Ship cleaning robot based on cavitation jet technology and cleaning method

Abstract

The invention discloses a ship cleaning robot based on a cavitation jet technology. The ship cleaning robot comprises a machine body. A cleaning device is arranged in the middle of the machine body and used for cleaning the ship body. A four-rotor device is arranged at the top of the machine main body and is used for providing water working power; the two thrust vectoring nozzles are arranged on the two sides of the bottom of the robot body and used for assisting the four-rotor device to provide power for hovering in the air, and the underwater propeller provides underwater working power and can move in different directions. The invention further discloses a cleaning method of the ship cleaning robot based on the cavitation jet technology. The robot has an overwater and underwater integrated operation function, rust, barnacles and other marine organisms on a ship body can be removed through cavitation jet flow on the premise that the ship body is not damaged, the application range is wide, movement is flexible, energy consumption is low, the structure is simple, the size is small, efficiency is high, important theoretical and practical significance is achieved for development of ship cleaning robots, and the robot is worthy of popularization and application. The popularization prospect is good.

Description

Technical Field

[0001] The invention belongs to the technical field of cleaning robot equipment, and in particular relates to a ship cleaning robot based on cavitation jet technology, and also relates to a cleaning method of the ship cleaning robot based on cavitation jet technology. Background Art

[0002] Ships are mainly faced with two major problems during long-term voyages: barnacle parasitism and seawater corrosion. When a ship is sailing, barnacles and other marine parasites will attach to the surface of the hull, destroying the streamline of the hull, resulting in increased friction resistance, reduced sailing speed, and increased fuel consumption. Cleaning barnacles will damage the hull and aggravate seawater corrosion. The rust caused by seawater corrosion not only affects the appearance of the hull, but also reduces the strength of the hull, which in turn causes safety hazards.

[0003] At present, the cleaning of barnacles and rust on the hull is mainly done manually, which is labor-intensive, inefficient, time-consuming and labor-intensive, and the workers have a poor working environment, a high risk factor, and high cleaning costs. In view of this, many researchers at home and abroad have developed small robots specifically for cleaning barnacles and rust, mainly magnetic or vacuum adsorption wall robots, which reduce the operating risks and significantly improve the cleaning efficiency, but there are still many problems, mainly reflected in the following aspects: (1) Existing wall cleaning robots have a single function and can only complete the cleaning of barnacles and rust on the hull underwater or above water. In addition, the magnetic or vacuum suction force is too large, making it inconvenient to move and easily damaging the hull during movement; (2) Existing wall cleaning robots mainly rely on the principle of magnetic attraction or vacuum adsorption to attach to the surface of the hull. At the same time, they use a crawler walking structure and adjust the height of the guide wheel by compressing the spring to adapt to the curved surface of the hull. The structure is complex and the cost is high. (3) When the existing wall cleaning robot is working on water, the tracks are prone to slipping on the slippery hull, and the negative pressure efficiency of vacuum adsorption is low in a humid environment. The magnetic adsorption is affected by the surface conditions and the adhesion is poor. The robot is easy to fall off. The core components are poorly waterproof and easily damaged when entering water. When working underwater, the structural adaptability is poor. The spring guide wheel elastically decays and the structure deforms under high water pressure. The tracks are easily entangled with debris, and the water flow will also reduce its adhesion, resulting in unstable movement of the robot on the underwater hull surface, making it difficult to move accurately and stably. (4) Existing wall cleaning robots mainly rely on physical friction (such as brushes) and high-pressure water flushing to clean barnacles.

[0004] The friction of the brush plate may damage the hull coating. Once the coating is damaged, it will not only accelerate Hull corrosion increases the subsequent maintenance costs and also makes the hull more prone to being attached by marine organisms such as barnacles again. Additionally, in areas with complex geometric shapes on the hull surface, it is difficult for the brush disc to fully fit, leaving dead corners easily. Moreover, the brush disc wears quickly during the process of cleaning hard barnacles, requiring frequent inspections and replacements, with high energy consumption and high costs.

[0005] When using high-pressure water jets to clean barnacles, generating the required high-pressure water jets (hundreds or even thousands of bars) consumes a huge amount of energy, significantly affecting the endurance of the robot and requiring a large or frequently charged energy system. In addition, if the water pressure is too high, the nozzle is too close to the hull, or staying in the same area for too long, the powerful water jets will strip or even wash away the anti-fouling paint and anti-rust paint on the hull. Moreover, high-pressure pumps, accumulators, pipelines, and pressure-resistant components are usually large in size and heavy in weight, increasing the size, weight, and structural complexity of the robot body.

