Underwater cleaning robot

Abstract

The underwater cleaning robot comprises a main body rack, an electric control device arranged on the main body rack, an embracing and grabbing assembly and a stepping motor, and the embracing and grabbing assembly comprises an independent embracing and grabbing mechanism, a first embracing and grabbing mechanism, a second embracing and grabbing mechanism and a third embracing and grabbing mechanism; the independent holding and grabbing mechanism, the first holding and grabbing mechanism, the second holding and grabbing mechanism and the third holding and grabbing mechanism are movably installed on the lower end face of the main body rack through installation plates, the third holding and grabbing mechanism is electrically connected with the stepping motor through a supporting rod, and the first holding and grabbing mechanism is connected with the second holding and grabbing mechanism through a first pull rod. The second holding and grabbing mechanism and the third holding and grabbing mechanism are connected through a second pull rod. The robot has high flexibility, adaptability and autonomy, cleaning strategies and actions can be automatically adjusted according to different working environments and task requirements, all-directional and high-precision cleaning of underwater piles can be achieved, and an operator can remotely and visually operate the robot through a remote controller.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater cleaning, and particularly relates to an underwater cleaning robot. Background Art

[0002] With the rapid development of industries such as marine resource development, port construction, and water transportation, a large number of underwater infrastructures such as bridge piers, dock piles, and offshore wind power piles have emerged continuously. These underwater facilities are in complex marine or fresh water environments for a long time, and a large amount of dirt such as algae, shellfish, and marine organisms will adhere to their surfaces, which will not only affect the appearance of the facilities, but also accelerate the corrosion of the facilities, reduce their structural strength and service life. Therefore, regular cleaning and maintenance are required to ensure their safe and stable operation. At present, manual cleaning or conventional equipment cleaning is mostly used, but manual cleaning has high risks and low efficiency, and conventional mechanical cleaning equipment has great limitations and cannot effectively clean and treat dirt such as algae, shellfish, and marine organisms on bridge piers, dock piles, and offshore wind power piles. Summary of the Invention

[0003] In order to overcome the disadvantages and deficiencies existing in the prior art, the purpose of the present invention is to provide an underwater cleaning robot, which has high flexibility, adaptability, and autonomy, and can automatically adjust the cleaning strategy and actions according to different operating environments and task requirements; at the same time, the robot can also be equipped with various advanced sensors and cleaning tools to achieve all-round and high-precision cleaning of underwater piles, and the operator can remotely operate the robot visually through a remote controller.

[0004] The object of the present invention is achieved by the following technical solutions: An underwater cleaning robot includes a main body frame, an electric control device arranged in the main body frame, and a grasping component and a stepping motor arranged on the lower end surface of the main body frame. The grasping component includes an independent grasping mechanism, a first grasping mechanism, a second grasping mechanism, and a third grasping mechanism. The independent grasping mechanism, the first grasping mechanism, the second grasping mechanism, and the third grasping mechanism are all movably installed on the lower end surface of the main body frame through mounting plates. The independent grasping mechanism is located at the front end of the bottom surface of the mounting plate along the advancing direction of the robot. The first grasping mechanism, the second grasping mechanism, and the third grasping mechanism are sequentially arranged on one side of the independent grasping mechanism along the advancing direction of the robot. Two sets of the first grasping mechanism, the second grasping mechanism, and the third grasping mechanism are provided respectively. The stepping motor is located between the two second grasping mechanisms or the two third grasping mechanisms. The third grasping mechanism is connected to the power rotating shaft of the stepping motor through a support rod. The first grasping mechanism and the second grasping mechanism are connected through a first pull rod. The second grasping mechanism and the third grasping mechanism are connected through a second pull rod. The electric control device is fixed on the mounting plate and is located inside the main body frame. The stepping motor, the independent grasping mechanism, the first grasping mechanism, the second grasping mechanism, and the third grasping mechanism are all electrically connected to the electric control device.

[0005] Preferably, a plurality of longitudinal thrusters and a plurality of horizontal thrusters are further arranged inside the main body frame. The longitudinal thrusters are used to drive the robot to adhere to the surface to be cleaned, and the horizontal thrusters are used to drive the robot to walk along the surface to be cleaned. More preferably, four longitudinal thrusters and four horizontal thrusters are provided respectively. Each longitudinal thruster is evenly arranged on the top of the main body frame, and each horizontal thruster is evenly arranged around the circumferential direction of the main body frame.

