the present invention.

[0036] Explanation of the reference numerals: 1. gun body; 11. second magnetic part; 2. nozzle; 21. first magnetic part; 3. free rotation mechanism; 301. substrate; 302. base; 303. rotating seat; 304. directional motor; 305. rotating motor; 4. rotation assembly; 401. rotating motor; 402. rotating bearing seat; 5. angle sensor; 6. extension plate; 61. assembly port; 7. counterweight; 8. snap-fit ​​assembly; 801. snap-fit ​​clamp; 9. fixing bolt; 10. sealing ring. DETAILED DESCRIPTION

[0037] In order to elaborate on the technical scheme adopted by the present invention to achieve the predetermined technical purpose, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only partial embodiments of the present invention, rather than all embodiments, and the technical means or technical features in the embodiments of the present invention can be replaced without paying creative work. The present invention will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0038] The following is combined with Figure 1-5 This application is described in further detail.

[0039] The present application embodiment discloses a spray gun device for an underwater maintenance robot. Figure 1 and Figure 2 The spray gun equipment for the underwater maintenance robot includes a gun body 1 and a nozzle 2. The nozzle 2 is detachably arranged at the water outlet of the gun body 1. A free rotation mechanism 3 is installed on the gun body 1. The free rotation mechanism 3 is used to realize the free adjustment of the angle of the gun body 1.

[0040] Reference Figure 1 and Figure 2The free rotation mechanism 3 includes a substrate 301, a base 302, a rotating base 303, an directional motor 304 and a rotating motor 305. In this embodiment, the substrate 301 is installed on the underwater maintenance robot. The underwater maintenance robot can be equipped with a hydraulic cylinder for extending the free rotation mechanism 3 and the gun body 1 synchronously, and the extended end of the hydraulic cylinder can be connected to the substrate 301; at the same time, the cross-section of the base 302 is L-shaped, and the horizontal plane of the base 302 is rotatably connected to the substrate 301. The base 302 can be rotatably installed with the substrate 301 by means of a rotating shaft, etc., and the directional motor 304 is installed on the base 302. The directional motor 304 can realize forward and reverse rotation. The output end of the directional motor 304 is connected to the rotating end at the bottom of the base 302, and the directional motor 304 is used to drive the base 302 to rotate.

[0041] Reference Figure 1 and Figure 2 The rotating seat 303 is rotatably connected to the vertical plane of the base 302. The rotating seat 303 can be rotatably installed with the base 302 by means of a rotating shaft, etc. At the same time, the rotating motor 305 is installed on the rotating seat 303. The rotating motor 305 can realize forward and reverse rotation. The output end of the rotating motor 305 is connected to the rotating end of the rotating seat 303, and the rotating motor 305 is used to drive the rotating seat 303 to rotate; the high-precision motor (rotating motor 305) equipped with the rotating seat 303 in this embodiment adopts an advanced closed-loop control system, which can accurately adjust the operating state of the motor according to preset instructions. At the same time, combined with the real-time monitoring function of the angle sensor, the equipment can sense and feedback the rotation angle of the gun body in real time to ensure that each rotation is accurate and correct.

[0042] Reference Figure 1 and Figure 2 , a rotation component 4 is installed on the rotating seat 303, and the rotation component 4 includes a rotation motor 401 and a rotation bearing seat 402. The rotation bearing seat 402 is installed on the surface of the rotating seat 303. In this embodiment, a corresponding bearing is provided inside the rotation bearing seat 402. The gun body 1 passes through the rotation bearing seat 402 and is rotatably installed with the bearing inside the rotation bearing seat 402. The tail of the gun body 1 can be connected to the water source equipped with the underwater maintenance robot through a pipeline. The rotation motor 401 is installed on the rotation bearing seat 402. The rotation motor 401 is used to drive the gun body 1 to rotate slightly. The rotation motor 401 is connected to the gun body 1 through a gear transmission. Since the nozzle 2 of the gun body 1 has injection ports in multiple positions, the rotation component 4 can drive the gun body 1 to rotate slightly on the rotation bearing seat 402, so that the injection direction of the nozzle 2 can be flexibly adjusted to adapt to target surfaces of different shapes and angles, ensuring that the cleaning liquid can evenly cover the entire target area and enhance operational flexibility.

[0043] Reference Figure 1 and Figure 2An angle sensor 5 is installed on the gun body 1. The angle sensor 5 can monitor the rotation angle of the gun body 1 in real time. Once the preset safety limit is reached, it can immediately send a signal to stop the gun body 1 from continuing to rotate, effectively preventing the pipeline from being entangled or articulated due to excessive angle rotation, avoiding potential fluid blockage, pipeline damage, and operation interruption, thereby improving operational safety.

[0044] Reference Figure 2 An extension plate 6 is integrally formed at one end of the rotating seat 303. In this embodiment, the extension plate 6 is arranged in a direction away from the gun body 1. An assembly port 61 is opened at the end of the extension plate 6. A counterweight 7 is inserted and fixed in the assembly port 61. The counterweight 7 can increase the weight of one end of the rotating seat 303, thereby helping to balance the center of gravity of the entire spray gun equipment. This balancing effect helps to improve the stability of the equipment during operation, especially in complex environments such as underwater, and can effectively reduce shaking caused by factors such as water flow, thereby ensuring the stable progress of the cleaning operation.