[0006] Therefore, it is of great theoretical and practical significance to develop a barnacle and rust cleaning robot that is flexible in movement, does not damage the hull, has the function of integrated underwater and above-water operations, low energy consumption, simple structure, small size, and high efficiency. Summary of the Invention

[0007] The purpose of the present invention is to provide a ship cleaning robot based on cavitation jet technology, which solves the problem that existing ship cleaning robots can only clean a single area above water or underwater.

[0008] Another purpose of the present invention is to provide a cleaning method for the ship cleaning robot based on cavitation jet technology.

[0009] The technical solution adopted by the present invention is that a ship cleaning robot based on cavitation jet technology includes: a storage device, a quadcopter device, a cleaning device, a machine body, and two vector nozzles; a cleaning device is arranged in the middle of the machine body, and the cleaning device is used to clean the barnacles and rust on the hull; a quadcopter device is arranged on the top of the machine body, and the quadcopter device is used to provide power for working on water; two vector nozzles are arranged on both sides of the bottom of the machine body, and the vector nozzles are used to assist the quadcopter device to provide power for the robot to hover in the air and support the robot to move in different directions in the water area.

[0010] The characteristics of the present invention also lie in that The machine body includes a main body frame, and a support member is also arranged inside the main body frame. The support member includes an upper support frame plate and a lower support frame plate. The upper support frame plate and the lower support frame plate are connected by a plurality of main support columns. Two welding columns are also arranged between the upper support frame plate and the lower support frame plate, and both upper ends extend out of the upper support frame plate. A plurality of upper support columns are obliquely arranged on the upper support frame plate, and a plurality of lower support columns are obliquely arranged on the lower support frame plate. Four support plates are arranged along the circumferential direction at the bottom of the lower support frame plate. A welding short column is horizontally arranged on the upper part of the support plate. A plurality of reinforcing columns are horizontally arranged on the inner wall of the lower support frame plate. The upper support columns, the lower support columns, the welding columns, and the welding short columns are all connected to the main body frame. A flow dividing pipe is arranged at the bottom of the main body frame. Water outlet ports are arranged at both ends of the flow dividing pipe. The water outlet ports are connected to two vector nozzles. A water inlet port is arranged in the middle of the flow dividing pipe. The water inlet port is connected to a water inlet pipe. Four upper thrusters and four lower thrusters are respectively arranged at the top and the bottom of the main body frame; a binocular camera and an underwater lighting lamp are also arranged at the top of the main body frame.

[0011] The quadrotor device includes a loading plate, and the loading plate is fixed on the upper surface of the main body frame; mounting holes are arranged at the four corners of the loading plate, and four support frames are arranged at the center of the loading plate. A support arm is arranged on each support frame, and a propeller is arranged at the end of the support arm. The propeller extends out of the loading plate.

[0012] The cleaning device includes a bottom plate, and the bottom plate is fixed on one side of the main body frame. Y-axis support frames are arranged at both ends of the bottom plate. Two Y-axis slide bars are longitudinally arranged on the Y-axis support frames. Y-axis sliders are sleeved on both Y-axis slide bars. A Y-axis motor is arranged on the Y-axis support frame. The output shaft of the Y-axis motor is connected to a Y-axis lead screw. A Y-axis lead screw sleeve is sleeved on the Y-axis lead screw. An X-axis support frame is horizontally arranged between the two Y-axis support frames. Two X-axis slide bars are transversely arranged on the X-axis support frame. X-axis sliders are sleeved on both X-axis slide bars. An X-axis motor is arranged on the X-axis support frame. The output shaft of the X-axis motor is connected to an X-axis lead screw. An X-axis lead screw sleeve is sleeved on the X-axis lead screw. The X-axis lead screw sleeve is welded to the two X-axis sliders; the two X-axis sliders are connected by a fixing plate. An extension plate is arranged on the fixing plate. A robotic arm motor is arranged on the side of the extension plate. The motor shaft of the robotic arm motor extends out of the extension plate, and the end of the motor shaft is connected to a first synchronous pulley. A connecting ear plate is arranged at the end of the extension plate. A rotating shaft is arranged at the center of the connecting ear plate. One end of the rotating shaft is connected to the hole at the center of the connecting ear plate, and the other end is connected to a second synchronous pulley. The second synchronous pulley and the first synchronous pulley are connected by a synchronous belt. A robotic arm is also sleeved on the rotating shaft. A Y-shaped support frame is arranged at the end of the robotic arm. A water cavitation jet gun above water and a water cavitation jet gun underwater are respectively arranged at the two open ends of the Y-shaped support frame.

