An underwater cleaning robot

Abstract

The application relates to an underwater cleaning robot, which comprises a main body frame, an electric control device arranged on the main body frame, a grabbing assembly and a stepping motor, the grabbing assembly comprises independent grabbing mechanisms, a first grabbing mechanism, a second grabbing mechanism and a third grabbing mechanism, the independent grabbing mechanisms, the first grabbing mechanism, the second grabbing mechanism and the third grabbing mechanism are movably arranged on the lower end surface of the main body frame through mounting plates, the third grabbing mechanism is connected with the stepping motor through a supporting rod, the first grabbing mechanism and the second grabbing mechanism are connected through a first pull rod, and the second grabbing mechanism and the third grabbing mechanism are connected through a second pull rod. The robot has high flexibility, adaptability and autonomy, can automatically adjust a cleaning strategy and action according to different working environments and task requirements, can clean an underwater pile column in a full range and high precision, and an operator can remotely operate the robot through a remote controller in a visual mode.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underwater cleaning, in particular to an underwater cleaning robot. BACKGROUND

[0002] With the rapid development of marine resource development, port construction and water transportation industry, a large number of underwater infrastructures such as bridge piers, wharf piles, offshore wind piles and the like are emerging. These underwater facilities are in complex marine or freshwater environment for a long time, and a large amount of algae, shellfish, marine organisms and the like will be attached to the surface, which not only affects the appearance of the facilities, but also accelerates the corrosion of the facilities, reduces the structural strength and service life of the facilities, and thus needs to be cleaned and maintained regularly to ensure safe and stable operation. At present, manual cleaning or conventional equipment cleaning is mostly used, but manual cleaning is high-risk and low-efficiency, and conventional mechanical cleaning equipment has great limitations and cannot effectively clean and process algae, shellfish, marine organisms and the like on the bridge piers, wharf piles and offshore wind piles. SUMMARY

[0003] In order to overcome the shortcomings and deficiencies in the prior art, the purpose of the present application is to provide an underwater cleaning robot, which has high flexibility, adaptability and autonomy, can automatically adjust the cleaning strategy and action according to different working environments and task requirements, and can carry various advanced sensors and cleaning tools to realize omnidirectional and high-precision cleaning of underwater piles, and an operator can remotely operate the robot through a remote controller.

[0004] The underwater cleaning robot comprises a main body frame, an electric control device arranged in the main body frame, and a grabbing assembly and a stepping motor arranged at the lower end surface of the main body frame.

[0005] Preferably, the main body frame is further provided with a plurality of longitudinal propellers and a plurality of horizontal propellers, the longitudinal propellers are used to drive the robot to adhere to the surface to be cleaned, and the horizontal propellers are used to drive the robot to walk along the surface to be cleaned.

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

[0007] Preferably, the catalyst is at least one of dibutyl tin dilaurate, dibutyl tin dioctoate, triethylenediamine, stannous octoate, triethylenediamine, triethylamine, zinc isooctoate, lead isooctoate, 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 polypropylene 10-20 parts, polytetrafluoroethylene 1-5 parts, nano-graphite 0.1-0.5 parts, carbon black 0.5-1.5 parts, nano-silica 1-3 parts, talc powder 2-4 parts and silane coupling agent KH-560 1-3 parts, heating to 60-90℃, stirring for 30-60 min, drying and grinding.

[0010] Preferably, the antioxidant is at least one of tetramethylene (3,5-di-tert-butyl-4-hydroxyphenylpropionic acid) methyl ester, 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 weight parts, mixing polyether polyol and diisocyanate and heating to 60-80℃ to obtain a prepolymer, which is used as needed;

[0013] S2, according to weight parts, mixing catalyst, chain extender and modified filler to obtain a mixture A, which is used as needed;

[0014] S3, according to weight parts, mixing the prepolymer, mixture A, antioxidant, hydroxyl-terminated polybutadiene and silane coupling agent, heating to 60-110℃, stirring for 1-3h, and cooling to obtain a high-strength corrosion-resistant composite material.

[0015] Preferably, the stepping motor is provided with at least two, and each of the first, second and third gripping mechanisms is located on the two sides of the stepping motor and is symmetrically arranged relative to the axis of the stepping motor.