[0006] Preferably, the longitudinal thrusters and the horizontal thrusters are both provided with corrosion-resistant rotating blades. The corrosion-resistant rotating blades are made of a high-strength corrosion-resistant composite material. The high-strength corrosion-resistant composite material includes the following raw materials in parts by weight: 30-50 parts of polyether polyol, 40-60 parts of diisocyanate, 0.1-0.5 part of catalyst, 1-5 parts of chain extender, 3-7 parts of modified filler, 1-5 parts of antioxidant, 10-20 parts of hydroxyl-terminated polybutadiene, and 0.1-0.5 part of silane coupling agent.

[0007] Preferably, the catalyst is at least one of dibutyltin dilaurate, dibutyltin dioctoate, triethylenediamine, stannous octoate, triethylenediamine, triethylamine, zinc isooctanoate, lead isooctanoate, potassium oleate, and zinc naphthenate.

[0008] Preferably, the chain extender is one or more of aliphatic diol chain extenders and aromatic diamine chain extenders.

[0009] Preferably, the modified filler is obtained by mixing 10-20 parts of polypropylene, 1-5 parts of polytetrafluoroethylene, 0.1-0.5 parts of nano graphite, 0.5-1.5 parts of carbon black, 1-3 parts of nano silica, 2-4 parts of talcum powder and 1-3 parts of silane coupling agent KH-560, heating the mixture to 60-90 °C, stirring and reacting for 30-60 min, and then drying and grinding.

[0010] Preferably, the antioxidant is at least one of methyl tetramethylene (3,5-di-tert-butyl-4-hydroxyphenylpropionate), triethylene glycol bis-[3-(3-tert-butyl-4-hydroxy-5-methylphenyl)propionate], 2,6-di-tert-butyl-4-methylphenol, and 2,6-di-tert-butyl-p-cresol.

[0011] The high-strength corrosion-resistant composite material is prepared by the following method:

[0012] S1. According to parts by weight, mix polyether polyol and diisocyanate, heat the mixture to 60-80 °C for reaction to obtain a prepolymer, and set it aside for later use;

[0013] S2. According to parts by weight, mix the catalyst, chain extender and modified filler to obtain mixture A, and set it aside for later use;

[0014] S3. According to parts by weight, mix the prepolymer, mixture A, antioxidant, hydroxyl-terminated polybutadiene and silane coupling agent, heat the mixture to 60-110 °C, stir and react for 1-3 h, and cool to obtain the high-strength corrosion-resistant composite material.

[0015] Preferably, at least two stepping motors are provided, and each of the first grasping mechanism, the second grasping mechanism and the third grasping mechanism is located on both sides of the stepping motor, and each of the first grasping mechanism, the second grasping mechanism and the third grasping mechanism is symmetrically arranged with respect to the axis where the stepping motor is located.

[0016] Preferably, the independent grasping mechanism, the first grasping mechanism, the second grasping mechanism and the third grasping mechanism are all arranged on the bottom end surface of the mounting plate through a movable frame. The movable frame includes a fixed frame, a rotating shaft and a turning plate. One end of the fixed frame is fixed to the bottom end surface of the mounting plate, the rotating shaft is sleeved on the other end of the fixed frame, the turning plate is movably hinged to the fixed frame through the rotating shaft, the independent grasping mechanism, the first grasping mechanism, the second grasping mechanism and the third grasping mechanism are connected to the corresponding turning plates, and the independent grasping mechanism, the first grasping mechanism, the second grasping mechanism and the third grasping mechanism can all rotate relative to the corresponding fixed frames.

[0017] Preferably, the independent grasping mechanism, the first grasping mechanism, the second grasping mechanism and the third grasping mechanism are all provided with cleaning trays.

[0018] Preferably, the independent gripper mechanism, the first gripper mechanism, the second gripper mechanism and the third gripper mechanism all include a cavitation jet disk, as well as a high-pressure water spraying joint and a cleaning disk arranged in the cavitation jet disk, and the high-pressure water spraying joints are all communicated with the cleaning disk.

[0019] Preferably, a camera device and a lighting device are further arranged at the front end of the mounting plate along the advancing direction of the robot.

[0020] Preferably, the rotation of the stepping motor can drive the relative fixed frame of the third gripper mechanism to rotate; the rotation of the relative fixed frame of the third gripper mechanism can drive the relative fixed frame of the second gripper mechanism to rotate through the second pull rod; the rotation of the relative fixed frame of the second gripper mechanism can drive the relative fixed frame of the first gripper mechanism to rotate through the first pull rod.