[0045] Reference Figure 3 and Figure 4 A first magnetic component 21 is installed at the connecting end of the nozzle 2, and a second magnetic component 11 is installed at the water outlet of the gun body 1. In this embodiment, the ports of the nozzle 2 and the gun body 1 are respectively provided with grooves for installing the first magnetic component 21 and the second magnetic component 11. When the connecting end of the nozzle 2 is matched with the water outlet end of the gun body 1, the first magnetic component 21 and the second magnetic component 11 are fitted together, and the first magnetic component 21 and the second magnetic component 11 are magnetically attracted to each other. The first magnetic component 21 and the second magnetic component 11 can be magnets; this allows the nozzle 2 to be quickly and easily connected to the gun body 1, which not only simplifies the connection process, but also greatly saves the operation time.

[0046] Reference Figure 4 A sealing ring 10 is sleeved on the outer wall of the nozzle 2 near the water outlet, and the sealing ring 10 is located in the internal space of the gun body 1 to ensure a good sealing effect between the nozzle 2 and the water outlet of the gun body 1. The sealing ring 10, as a key sealing element, can ensure a close connection between the nozzle 2 and the water outlet of the gun body 1 to prevent pressure loss due to leakage during the spraying process. This stability helps to maintain the uniformity and consistency of the cleaning operation and improve the cleaning quality and efficiency. In this embodiment, the nozzle 2 can be treated with a nano-waterproof coating at the water outlet of the gun body 1. This coating can form a super-hydrophobic surface, making it difficult for water droplets to stay and easy to slide off, thereby further improving the waterproof performance of the equipment. Through the application of these comprehensive waterproof means, the spray gun equipment for underwater maintenance robots can maintain excellent stability and durability in harsh underwater environments.

[0047] Reference Figure 5At the same time, a snap-fit ​​assembly 8 is installed at the connection between the nozzle 2 and the gun body 1, and the snap-fit ​​assembly 8 includes a snap-fit ​​hoop 801, which is sleeved at the connection between the nozzle 2 and the gun body 1, and a fixing bolt 9 is installed on the snap-fit ​​hoop 801. In this embodiment, the fixing bolt 9 realizes the contraction of the snap-fit ​​hoop 801 by locking. The snap-fit ​​assembly 8 provides an additional fixing guarantee for the connection between the nozzle 2 and the gun body 1, further locks the relative position of the nozzle 2 and the gun body 1, and ensures their stability and reliability in the connected state; in this embodiment, the spray gun equipment adopts multiple protection measures in terms of waterproofing. All electronic components and key connections are waterproofed or packaged with high-performance waterproof materials. The rotating parts such as the gun body 1 and the nozzle 2 are equipped with waterproof bearings and sealing rings. At the same time, an additional waterproof layer is added as a whole to ensure that it can operate for a long time in a complex underwater environment without being damaged by moisture, and maintain the stable operation and cleaning efficiency of the equipment.

[0048] The implementation principle of a spray gun device for an underwater maintenance robot in an embodiment of the present application is as follows: when the spray gun device is cleaning a target, the underwater maintenance robot is operated to carry the spray gun device close to the target area to be cleaned, the directional motor 304 is started, and the horizontal rotation angle of the base 302 relative to the substrate 301 is adjusted so that the rotating seat 303 (and the gun body 1 installed thereon) can point to the optimal cleaning angle of the target. As needed, the rotating motor 305 is started, and the rotation angle of the rotating seat 303 relative to the vertical plane of the base 302 is adjusted, and the direction of the gun body 1 is further fine-tuned. The water source or cleaning liquid source of the gun body 1 is turned on to spray the cleaning liquid through the nozzle 2. At the same time, according to the cleaning requirements, the rotation component 4 can be operated to make the gun body 1 rotate on the rotating seat 303 to change the spray direction of the nozzle 2, so as to achieve comprehensive cleaning of the target surface to adapt to target surfaces of different shapes and angles until the target surface is cleaned.

[0049] By means of the free rotation mechanism 3, the self-rotation component 4 and the like, the gun body 1 can rotate freely in three-dimensional space, thereby achieving precise control of the spraying direction, ensuring that the cleaning liquid can be accurately sprayed onto the target area, and avoiding the problem that the water flow cannot completely cover the target area or accidentally damages surrounding equipment. At the same time, the self-rotation component 4 enables the gun body 1 to rotate on the rotating seat 303, further changing the spraying direction of the nozzle 2. This self-rotation function combined with the adjustment of the free rotation mechanism 3 enables the spray gun equipment to adapt to target surfaces of different shapes and angles, achieving comprehensive cleaning of the target surface. The spray gun equipment can complete the cleaning task in a shorter time, thereby improving the cleaning efficiency.