[0016] Preferably, the independent gripping mechanism, the first, second and third gripping mechanisms are arranged at the bottom end face of the mounting plate through a movable frame, the movable frame comprises a fixed frame, a rotating shaft and a turnover plate, one end of the fixed frame is fixed to the bottom end face of the mounting plate, the rotating shaft is sleeved at the other end of the fixed frame, the turnover plate is movably hinged to the fixed frame through the rotating shaft, the independent gripping mechanism, the first, second and third gripping mechanisms are connected to the corresponding turnover plate, and the independent gripping mechanism, the first, second and third gripping mechanisms can rotate relative to the corresponding fixed frame.

[0017] Preferably, the independent gripping mechanism, the first, second and third gripping mechanisms are provided with a cleaning disc.

[0018] Preferably, the independent gripping mechanism, the first gripping mechanism, the second gripping mechanism, and the third gripping mechanism all include a cavitation jet disk, and a high-pressure water spray connector and a cleaning disk disposed within the cavitation jet disk, wherein the high-pressure water spray connector is connected to the cleaning disk.

[0019] Preferably, the mounting plate is further provided with a camera device and a lighting device at the front end along the robot's forward direction.

[0020] Preferably, the rotation of the stepper motor can drive the fixed frame relative to the third gripping mechanism to rotate; the rotation of the third gripping mechanism relative to the fixed frame can be driven by the second pull rod to drive the second gripping mechanism relative to the fixed frame to rotate; the rotation of the second gripping mechanism relative to the fixed frame can be driven by the first pull rod to drive the first gripping mechanism relative to the fixed frame to rotate.

[0021] Preferably, the main frame is provided with an upper housing at the top, and the upper housing is provided with a lifting ring at the top.

[0022] Preferably, a gimbal is also provided at the front end of the main frame along the robot's forward direction.

[0023] The beneficial effects of this invention are as follows: When the robot performs an underwater cleaning task, it first dives and crawls to the surface to be cleaned. It then attaches itself to the surface using a longitudinal thruster, allowing the gripping assembly to first flatten against the underwater infrastructure. Next, the stepper motor drives the support rod, which indirectly drives each gripping mechanism so that the cleaning discs within each gripping mechanism can closely adhere to the curved surface of the underwater facility. Pressing the attitude hold button and using the horizontal thruster to drive the robot to walk along the surface to be cleaned, the robot activates the cavitation jet plate water flow switch while walking. The nozzle inside the cavitation jet plate begins to rotate, generating negative pressure, which will attract the entire robot to the underwater infrastructure. This allows for better adhesion to different positions on the surface to be cleaned, thereby improving the cleaning efficiency and cleaning effect. Attached Figure Description

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

[0025] Figure 2 yes Figure 1 Another structural diagram from a different perspective;

[0026] Figure 3 yes Figure 1 A structural diagram from another perspective;

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

[0028] Figure 5 This is a second exploded view of the present invention;

[0029] Figure 6is a third exploded schematic view of the present application;

[0030] Figure 7 is a second exploded schematic view of the present application.

[0031] The reference signs are: 1-main body frame, 11-upper shell, 12-hanging ring, 13-pan-tilt, 2-electric control device, 31-independent holding mechanism, 32-first holding mechanism, 33-second holding mechanism, 331-cavitation jet disc, 332-high pressure water jet connector, 34-third holding mechanism, 4-stepping motor, 5-mounting plate, 61-supporting rod, 62-first pull rod, 63-second pull rod, 71-longitudinal pusher, 72-horizontal pusher, 721-rotary blade, 8-movable frame, 81-fixed frame, 82-rotary shaft, 83-flipping plate, 91-cleaning disc, 92-camcorder device, 93-illumination device. DETAILED DESCRIPTION

[0032] For the convenience of those skilled in the art, the following embodiments and accompanying drawings are combined to further illustrate the present application. Figures 1-7 The present application is further illustrated by the following embodiments, which are not intended to limit the present application.