[0021] Preferably, an upper shell is arranged at the top of the main body frame, and a lifting ring is arranged at the top end of the upper shell.

[0022] Preferably, a pan-tilt is further arranged at the front end of the main body frame along the advancing direction of the robot.

[0023] The beneficial effects of the present invention are as follows: when the robot executes an underwater cleaning task, it first dives and crawls to the surface to be cleaned, adheres to the surface to be cleaned through the longitudinal thruster, makes the gripper assembly first lie flat on the underwater infrastructure, then drives the stepping motor to drive the support rod, indirectly drives each gripper mechanism so that the cleaning disks in each gripper mechanism can closely adhere to the arc surface of the underwater facility, presses the posture holding button, and drives the robot to walk along the surface to be cleaned through the horizontal thruster. While the robot is walking, the water flow switch of the cavitation jet disk is turned on, and the gun head in the cavitation jet disk starts to rotate to generate negative pressure, which will adsorb the whole robot to the underwater infrastructure, and can better adhere to different positions of the surface to be cleaned, thereby improving the cleaning efficiency and cleaning effect of the surface to be cleaned. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a perspective view of the robot of the present invention;

[0025] Figure 2 is Figure 1 a schematic structural view of another perspective of

[0026] Figure 3 is Figure 1 a schematic structural view of still another perspective of

[0027] Figure 4 is a perspective view of the first exploded schematic diagram of the present invention;

[0028] Figure 5 is the second exploded schematic diagram of the present invention;

[0029] Figure 6It is the third decomposition schematic diagram of the present invention;

[0030] Figure 7 It is the decomposition schematic diagram of the second gripping mechanism of the present invention.

[0031] The reference numerals in the drawings are: 1 - main body frame, 11 - upper housing, 12 - lifting ring, 13 - pan-tilt head, 2 - electric control device, 31 - independent gripping mechanism, 32 - first gripping mechanism, 33 - second gripping mechanism, 331 - cavitation jet disk, 332 - high-pressure water spraying joint, 34 - third gripping mechanism, 4 - stepping motor, 5 - mounting plate, 61 - support rod, 62 - first pull rod, 63 - second pull rod, 71 - longitudinal thruster, 72 - horizontal thruster, 721 - rotating blade, 8 - movable frame, 81 - fixed frame, 82 - rotating shaft, 83 - turning plate, 91 - cleaning disk, 92 - imaging device, 93 - lighting device. Specific embodiments

[0032] For the convenience of those skilled in the art to understand, the following combines embodiments and appended Figures 1-7 drawings to further illustrate the present invention. The content mentioned in the embodiments does not limit the present invention.

[0033] Embodiment 1

[0034] See Figures 1-7, an underwater cleaning robot, comprising a main body frame 1, an electric control device 2 arranged inside the main body frame 1, and a grasping assembly and a stepping motor 4 arranged on the lower end surface of the main body frame 1. The grasping assembly includes an independent grasping mechanism 31, a first grasping mechanism 32, a second grasping mechanism 33, and a third grasping mechanism 34. The independent grasping mechanism 31, the first grasping mechanism 32, the second grasping mechanism 33, and the third grasping mechanism 34 are all movably mounted on the lower end surface of the main body frame 1 through a mounting plate 5. The independent grasping mechanism 31 is located at the front end of the bottom surface of the mounting plate 5 along the advancing direction of the robot. The first grasping mechanism 32, the second grasping mechanism 33, and the third grasping mechanism 34 are sequentially arranged on one side of the independent grasping mechanism 31 along the advancing direction of the robot. Two sets of the first grasping mechanism 32, the second grasping mechanism 33, and the third grasping mechanism 34 are provided. The stepping motor 4 is located between the two second grasping mechanisms 33 or the two third grasping mechanisms 34. The third grasping mechanism 34 is connected to the power rotating shaft 82 of the stepping motor 4 through a support rod 61. The first grasping mechanism 32 and the second grasping mechanism 33 are connected through a first pull rod 62. The second grasping mechanism 33 and the third grasping mechanism 34 are connected through a second pull rod 63. The electric control device 2 is fixed on the mounting plate 5 and is located inside the main body frame 1. The stepping motor 4, the independent grasping mechanism 31, the first grasping mechanism 32, the second grasping mechanism 33, and the third grasping mechanism 34 are all electrically connected to the electric control device 2. A upper housing 11 is provided at the top of the main body frame 1, and a lifting ring 12 is provided at the top end of the upper housing 11. A pan-tilt 13 is further provided at the front end of the main body frame 1 along the advancing direction of the robot. A plurality of longitudinal thrusters 71 and a plurality of horizontal thrusters 72 are further arranged inside the main body frame 1. The longitudinal thrusters 71 are used to drive the robot to adhere to the surface to be cleaned, and the horizontal thrusters 72 are used to drive the robot to walk along the surface to be cleaned.