[0013] The storage device includes a transport boat, on which a loading bracket is provided. Inside the loading bracket, a loading plate is arranged, and at the bottom of the loading bracket, two high-pressure pumps are provided. The two high-pressure pumps are respectively connected to two high-pressure hoses, and the two high-pressure hoses are respectively connected to an above-water cavitating jet spray gun and an underwater cavitating jet spray gun. A water delivery hose is also arranged on the transport boat, and the water delivery hose is connected to a water inlet pipe.

[0014] The vector nozzle includes a first pipe, a second pipe, a third pipe, and a fourth pipe connected in sequence. At the upper end of the first pipe, there is an opening in the shape of an inverted frustum of a cone, and at the lower end of the fourth pipe, there is a nozzle opening in the shape of an inverted frustum of a cone. The upper end of the first pipe is connected to the outlet of the water outlet pipe. The lower end of the first pipe is connected to the second pipe. At the lower end of the second pipe, there is an upwardly inclined opening. The lower end of the second pipe is connected to the upper end of the third pipe. At the upper end of the third pipe, there is an upwardly inclined opening. At the lower end of the third pipe, there is a downwardly inclined opening. The lower end of the third pipe is connected to the upper end of the fourth pipe. At the upper end of the fourth pipe, there is a downwardly inclined opening. On the outer side wall of the first pipe, a first waterproof motor is installed. The output shaft of the first waterproof motor is connected to a first small gear, and the first small gear meshes with a first large gear. The first large gear is sleeved on the outer wall of the first pipe. On the outer side wall of the second pipe, a second waterproof motor is installed. The output shaft of the second waterproof motor is connected to a second small gear, and the second small gear meshes with a second large gear. The second large gear is sleeved on the outer wall of the second pipe. On the outer side wall of the third pipe, a third waterproof motor is installed. The output shaft of the third waterproof motor is connected to a third small gear, and the third small gear meshes with a third large gear. The third large gear is sleeved on the outer wall of the third pipe.

[0015] An electrical compartment is also arranged on the machine body. The electrical compartment is arranged in the main body frame. Inside the electrical compartment, a motor controller is arranged. The motor controller is respectively connected to the Y-axis motor, the X-axis motor, the robotic arm motor, the first waterproof motor, the second waterproof motor, and the third waterproof motor.

[0016] Another technical solution adopted by the present invention is a cleaning method for a ship cleaning robot based on cavitating jet technology, specifically as follows: Seawater is ejected from the two vector nozzles through the water inlet of the water outlet pipe and the water outlet of the water outlet pipe, and together with the four propellers, provides the power for working on the water. The vector nozzle rotates through the motor. The X-axis motor drives the X-axis lead screw to rotate, thereby controlling the lateral position of the cleaning device. The Y-axis motor drives the Y-axis lead screw to rotate, thereby controlling the longitudinal position of the cleaning device. At the same time, the robotic arm motor drives the first synchronous pulley and the second synchronous pulley to rotate, thereby causing the above-water cavitating jet spray gun and the underwater cavitating jet spray gun to swing up and down, forming a high-pressure cavitating jet.