[0033] Example 1

[0034] See Figures 1-7The underwater cleaning robot comprises a main body frame 1, an electric control device 2 arranged in the main body frame 1, and a grabbing assembly and a stepping motor 4 arranged at the lower end face of the main body frame 1, wherein the grabbing assembly comprises independent grabbing mechanisms 31, first grabbing mechanisms 32, second grabbing mechanisms 33 and third grabbing mechanisms 34, the independent grabbing mechanisms 31, the first grabbing mechanisms 32, the second grabbing mechanisms 33 and the third grabbing mechanisms 34 are movably arranged at the lower end face of the main body frame 1 through mounting plates 5, the independent grabbing mechanisms 31 are located at the front end of the bottom face of the mounting plates 5 in the advancing direction of the robot, the first grabbing mechanisms 32, the second grabbing mechanisms 33 and the third grabbing mechanisms 34 are sequentially arranged on one side of the independent grabbing mechanisms 31 in the advancing direction of the robot, the first grabbing mechanisms 32, the second grabbing mechanisms 33 and the third grabbing mechanisms 34 are both arranged in two groups, the stepping motor 4 is located between the two second grabbing mechanisms 33 or the two third grabbing mechanisms 34, the third grabbing mechanisms 34 are connected with the power rotating shaft 82 of the stepping motor 4 through support rods 61, the first grabbing mechanisms 32 and the second grabbing mechanisms 33 are connected through first pull rods 62, and the second grabbing mechanisms 33 and the third grabbing mechanisms 34 are connected through second pull rods 63, the electric control device 2 is fixed on the mounting plates 5 and located in the main body frame 1, and the stepping motor 4, the independent grabbing mechanisms 31, the first grabbing mechanisms 32, the second grabbing mechanisms 33 and the third grabbing mechanisms 34 are electrically connected with the electric control device 2.

[0035] In the embodiment, the independent grabbing mechanisms 31, the first grabbing mechanisms 32, the second grabbing mechanisms 33 and the third grabbing mechanisms 34 are all provided with cleaning discs 91, the independent grabbing mechanisms 31, the first grabbing mechanisms 32, the second grabbing mechanisms 33 and the third grabbing mechanisms 34 all comprise cavitation jet discs 331, high-pressure water spraying connectors 332 and cleaning discs 91 arranged in the cavitation jet discs 331, and the high-pressure water spraying connectors 332 are in communication with the cleaning discs 91.

[0036] The underwater cleaning robot in the embodiment has high flexibility, adaptability and autonomy, can automatically adjust the cleaning strategy and action according to different working environments and task requirements, and can also carry various advanced sensors and cleaning tools to realize omnidirectional and high-precision cleaning of the underwater pile column, and the operator can remotely operate the robot visually through the remote controller. The underwater cleaning robot needs a shore-based water pump when working, which is used to supply water to the cavitation jet disc 331, and the water pump is connected with the robot by a water pipe; when the robot is lowered into water from the shore, it can be lifted into water by the crane on the mother ship, after the robot is lowered into water, the operator operates the remote controller to control the longitudinal propeller 71 to sink, controls the horizontal propeller 72 to advance and retreat and other operations through the picture fed back by the camera (not shown) carried on the holder 13, makes the robot swim to the underwater infrastructure to be cleaned, adjusts the position, and then the operator operates the pitch attitude rocker of the remote controller to make the robot turn up by 90°, and then cooperates with the sinking rocker to make the holding and grabbing assembly first flatly contact the underwater infrastructure, drives the stepping motor 4 to drive the supporting rod 61, indirectly drives the independent holding and grabbing mechanism 31, the first holding and grabbing mechanism 32, the second holding and grabbing mechanism 33 and the third holding and grabbing mechanism 34, so that the cleaning disc 91 in the holding and grabbing assembly can well approach the curved surface of the underwater infrastructure and shoot high-pressure water flow to wash the surface of the infrastructure, presses the holding posture button, and then turns on the water flow switch of the cavitation jet disc 331, the gun head in the cavitation jet disc 331 starts to rotate to generate negative pressure, and the whole robot is adsorbed to the underwater infrastructure. Then the operator only needs to control the robot to clean the whole infrastructure through the image fed back by the holder 13.

[0037] In the embodiment, the stepping motor 4 is provided at least two, and the first holding and grabbing mechanism 32, the second holding and grabbing mechanism 33 and the third holding and grabbing mechanism 34 are respectively located on both sides of the stepping motor 4, and the first holding and grabbing mechanism 32, the second holding and grabbing mechanism 33 and the third holding and grabbing mechanism 34 are symmetrically arranged relative 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 provided respectively, and the seven gripping mechanisms are arranged in an isosceles triangle array at the bottom of the device body, wherein the independent gripping mechanism 31 is located in 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 sequentially 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, and 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 of 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 or four according to actual needs.

[0039] In the embodiment, four longitudinal pushers 71 and four horizontal pushers 72 are provided, each longitudinal pusher 71 is uniformly arranged at the top of the main body frame 1, and the robot is driven to adhere to the surface to be cleaned by the longitudinal pusher 71; each horizontal pusher 72 is uniformly arranged around the main body frame 1, and the robot is driven to walk along the surface to be cleaned by the horizontal pusher 72, which can realize full posture. In other embodiments, the longitudinal pusher 71 can also be provided with two, six or eight, and the horizontal pusher 72 can also be provided with four or six.