[0035] In this embodiment, the independent grasping mechanism 31, the first grasping mechanism 32, the second grasping mechanism 33, and the third grasping mechanism 34 are all provided with a cleaning disc 91. The independent grasping mechanism 31, the first grasping mechanism 32, the second grasping mechanism 33, and the third grasping mechanism 34 all include a cavitation jet disc 331, and a high-pressure water spraying joint 332 and a cleaning disc 91 arranged inside the cavitation jet disc 331. The high-pressure water spraying joints 332 are all communicated with the cleaning disc 91.

[0036] The underwater cleaning robot in this embodiment has high flexibility, adaptability and autonomy, and can automatically adjust the cleaning strategy and actions according to different working environments and task requirements. At the same time, the robot can also be equipped with various advanced sensors and cleaning tools to achieve all-round and high-precision cleaning of underwater piles. And the operator can remotely operate the robot visually through a remote control. When the underwater cleaning robot works, it needs a shore-based water pump to supply water to the cavitation jet disk 331, and the water pump is connected to the robot by a water pipe. When the robot is launched from the shore, it can be hoisted into the water by the jib on the mother ship. After the robot enters the water, the operator operates the remote control to control the longitudinal thruster 71 to sink. Through the picture fed back by the camera (not shown) mounted on the pan-tilt unit 13, the operator controls the horizontal thruster 72 to move forward and backward, etc., so that the robot swims to the underwater infrastructure to be cleaned. After adjusting the position, the operator operates the pitch attitude rocker of the remote control to make the robot flip upward by 90°. Then, in cooperation with the sinking rocker, the grasping assembly first lies flat on the underwater infrastructure, and then drives the stepping motor 4 to drive the support rod 61, indirectly driving the independent grasping mechanism 31, the first grasping mechanism 32, the second grasping mechanism 33 and the third grasping mechanism 34, so that the cleaning disk 91 in the grasping assembly can closely adhere to the arc surface of the underwater facility and eject high-pressure water flow to wash the surface of the facility. Press the hold attitude button, and then turn on the water flow switch of the cavitation jet disk 331. The nozzle in the cavitation jet disk 331 starts to rotate to generate negative pressure, which will adsorb the whole robot to the underwater infrastructure. After that, the operator only needs to control the robot to clean the entire facility through the image fed back by the pan-tilt unit 13.

[0037] In this embodiment, at least two stepping motors 4 are provided, and each of the first grasping mechanism 32, the second grasping mechanism 33 and the third grasping mechanism 34 is located on both sides of the stepping motor 4, and each of the first grasping mechanism 32, the second grasping mechanism 33 and the third grasping mechanism 34 is symmetrically arranged with respect to the axis where the stepping motor 4 is located.

[0038] In a specific embodiment, one independent gripping mechanism 31 is provided, and three first gripping mechanisms 32, three second gripping mechanisms 33, and three third gripping mechanisms 34 are respectively provided. The seven gripping mechanisms are arranged in an isosceles triangle array at the bottom of the equipment body. The independent gripping mechanism 31 is located in the front along the advancing direction of the robot, and the other two first gripping mechanisms 32, second gripping mechanisms 33, and third gripping mechanisms 34 are successively located in the rear along the advancing direction of the robot. Here, the seven gripping mechanisms can swing different amplitudes according to different contact positions to better adhere to the surface to be cleaned. The cleaning discs 91 provided in the seven gripping mechanisms can cooperate with each other to clean the surface to be cleaned, thereby reducing the possibility of missed cleaning on the surface to be cleaned and further improving the cleaning efficiency and cleaning effect. In other embodiments, the number of gripping mechanisms of the gripping assembly is 6, and the number can also be set to one, two, four, etc. according to actual needs.