[0017] The beneficial effects of the present invention are: (1)The ship cleaning robot based on the cavitation jet technology of the present invention has both water surface and underwater cleaning functions, overcoming the drawbacks of existing robots that can only clean barnacles and rust on the water surface or underwater singly, with a wide range of adaptability, and promoting the further improvement and development of ship cleaning robots; (2)The ship cleaning robot based on the cavitation jet technology of the present invention is equipped with two vector nozzle devices that assist the quadrotor device to provide power by jetting seawater, enabling the robot to hover in the air or move in different directions. At the same time, the thrusters provide underwater working power, and the robot can achieve underwater movement and steering functions through the different rotational speeds of each thruster. The robot does not need to be attached to the hull surface, is flexible, convenient, and stable in movement, and will not damage the hull surface. Moreover, the complex magnetic adsorption or vacuum adsorption structure, drive mechanism, and crawler walking mechanism of existing robots are eliminated, with a simple structure and low cost, laying a solid foundation for the actual application of the robot; (3)The ship cleaning robot based on the cavitation jet technology of the present invention has significant advantages compared with existing robots that rely on physical friction and high-pressure water jet cleaning methods: When the cavitation bubbles collapse inside the hull surface, extremely strong local shock waves (up to thousands of atmospheres) and microjets will be generated, which can effectively break and peel off extremely stubborn and calcified barnacle bases and other hard marine organisms (such as shellfish), reducing the chance of "resurgence"; Cavitation bubbles can be naturally generated around curved surfaces, corners, welds, and rivets, and their microjets can cover some areas that are difficult to reach by physical brush discs or where the energy of traditional straight water jets decays rapidly, suitable for cleaning barnacles on complex surfaces, with a wide range of applicability; The working pressure of the water flow itself can be much lower than that of traditional high-pressure water jets (usually low or medium pressure is sufficient), greatly reducing the risk of scratching, erosion, or peeling of the healthy coating; The energy consumption is relatively low, improving the energy efficiency and potential endurance time of the robot, and reducing the volume of the robot, the structural complexity, and the cost, with good promotion prospects; BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a schematic diagram of the overall structure of the ship cleaning robot based on the cavitation jet technology of the present invention; Figure 2 is a side view of the ship cleaning robot based on the cavitation jet technology of the present invention; Figure 3 is a schematic diagram of the structure of the main frame in the ship cleaning robot based on the cavitation jet technology of the present invention; Figure 4 is a schematic diagram of the structure of the support in the ship cleaning robot based on the cavitation jet technology of the present invention; Figure 5Schematic diagram of the structure of the shunt pipe in the ship cleaning robot based on the cavitation jet technology of the present invention; Figure 6 Schematic diagram of the structure of the quadrotor device in the ship cleaning robot based on the cavitation jet technology of the present invention; Figure 7 Schematic diagram of the structure of the cleaning device in the ship cleaning robot based on the cavitation jet technology of the present invention; Figure 8 Schematic diagram of the connection of the Y-axis slider in the ship cleaning robot based on the cavitation jet technology of the present invention; Figure 9 Schematic diagram of the connection of the X-axis slider in the ship cleaning robot based on the cavitation jet technology of the present invention; Figure 10 Schematic diagram of the structure of the vector nozzle in the ship cleaning robot based on the cavitation jet technology of the present invention; Figure 11 Schematic diagram of the structure of the storage device in the ship cleaning robot based on the cavitation jet technology of the present invention; Figure 12 Schematic diagram of the power commutation of the ship cleaning robot based on the cavitation jet technology of the present invention; Figure 13 Schematic diagram of the ship cleaning robot based on the cavitation jet technology of the present invention working on water.

[0018] In the figure, 1. Storage device; 2. Quadrotor device; 3. Cleaning device; 4. Machine body; 5. Electrical compartment; 6. Vector nozzle; 101. Transport boat; 102. Loading bracket; 103. High-pressure pump; 104. Water delivery hose; 105. Loading plate; 201. Propeller; 202. Loading plate; 203. Support arm; 204. Support frame; 205. Mounting hole; 301. Y-axis support frame; 302. Y-axis lead screw; 303. Y-axis motor; 304. Base plate; 305. X-axis motor; 306. X-axis lead screw; 307. Robotic arm motor; 308. Extension plate; 309. Robotic arm; 310. Water cavitation jet spray gun; 311. Underwater cavitation jet spray gun; 312. First synchronous pulley; 313. Timing belt; 314. Second synchronous pulley; 315. X-axis support frame; 316. Y-axis slide bar; 317. Y-axis slider; 318. Y-axis lead screw sleeve; 319. Y-shaped support frame; 320. Fixed plate; 321. Rotating shaft; 322. X-axis slide bar; 323. X-axis slider; 324. X-axis lead screw sleeve; 401. Main frame; 402. Binocular camera; 403. Underwater lighting lamp; 404. Upper thruster; 405. Shunt pipe; 406. Water inlet pipe; 407. Lower thruster; 408. Reinforcing column; 409. Upper support frame plate; 410. Lower support frame plate; 411. Support plate; 412. Upper support column; 413. Welding column; 414. Outlet of water outlet pipe; 415. Lower support column; 416. Welding short column; 417. Inlet of water outlet pipe 601. First pipe; 602. First waterproof motor; 603. First large gear; 604. First small gear; 605. Second pipe; 606. Second waterproof motor; 607. Second large gear; 608. Second small gear; 609. Third pipe; 610. Third waterproof motor; 611. Third small gear; 612. Third large gear; 613. Fourth pipe Specific implementation mode The present invention will be described in detail below in conjunction with the accompanying drawings and specific implementation modes.