[0040] In the embodiment, when the robot performs underwater cleaning task, it first dives and crawls to the surface to be cleaned, adheres to the surface to be cleaned by the longitudinal pusher 71, and drives the robot to walk along the surface to be cleaned by the horizontal pusher 72. The robot sprays high-pressure water flow to clean the adhering matter on the surface to be cleaned by starting the cavitation jet disc 331 while walking, 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 the embodiment, the longitudinal pusher 71 and the horizontal pusher 72 are provided with corrosion-resistant rotating blades 721; the corrosion-resistant rotating blades 721 are made of high-strength corrosion-resistant composite material, and the high-strength corrosion-resistant composite material comprises the following raw materials in parts by weight: polyether polyol 40 parts, diisocyanate 50 parts, catalyst 0.3 parts, chain extender 3 parts, modified filler 5 parts, antioxidant 3 parts, hydroxyl-terminated polybutadiene 15 parts and silane coupling agent 0.3 parts.

[0042] The catalyst is dibutyl tin dilaurate.

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

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

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

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

[0047] S1, according to weight parts, polyether polyol and diisocyanate are mixed and heated to 60-80℃ to obtain a prepolymer, which is prepared for use;

[0048] S2, according to weight parts, the catalyst, chain extender and modified filler are mixed to obtain a mixture A, which is prepared for use;

[0049] S3, according to weight parts, the prepolymer, mixture A, antioxidant, hydroxyl-terminated polybutadiene and silane coupling agent are mixed and heated to 80℃, stirring for 2h, and then cooled to obtain a high-strength corrosion-resistant composite material.

[0050] The corrosion-resistant rotating blade 721 used by the longitudinal pusher 71 and the horizontal pusher 72 in the embodiment is made of the above-mentioned material, and the corrosion-resistant rotating blade 721 made of the above-mentioned raw material has the special properties of low density, high tensile, shear and strength, low temperature resistance, corrosion resistance and the like, can be well applied to underwater operation, ensures the high flexibility and environmental adaptability of the robot, and prolongs the service life. Specifically, the special polyurethane material can be synthesized by using polyether polyol, diisocyanate and a catalyst, the hydroxyl-terminated polybutadiene added is a soft segment, contains a hydrophobic olefin group, is not easy to be attacked and oxidized, can improve the corrosion resistance of the polyurethane material, the number average molecular weight of the hydroxyl-terminated polybutadiene is controlled to be 4000-5000, the separation degree of the soft segment and the hard segment can be increased, the crystallization of the soft segment is promoted, and thus the corrosion resistance can be improved. In addition, the diisocyanate is used as a hard segment, has good rigidity, is conducive to preventing the invasion of the medium, and at the same time, due to the good rigidity, the mechanical properties of the polyurethane material can be ensured. The modified filler is prepared by using polypropylene, polytetrafluoroethylene, nano-graphite, carbon black, nano-silicon dioxide, talc powder and silane coupling agent KH-560 as raw materials, grafting the silane coupling agent as a modifier, and grafting modification reaction of the hydroxyl groups on the surfaces of the nano-graphite, carbon black, nano-silicon dioxide and talc powder with the polypropylene and polytetrafluoroethylene. The modified filler has excellent heat and corrosion resistance, is used in the production of the polyurethane material of the present application, is effectively combined with the polyurethane material under the action of the chain extender and other additives, and the prepared composite material has high strength and strong corrosion resistance, further ensures the strength and corrosion resistance of the longitudinal pusher 71 and the horizontal pusher 72 during underwater rotation, and thus ensures the cleaning efficiency and effect of the robot during underwater cleaning.

[0051] In the embodiment, the independent gripping mechanism 31, the first gripping mechanism 32, the second gripping mechanism 33 and the third gripping mechanism 34 are arranged on the bottom end face 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 turnover plate 83, one end of the fixed frame 81 is fixed on the bottom end face of the mounting plate 5, the rotating shaft 82 is sleeved on the other end of the fixed frame 81, and the turnover plate 83 is movably hinged to the fixed frame 81 through the rotating shaft 82. The independent gripping mechanism 31, the first gripping mechanism 32, the second gripping mechanism 33 and the third gripping mechanism 34 are connected to the corresponding turnover plate 83, and the independent gripping mechanism 31, the first gripping mechanism 32, the second gripping mechanism 33 and the third gripping mechanism 34 can rotate relative to the corresponding fixed frame 81.