[0039] In this embodiment, four longitudinal thrusters 71 and four horizontal thrusters 72 are provided. Each longitudinal thruster 71 is uniformly arranged on the top of the main body frame 1, and the robot is driven to adhere to the surface to be cleaned by the longitudinal thruster 71; each horizontal thruster 72 is uniformly arranged around the circumferential direction of the main body frame 1, and the robot is driven to walk along the surface to be cleaned by the horizontal thruster 72, and a full posture can be achieved. In other embodiments, the number of longitudinal thrusters 71 can also be set to two, six, eight, etc., and the number of horizontal thrusters 72 can also be set to four, six, etc.

[0040] When the robot performs an underwater cleaning task in this embodiment, it first dives and crawls to the surface to be cleaned, adheres to the surface to be cleaned through the longitudinal thruster 71, and is driven to walk along the surface to be cleaned by the horizontal thruster 72. While walking, the robot starts the cavitation jet disc 331 to spray high-pressure water flow to clean the attachments on the surface to be cleaned, so as to better adhere to the surface to be cleaned, thereby improving the cleaning efficiency and cleaning effect of the surface to be cleaned.

[0041] In this embodiment, the longitudinal thruster 71 and the horizontal thruster 72 are both provided with corrosion-resistant rotating blades 721; the corrosion-resistant rotating blades 721 are made of a high-strength corrosion-resistant composite material, and the high-strength corrosion-resistant composite material includes the following raw materials in parts by weight: 40 parts of polyether polyol, 50 parts of diisocyanate, 0.3 part of catalyst, 3 parts of chain extender, 5 parts of modified filler, 3 parts of antioxidant, 15 parts of hydroxyl-terminated polybutadiene, and 0.3 part of silane coupling agent.

[0042] The catalyst is dibutyltin dilaurate.

[0043] The chain extender is an aliphatic diol chain extender.

[0044] The modified filler is obtained by mixing 15 parts of polypropylene, 3 parts of polytetrafluoroethylene, 0.3 part of nano-graphite, 1.0 part of carbon black, 2 parts of nano-silica, 3 parts of talcum powder and 2 parts of silane coupling agent KH-560, heating the mixture to 70 °C, stirring and reacting for 45 min, and then drying and grinding.

[0045] The antioxidant is methyl tetramethylene (3,5-di-tert-butyl-4-hydroxyphenylpropionate).

[0046] The high-strength corrosion-resistant composite material is prepared by the following method:

[0047] S1. According to parts by weight, mix polyether polyol and diisocyanate, heat the mixture to 60 - 80 °C for reaction to obtain a prepolymer, and set it aside;

[0048] S2. According to parts by weight, mix a catalyst, a chain extender and the modified filler to obtain a mixture A, and set it aside;

[0049] S3. According to parts by weight, mix the prepolymer, mixture A, antioxidant, hydroxyl-terminated polybutadiene and silane coupling agent, heat the mixture to 80 °C, stir and react for 2 h, and cool to obtain the high-strength corrosion-resistant composite material.

[0050] In this embodiment, the corrosion-resistant rotating blades 721 of the longitudinal thruster 71 and the horizontal thruster 72 are made of the above materials. The corrosion-resistant rotating blades 721 made of the above raw materials have special properties such as low density, high tensile, shear strength, low temperature resistance, and corrosion resistance. They can be well applied to underwater operations, ensuring the high flexibility and environmental adaptability of the robot and extending its service life. Specifically, a special polyurethane material can be synthesized by using polyether polyol, diisocyanate, and a catalyst. The added hydroxyl-terminated polybutadiene is a soft segment containing hydrophobic olefin groups, which is not easily attacked and oxidized, and can improve the corrosion resistance of the polyurethane material. Controlling the number-average molecular weight of the hydroxyl-terminated polybutadiene to be 4000-5000 can increase the separation degree between the soft segment and the hard segment, promote the crystallization of the soft segment, and thus improve the corrosion resistance. Moreover, using diisocyanate as the hard segment has good rigidity, which is beneficial to preventing the intrusion of the medium. At the same time, due to its good rigidity, it can ensure the mechanical properties of the polyurethane material. The added modified filler is made of polypropylene, polytetrafluoroethylene, nano-graphite, carbon black, nano-silica, talcum powder, and silane coupling agent KH-560. Using the silane coupling agent as a graft modifier and using the hydroxyl groups on the surfaces of nano-graphite, carbon black, nano-silica, and talcum powder to carry out graft modification reactions with polypropylene and polytetrafluoroethylene, the prepared modified filler has excellent heat and corrosion resistance. When applied to the production of the polyurethane material of the present invention and effectively combined with the polyurethane material under the action of auxiliaries such as chain extenders, the prepared composite material has high strength and strong corrosion resistance, further ensuring the strength and corrosion resistance of the longitudinal thruster 71 and the horizontal thruster 72 during underwater rotation, and thus ensuring the cleaning efficiency and cleaning effect when the robot performs underwater cleaning tasks.