[0050] The above is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technician familiar with this profession can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent replacement and improvement made to the above embodiments without departing from the content of the technical solution of the present invention, based on the technical essence of the present invention, within the spirit and principles of the present invention, still fall within the protection scope of the technical solution of the present invention.

Claims

1. A spray gun device for an underwater maintenance robot, characterized in that: The invention comprises a gun body (1) and a nozzle (2), wherein the nozzle (2) is detachably arranged at the water outlet of the gun body (1); a free rotation mechanism (3) is arranged on the gun body (1); the free rotation mechanism (3) comprises a base plate (301), a pedestal (302), a rotating seat (303), a directional motor (304) and a rotating motor (305); the base (302) has an L-shaped cross section; the horizontal surface of the base (302) is rotatably connected to the base plate (301); the output end of the directional motor (304) is connected to the base (302); the rotating seat (303) is rotatably connected to the vertical surface of the base (302); the output end of the rotating motor (305) is connected to the rotating seat (303); the gun body (1) is arranged on the rotating seat (303); and a rotation component (4) for rotating the gun body (1) is arranged on the rotating seat (303).

2. The spray gun device for an underwater maintenance robot according to claim 1, characterized in that: The self-rotating assembly (4) comprises a self-rotating motor (401) and a self-rotating bearing seat (402), wherein the self-rotating bearing seat (402) is connected to the surface of the rotating seat (303), the gun body (1) passes through the self-rotating bearing seat (402) and is rigidly connected to the inner ring of the bearing, the self-rotating motor (401) is fixed to the outer side of the self-rotating bearing seat (402) and is rotationally connected to the self-rotating bearing seat (402), and the output end of the self-rotating motor (401) is meshed with the outer wall of the gun body (1) through the gear transmission assembly to drive the gun body (1) to rotate around the axis of the self-rotating bearing seat (402); The self-rotating motor (401) is equipped with a closed-loop control system and is connected to the angle sensor (5) for signal transmission, so as to provide real-time feedback on the self-rotating angle of the gun body (1) and perform dynamic deviation correction.

3. The spray gun device for an underwater maintenance robot according to claim 2, characterized in that: An angle sensor (5) is provided on the gun body (1), and the angle sensor (5) is used to limit the rotation angle of the gun body (1).

4. The spray gun device for an underwater maintenance robot according to claim 1, characterized in that: An extension plate (6) is provided at one end of the rotating seat (303), and a counterweight (7) for balancing the weight is provided at the end of the extension plate (6).

5. The spray gun device for an underwater maintenance robot according to claim 4, characterized in that: The extension plate (6) is provided with an assembly opening (61) for installing a counterweight (7), and the counterweight (7) is fixed in the assembly opening (61).

6. The spray gun device for an underwater maintenance robot according to claim 1, characterized in that: A first magnetic component (21) is provided at the connection end of the nozzle (2), a second magnetic component (11) is provided at the water outlet of the gun body (1), the first magnetic component (21) and the second magnetic component (11) are magnetically attracted to each other, and a snap-fit ​​assembly (8) for fixing is provided at the connection between the nozzle (2) and the gun body (1).

7. The spray gun device for an underwater maintenance robot according to claim 6, characterized in that: The buckle assembly (8) comprises a buckle hoop (801), the buckle hoop (801) is sleeved at the connection between the nozzle (2) and the gun body (1), and a fixing bolt (9) for locking is provided on the buckle hoop (801).

8. The spray gun device for an underwater maintenance robot according to claim 6, characterized in that: A sealing ring (10) is provided between the nozzle (2) and the water outlet of the gun body (1), and the sealing ring (10) is sleeved on the outer wall of the nozzle (2).

9. The spray gun device for an underwater maintenance robot according to claim 2, characterized in that: The closed-loop control system comprises a signal processing module integrated in the main control unit of the underwater maintenance robot, wherein the signal processing module is connected to the angle sensor (5), the directional motor (304), the rotating motor (305) and the self-rotating motor (401) via a CAN bus protocol communication; the closed-loop control system collects the self-rotating angle deviation signal of the gun body (1) via the angle sensor (5); the feedback data of the angle sensor (5) is analyzed by the signal processing module to generate a PWM signal, wherein the duty cycle of the PWM signal is linearly related to the deviation amount, and the axial rotation of the directional motor (304), the pitch adjustment of the rotating motor (305) and the circumferential fine adjustment of the self-rotating motor (401) are driven respectively; The action priorities of the axial rotation of the directional motor (304), the pitch adjustment of the rotary motor (305) and the circumferential fine adjustment of the rotation motor (401) are dynamically allocated according to the preset cleaning path.

10. The spray gun device for an underwater maintenance robot according to claim 5, characterized in that: The center of gravity axis of the counterweight (7) coincides with the longitudinal center line of the extension plate (6), and the cross-sectional shape of the counterweight (7) matches the contour of the assembly opening (61); the water-facing surface of the counterweight (7) is a streamlined curved surface, and its radius of curvature is consistent with the curvature of the outer shell of the rotating seat (303).

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