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

[0053] In the embodiment, the rotation of the stepping motor 4 can drive the third gripping mechanism 34 to rotate relative to the fixed frame 81 (i.e., to adjust the arc surface of the gripping mechanism to the arc surface of the underwater facility), so that the cleaning disc 91 in the gripping assembly can well fit the arc surface of the underwater facility, and the hold posture button is pressed down; 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 underwater infrastructures with different arc surfaces, such as bridge piers, wharf piles, offshore wind power piles, etc.

[0054] In addition, the robot can dive to a deep depth, and is not easy to harm the surface to be cleaned and underwater organisms during cleaning, thereby reducing the risk of death of the underwater organisms; in addition, the robot has a long working time, and 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, thereby avoiding the risk of manual cleaning.

[0055] In the embodiment, the front end of the mounting plate 5 in the forward direction of the robot is also provided with a camera 92 and a lighting device 93. Here, the camera 92 cooperates with the lighting device 93 to monitor the working environment of the robot in real time, thereby facilitating 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 the embodiment and the above-mentioned embodiment 1 is that:

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

[0059] The catalyst is dibutyltin dioctoate.

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

[0061] The modified filler is obtained by mixing polypropylene 10 parts, polytetrafluoroethylene 1 part, nano-graphite 0.1 part, carbon black 0.5 part, nano-silicon dioxide 1 part, talc powder 2 parts and silane coupling agent KH-560 1 part, heating to 60℃, stirring for 60 min, and 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℃ to obtain a prepolymer, which is prepared for use;

[0065] S2, according to parts by weight, the catalyst, chain extender and modified filler are mixed to obtain a mixture A, which is prepared for use;

[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℃, and stirred for 3h, and then cooled to obtain a high-strength corrosion-resistant composite material.

[0067] The rest of this embodiment is the same as example 1, which will not be repeated here.

[0068] Example 3

[0069] The difference between this embodiment and the above-mentioned example 1 is that:

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

[0071] The catalyst is triethylenediamine.

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

[0073] The modified filler is obtained by mixing polypropylene 20 parts, polytetrafluoroethylene 5 parts, nano-graphite 0.5 parts, carbon black 1.5 parts, nano-silicon dioxide 3 parts, talc powder 4 parts and silane coupling agent KH-560 3 parts, heating to 90℃, stirring for 30min, and 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℃ to obtain a prepolymer, which is prepared for use;

[0077] S2, according to parts by weight, the catalyst, chain extender and modified filler are mixed to obtain a mixture A, which is prepared for use;

[0078] S3, according to parts by weight, the prepolymer, mixture A, antioxidant, hydroxyl-terminated polybutadiene and silane coupling agent after mixing to 110℃, stirring reaction 1h, cooling to obtain high strength corrosion-resistant composite.

[0079] The rest of the contents of this example is the same as example 1, here no longer.

[0080] Comparative example 1

[0081] The difference between this comparative example and the above example 1 is that the raw material of the high strength corrosion-resistant composite of this comparative example does not add modified filler. The rest of the contents of this comparative example is the same as example 1, here no longer.

[0082] The performance test of the rotating blade made of the high strength corrosion-resistant composite material prepared in example 1 and comparative example 1, and the polyurethane material produced by Jingxianzhida Rubber and Plastic Products Co., Ltd. on the market is carried out, and the results are shown in table 1:

[0083] Tensile strength: tested according to GB / T528-2009 standard;

[0084] Tear strength: tested according to GB / T529-2008 standard;

[0085] Elongation at break: tested according to GB / T528-2009 standard.

[0086] Table 1

[0087]

[0088] From the comparison of example 1 and comparative example 1, it can be seen that the rotating blade made of the high strength corrosion-resistant composite material in the application has good mechanical properties, and has broad market prospect and application value.

[0089] Salt water resistance performance test:

[0090] The polyurethane material sample ((25mm*25mm*2mm)) was immersed in a 5% sodium chloride solution for 12h salt water resistance immersion experiment, and the test results are shown in table 2

[0091] Tensile strength: tested according to GB / T528-2009 standard;

[0092] Tear strength: tested according to GB / T529-2008 standard;

[0093] Elongation at break: tested according to GB / T528-2009 standard.

[0094] Table 2

[0095]

[0096]

[0097] From the comparison of the example 1 and the comparative example 1, it can be seen that the rotating blade made of the high-strength corrosion-resistant composite material prepared by using the above raw materials in the application has good mechanical properties and good corrosion resistance under the same conditions, and has broad market prospect and application value.