[0051] In this embodiment, the independent grasping mechanism 31, the first grasping mechanism 32, the second grasping mechanism 33, and the third grasping mechanism 34 are all arranged on the bottom end surface of the mounting plate 5 through the movable frame 8. The movable frame 8 includes a fixed frame 81, a rotating shaft 82, and a turning plate 83. One end of the fixed frame 81 is fixed on the bottom end surface of the mounting plate 5. The rotating shaft 82 is sleeved on the other end of the fixed frame 81. The turning plate 83 is movably hinged to the fixed frame 81 through the rotating shaft 82. The independent grasping mechanism 31, the first grasping mechanism 32, the second grasping mechanism 33, and the third grasping mechanism 34 are connected to the corresponding turning plate 83, and the independent grasping mechanism 31, the first grasping mechanism 32, the second grasping mechanism 33, and the third grasping mechanism 34 can all rotate relative to the corresponding fixed frame 81.

[0052] In this embodiment, the rotation of the stepper motor 4 can drive the relative fixed frame 81 of the third gripping mechanism 34 to rotate; the rotation of the third gripping mechanism 34 relative to the fixed frame 81 can drive the second gripping mechanism 33 relative to the fixed frame 81 to rotate through the second pull rod 63; the rotation of the second gripping mechanism 33 relative to the fixed frame 81 can drive the first gripping mechanism 32 relative to the fixed frame 81 to rotate through the first pull rod 62.

[0053] In this embodiment, the rotation of the stepper motor 4 can drive the relative fixed frame 81 of the third gripping mechanism 34 to rotate (i.e., adjust the gripping mechanism to fit the arc surface of the underwater facility according to the arc surface of the underwater facility), so that the cleaning disc 91 in the gripping assembly can fit well with the arc surface of the underwater facility, and then press the hold attitude button; similarly, the vertical gripping mechanism, the first gripping mechanism 32, and the second gripping mechanism 33 can also be adjusted according to the arc surface of the underwater facility to adapt to different arc surfaces of underwater infrastructure such as bridge piers, dock piles, and offshore wind power piles.

[0054] Moreover, the robot can dive to a relatively deep depth, and it is not easy to damage the surface to be cleaned and underwater organisms during cleaning, reducing the risk of death of underwater organisms; in addition, the working time of the robot is long, which can reduce the cleaning cost. Compared with manual cleaning, the robot also has high flexibility and environmental adaptability, and can perform some complex and dangerous underwater tasks, thus avoiding the risks of manual cleaning.

[0055] In this embodiment, a camera device 92 and a lighting device 93 are further provided at the front end of the mounting plate 5 along the advancing direction of the robot. Here, the camera device 92 and the lighting device 93 cooperate with each other to monitor the working environment of the robot in real time, so as to facilitate the operator to control the working state of the robot and adjust the walking path of the robot.

[0056] Embodiment 2

[0057] The difference between this embodiment and the above-mentioned Embodiment 1 is as follows:

[0058] The high-strength corrosion-resistant composite material of this embodiment includes the following raw materials in parts by weight: 30 parts of polyether polyol, 40 parts of diisocyanate, 0.1 part of catalyst, 1 part of chain extender, 3 parts of modified filler, 1 part of antioxidant, 10 parts of hydroxyl-terminated polybutadiene, and 0.1 part of silane coupling agent.

[0059] The catalyst is dibutyltin dilaurate.

[0060] The chain extender is an aromatic diamine chain extender.

[0061] The modified filler is obtained by mixing 10 parts of polypropylene, 1 part of polytetrafluoroethylene, 0.1 part of nano-graphite, 0.5 part of carbon black, 1 part of nano-silica, 2 parts of talc powder, and 1 part of silane coupling agent KH-560, heating to 60 °C, stirring and reacting for 60 min, then drying and grinding.

[0062] The antioxidant is 2,6-di-tert-butyl-4-methylphenol.