[0019] Embodiment 1 The ship cleaning robot based on the cavitation jet technology of the present invention, as Figure 1 and Figure 2 shown, includes: a storage device 1, a quadrotor device 2, a cleaning device 3, a machine body 4, an electrical compartment 5, and two vector nozzles 6.

[0020] A quadrotor device 2 is arranged at the top of the machine body 4, a cleaning device 3 is arranged in the middle of the machine body 4, and two vector nozzles 6 are arranged on both sides of the bottom of the machine body 4; an electrical compartment 5 is also arranged on the machine body 4; in the non-working state, the machine body 4 is placed on the storage device 1. Embodiment 2 On the basis of Embodiment 1, further, as Figure 3 shown, the machine body 4 includes a main frame 401. Four upper thrusters 404 and lower thrusters 407 are respectively arranged at the top and bottom of the main frame 401. The upper thrusters 404 are installed on the main frame 401 through installation holes, and the lower thrusters 407 are both fixed to the main frame 401 through installation brackets. The thrusters provide underwater working power, and the underwater movement and steering functions are realized through the different rotational speeds of each thruster. A binocular camera 402 and an underwater lighting lamp 403 are also arranged at the top of the main frame 401. Supporting members are also arranged inside the main frame 401, as Figure 4As shown in the figure, the support member includes an upper support frame plate 409 and a lower support frame plate 410. The upper support frame plate 409 and the lower support frame plate 410 are connected by a plurality of main support columns 414. There are also two welding columns 413 arranged symmetrically between the upper support frame plate 409 and the lower support frame plate 410, and both upper ends extend out of the upper support frame plate 409. A plurality of upper support columns 412 are inclined on the upper support frame plate 409, and a plurality of lower support columns 415 are inclined on the lower support frame plate 410. A plurality of reinforcing columns 408 are horizontally arranged on the inner wall of the lower support frame plate 410. Four support plates 411 are arranged circumferentially at the bottom of the lower support frame plate 410. Welding short columns 416 are horizontally arranged on the upper parts of the support plates 411. The upper support columns 412, the lower support columns 415, the welding columns 413, and the welding short columns 416 are all connected to the main body frame 401. A flow dividing pipe 405 is arranged at the bottom of the main body frame 401, and the flow dividing pipe 405 is located below the lower support frame plate 410. As Figure 5 shown, water outlet ports 414 are arranged at both ends of the flow dividing pipe 405, and a water inlet port 417 is arranged in the middle of the flow dividing pipe 405. The water inlet port 417 is connected to a water inlet pipe 406, and the water inlet pipe 406 extends out of the bottom of the main body frame 401. The water outlet ports 414 are arranged in the circular holes at the bottom of the main body frame 401, and the water outlet ports 414 are connected to two vector nozzles 6. The quadrotor device 2, as Figure 6 shown, includes a loading plate 202, and the loading plate 202 is fixed on the upper surface of the main body frame 401. Installation holes 205 are arranged at the four corners of the loading plate 202. Four support frames 204 are arranged at the center of the loading plate 202. The four support frames 204 are arranged in a cross shape. A support arm 203 is arranged on each support frame 204, and a propeller 201 is arranged at the end of the support arm 203. The propeller 201 extends out of the loading plate 202. The water working power is provided by the propeller 201.