[0098] The above embodiments are the preferred implementation of the application, in addition to this, the application can also be implemented in other ways, any obvious replacement without departing from the concept of the application is within the protection scope of the application.

Claims

1. In an underwater cleaning robot comprising a main body frame, the improvement wherein: The robot further comprises an electric control device arranged in the main frame, a gripping assembly arranged at the lower end surface of the main frame, and a stepping motor, the gripping assembly comprises independent gripping mechanisms, first gripping mechanisms, second gripping mechanisms, and third gripping mechanisms, the independent gripping mechanisms, the first gripping mechanisms, the second gripping mechanisms, and the third gripping mechanisms are movably arranged at the lower end surface of the main frame through mounting plates, the independent gripping mechanisms are located at the front end of the bottom surface of the mounting plates in the advancing direction of the robot, the first gripping mechanisms, the second gripping mechanisms, and the third gripping mechanisms are sequentially arranged at one side of the independent gripping mechanisms in the advancing direction of the robot, the first gripping mechanisms, the second gripping mechanisms, and the third gripping mechanisms are arranged in two groups, the stepping motor is located between two second gripping mechanisms or two third gripping mechanisms, the third gripping mechanisms are connected with the power rotating shafts of the stepping motor through support rods, the first gripping mechanisms and the second gripping mechanisms are connected through first pull rods, and the second gripping mechanisms and the third gripping mechanisms are connected through second pull rods, the electric control device is fixed to the mounting plates and arranged in the main frame, and the stepping motor, the independent gripping mechanisms, the first gripping mechanisms, the second gripping mechanisms, and the third gripping mechanisms are electrically connected with the electric control device. The stepping motor is arranged in at least two groups, each of the first gripping mechanisms, the second gripping mechanisms, and the third gripping mechanisms is located at the two sides of the stepping motor, and each of the first gripping mechanisms, the second gripping mechanisms, and the third gripping mechanisms is symmetrically arranged relative to the axis of the stepping motor. The independent gripping mechanisms, the first gripping mechanisms, the second gripping mechanisms, and the third gripping mechanisms are arranged at the bottom end surface of the mounting plates through movable frames, the movable frames comprise fixed frames, rotating shafts, and turnover plates, one end of the fixed frame is fixed to the bottom end surface of the mounting plate, the rotating shaft is sleeved at the other end of the fixed frame, the turnover plate is movably hinged to the fixed frame through the rotating shaft, the independent gripping mechanisms, the first gripping mechanisms, the second gripping mechanisms, and the third gripping mechanisms are connected to the corresponding turnover plates, and the independent gripping mechanisms, the first gripping mechanisms, the second gripping mechanisms, and the third gripping mechanisms can rotate relative to the corresponding fixed frames. The independent gripping mechanisms, the first gripping mechanisms, the second gripping mechanisms, and the third gripping mechanisms are provided with cleaning discs. The independent gripping mechanisms, the first gripping mechanisms, the second gripping mechanisms, and the third gripping mechanisms each comprise a cavitation jet disc, a high-pressure water jet connector arranged in the cavitation jet disc, and a cleaning disc, and the high-pressure water jet connector is in communication with the cleaning disc. The rotation of the stepping motor can drive the third gripping mechanisms to rotate relative to the fixed frames, the rotation of the third gripping mechanisms relative to the fixed frames can drive the second gripping mechanisms to rotate relative to the fixed frames through the second pull rods, and the rotation of the second gripping mechanisms relative to the fixed frames can drive the first gripping mechanisms to rotate relative to the fixed frames through the first pull rods.

2. An underwater cleaning robot according to claim 1, characterized in that: The main frame is further provided with a plurality of longitudinal pushers and a plurality of horizontal pushers, the longitudinal pushers are used to drive the robot to adhere to the surface to be cleaned, and the horizontal pushers are used to drive the robot to walk along the surface to be cleaned.

3. The underwater cleaning robot of claim 1, wherein: The front end of the mounting plate in the advancing direction of the robot is also provided with a camera device and a lighting device.

4. The underwater cleaning robot of claim 1, wherein: The top of the main body frame is provided with an upper shell, and the top end of the upper shell is provided with a lifting ring.

5. The underwater cleaning robot of claim 1, wherein: The front end of the main body frame in the advancing direction of the robot is also provided with a holder. The top of the main body frame is provided with an upper shell, and the top end of the upper shell is provided with a lifting ring.

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