[0063] The high-strength corrosion-resistant composite material is prepared by the following method:

[0064] S1. According to parts by weight, polyether polyol and diisocyanate are mixed and heated to 60 °C for reaction to obtain a prepolymer, which is reserved;

[0065] S2. According to parts by weight, a catalyst, a chain extender and a modified filler are mixed to obtain a mixture A, which is reserved;

[0066] S3. According to parts by weight, the prepolymer, mixture A, antioxidant, hydroxyl-terminated polybutadiene and silane coupling agent are mixed and heated to 60 °C, stirred and reacted for 3 h, and cooled to obtain the high-strength corrosion-resistant composite material.

[0067] The remaining content of this example is the same as that of Example 1 and will not be repeated here.

[0068] Example 3

[0069] The difference between this example and the above Example 1 is as follows:

[0070] The high-strength corrosion-resistant composite material of this example comprises the following raw materials in parts by weight: 50 parts of polyether polyol, 60 parts of diisocyanate, 0.5 part of catalyst, 5 parts of chain extender, 7 parts of modified filler, 5 parts of antioxidant, 20 parts of hydroxyl-terminated polybutadiene, and 0.5 part of silane coupling agent.

[0071] The catalyst is triethylenediamine.

[0072] The chain extender is an aliphatic diol chain extender.

[0073] The modified filler is obtained by mixing 20 parts of polypropylene, 5 parts of polytetrafluoroethylene, 0.5 part of nano-graphite, 1.5 parts of carbon black, 3 parts of nano-silica, 4 parts of talc powder and 3 parts of silane coupling agent KH-560, heating to 90 °C, stirring and reacting for 30 min, then drying and grinding.

[0074] The antioxidant is 2,6-di-tert-butyl-p-cresol.

[0075] The high-strength corrosion-resistant composite material is prepared by the following method:

[0076] S1. According to parts by weight, polyether polyol and diisocyanate are mixed and heated to 80 °C for reaction to obtain a prepolymer, which is reserved;

[0077] S2. According to parts by weight, a catalyst, a chain extender and a modified filler are mixed to obtain a mixture A, which is reserved;

[0078] S3. Mix the prepolymer, mixture A, antioxidant, hydroxyl-terminated polybutadiene, and silane coupling agent by weight, heat the mixture to 110°C, stir and react for 1 h, and cool to obtain a high-strength corrosion-resistant composite material.

[0079] The rest of this example is the same as that of Example 1 and will not be elaborated here.

[0080] Comparative Example 1

[0081] The difference between this comparative example and Example 1 above is that the modified filler is not added to the raw materials of the high-strength corrosion-resistant composite material in this comparative example. The rest of this comparative example is the same as that of Example 1 and will not be elaborated here.

[0082] Performance tests were carried out on the rotary blades made of the high-strength corrosion-resistant composite materials prepared in Example 1 and Comparative Example 1, and the polyurethane materials produced by the commercially available Jingxian Zhida Rubber and Plastic Products Co., Ltd. The results are shown in Table 1:

[0083] Tensile strength: Tested according to the standard of GB / T528—2009;

[0084] Tear strength: Tested according to the standard of GB / T529—2008;

[0085] Elongation at break: Tested according to the standard of GB / T528—2009.

[0086] Table 1

[0087]

[0088] It can be seen from the comparison between Example 1 and Comparative Example 1 that the rotary blades made of the high-strength corrosion-resistant composite material of the present invention have good mechanical properties and broad market prospects and application values.

[0089] Detection of salt water resistance:

[0090] Immerse the polyurethane material sample ((25 mm * 25 mm * 2 mm)) in a 5% sodium chloride solution and conduct a 12-hour immersion experiment in salt water. The test results are shown in Table 2.

[0091] Tensile strength: Tested according to the standard of GB / T528—2009;

[0092] Tear strength: Tested according to the standard of GB / T529—2008;

[0093] Elongation at break: Tested according to the standard of GB / T528—2009.

[0094] Table 2

[0095]

[0096]

[0097] It can be seen from the comparison between Example 1 and Comparative Example 1 that under the same conditions, the rotating blade made of the high-strength and corrosion-resistant composite material prepared from the above raw materials in the present invention has good mechanical properties and good corrosion resistance, and has broad market prospects and application value.

[0098] The above embodiments are preferred implementation schemes of the present invention. In addition, the present invention can also be implemented in other ways. Any obvious replacement without departing from the concept of the present invention is within the protection scope of the present invention.

Claims

1. An underwater cleaning robot, comprising a main body frame, characterized in that: It further includes an electric control device disposed within the main body frame, as well as a gripping assembly and a stepper motor disposed on the lower end face of the main body frame. The gripping assembly includes an independent gripping mechanism, a first gripping mechanism, a second gripping mechanism, and a third gripping mechanism. The independent gripping mechanism, the first gripping mechanism, the second gripping mechanism, and the third gripping mechanism are all movably mounted on the lower end face of the main body frame through a mounting plate. The independent gripping mechanism is located at the front end of the bottom surface of the mounting plate along the advancing direction of the robot. The first gripping mechanism, the second gripping mechanism, and the third gripping mechanism are sequentially arranged on one side of the independent gripping mechanism along the advancing direction of the robot. Two sets of the first gripping mechanism, the second gripping mechanism, and the third gripping mechanism are provided respectively. The stepper motor is located between the two second gripping mechanisms or the two third gripping mechanisms. The third gripping mechanism is connected to the power rotating shaft of the stepper motor through a support rod. The first gripping mechanism and the second gripping mechanism are connected to each other through a first pull rod. The second gripping mechanism and the third gripping mechanism are connected to each other through a second pull rod. The electric control device is fixed on the mounting plate and is located within the main body frame. The stepper motor, the independent gripping mechanism, the first gripping mechanism, the second gripping mechanism, and the third gripping mechanism are all electrically connected to the electric control device.

2. The underwater cleaning robot according to claim 1, characterized in that: A number of longitudinal thrusters and a number of horizontal thrusters are further provided within the main body frame. The longitudinal thrusters are used to drive the robot to adhere to the surface to be cleaned, and the horizontal thrusters are used to drive the robot to move along the surface to be cleaned.

3. An underwater cleaning robot according to claim 1, wherein: At least two stepper motors are provided. Each of the first gripping mechanism, the second gripping mechanism, and the third gripping mechanism is located on both sides of the stepper motor, and each of the first gripping mechanism, the second gripping mechanism, and the third gripping mechanism is symmetrically arranged with respect to the axis where the stepper motor is located.

4. An underwater cleaning robot according to claim 1, wherein: The independent gripping mechanism, the first gripping mechanism, the second gripping mechanism, and the third gripping mechanism are all arranged on the bottom end face of the mounting plate through a movable frame. The movable frame includes a fixed frame, a rotating shaft, and a turning plate. One end of the fixed frame is fixed to the bottom end face of the mounting plate. The rotating shaft is sleeved on the other end of the fixed frame. The turning plate is movably hinged to the fixed frame through the rotating shaft. The independent gripping mechanism, the first gripping mechanism, the second gripping mechanism, and the third gripping mechanism are connected to the corresponding turning plates, and the independent gripping mechanism, the first gripping mechanism, the second gripping mechanism, and the third gripping mechanism can all rotate relative to the corresponding fixed frames.

5. An underwater cleaning robot according to claim 1, characterized in that: The independent gripping mechanism, the first gripping mechanism, the second gripping mechanism, and the third gripping mechanism are all provided with cleaning trays.

6. The underwater cleaning robot according to claim 5, characterized in that: The independent gripping mechanism, the first gripping mechanism, the second gripping mechanism, and the third gripping mechanism all include a cavitation jet disk, as well as a high-pressure water spraying joint and a cleaning tray disposed within the cavitation jet disk. The high-pressure water spraying joints are all communicated with the cleaning trays.

7. An underwater cleaning robot according to claim 1, characterized in that: A camera device and a lighting device are further provided at the front end of the mounting plate along the advancing direction of the robot.

8. The underwater cleaning robot according to claim 4, characterized in that: The rotation of the stepping motor can drive the rotation of the third gripper mechanism relative to the fixed frame; the rotation of the third gripper mechanism relative to the fixed frame can drive the rotation of the second gripper mechanism relative to the fixed frame through the second pull rod; the rotation of the second gripper mechanism relative to the fixed frame can drive the rotation of the first gripper mechanism relative to the fixed frame through the first pull rod.

9. An underwater cleaning robot according to claim 1, characterized in that: A upper housing is provided at the top of the main body frame, and a lifting ring is provided at the top end of the upper housing.

10. An underwater cleaning robot according to claim 1, characterized in that: A pan-tilt is further provided at the front end of the main body frame along the forward direction of the robot.

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