[0021] As Figure 7 shown, the cleaning device 3 includes a bottom plate 304, and the bottom plate is fixed on one side of the main body frame 401. Y-axis support frames 301 are arranged at both ends of the bottom plate. The tops of the Y-axis support frames 301 are fixedly connected to the top of the main body frame 401. Two Y-axis slide bars 316 are arranged longitudinally on the Y-axis support frames 301. As Figure 8 shown, Y-axis sliders 317 are sleeved on both of the Y-axis slide bars 316, and the Y-axis sliders 317 can slide on the Y-axis slide bars 316. A Y-axis motor 303 is arranged on the Y-axis support frame 301. The output shaft of the Y-axis motor 303 is connected to a Y-axis lead screw 302, and the Y-axis lead screw 302 is located between the two slide bars 316. A Y-axis lead screw sleeve 318 is sleeved on the Y-axis lead screw 302, and the Y-axis lead screw sleeve 318 is welded to the two Y-axis sliders 317 respectively. The two Y-axis sliders 317 and the Y-axis lead screw sleeve 318 are integrally formed by welding. The Y-axis lead screw sleeve 318 has a thread that mates with the Y-axis lead screw 302. When the Y-axis motor 303 drives the Y-axis lead screw 302 to rotate, it controls the up and down movement of the Y-axis lead screw sleeve 318; An X-axis support frame 315 is horizontally arranged between two Y-axis support frames 301; the X-axis support frame 315 is threadedly connected to four Y-axis sliders 317; As Figure 9 As shown, two X-axis slide bars 322 are arranged horizontally on the X-axis support frame 315. X-axis sliders 323 are sleeved on both of the two X-axis slide bars 322, and the X-axis sliders 323 can slide on the X-axis slide bars 322; an X-axis motor 305 is arranged on the X-axis support frame 315, and the output shaft of the X-axis motor 305 is connected to an X-axis lead screw 306. The X-axis lead screw 306 is located between two X-axis slide bars 325; an X-axis lead screw sleeve 324 is sleeved on the X-axis lead screw 306, and the X-axis lead screw sleeve 324 is welded to the two X-axis sliders 323 respectively; the two X-axis sliders 323 and the X-axis lead screw sleeve 324 are integrally formed by welding; when the X-axis motor 305 drives the X-axis lead screw 306 to rotate, it controls the left and right movement of the X-axis lead screw sleeve 324; The two X-axis sliders 323 are connected by a fixing plate 320. An extension plate 308 is arranged on the fixing plate 320. A robotic arm motor 307 is arranged on the side of the extension plate 308. The motor shaft of the robotic arm motor 307 extends out of the extension plate 308, and the end of the motor shaft is connected to a first synchronous pulley 312. A connecting ear plate is arranged at the end of the extension plate 308. A rotating shaft 321 is arranged at the center of the connecting ear plate. One end of the rotating shaft 321 is connected to the hole at the center of the connecting ear plate, and the other end is connected to a second synchronous pulley 314. The second synchronous pulley 314 and the rotating shaft 321 are connected by a key; a synchronous belt 313 is connected between the second synchronous pulley 314 and the first synchronous pulley 312. A robotic arm 309 is also sleeved on the rotating shaft 321. A Y-shaped support frame 319 is arranged at the end of the robotic arm 309. A water cavitation jet spray gun 310 and an underwater cavitation jet spray gun 311 are respectively arranged at the two open ends of the Y-shaped support frame 319.

[0022] Embodiment 3 On the basis of Embodiment 2, further, as Figure 10 As shown, the vector nozzle 6 includes a first pipe 601, a second pipe 605, a third pipe 609 and a fourth pipe 613 connected in sequence. An inverted frustum-shaped opening is arranged at the upper end of the first pipe 601, and an inverted frustum-shaped nozzle outlet is arranged at the lower end of the fourth pipe 613; The upper end of the first pipe 601 is connected to the outlet 414 of the water outlet pipe. The lower end of the first pipe 601 is connected to the second pipe 605. A bearing is installed between the first pipe 601 and the second pipe 605. The lower end of the second pipe 605 is provided with an upwardly inclined opening. The lower end of the second pipe 605 is connected to the upper end of the third pipe 609. The upper end of the third pipe 609 is provided with an upwardly inclined opening. The lower end of the third pipe 609 is provided with a downwardly inclined opening. A bearing is installed between the second pipe 605 and the third pipe 609. The lower end of the third pipe 609 is connected to the upper end of the fourth pipe 613. The upper end of the fourth pipe 613 is provided with a downwardly inclined opening. A bearing is installed between the third pipe 609 and the fourth pipe 613; A first waterproof motor 602 is installed on the outer side wall of the first pipe 601. The output shaft of the first waterproof motor 602 is connected to a first small gear 604. The first small gear 604 meshes with a first large gear 603. The first large gear 603 is sleeved on the outer wall of the first pipe 601; A second waterproof motor 606 is installed on the outer side wall of the second pipe 605. The output shaft of the second waterproof motor 606 is connected to a second small gear 608. The second small gear 608 meshes with a second large gear 607. The second large gear 607 is sleeved on the outer wall of the second pipe 605; A third waterproof motor 610 is installed on the outer side wall of the third pipe 609. The output shaft of the third waterproof motor 610 is connected to a third small gear 611. The third small gear 611 meshes with a third large gear 612. The third large gear 612 is sleeved on the outer wall of the third pipe 609; When the first waterproof motor 602 is started, the first small gear 604 rotates, thereby driving the first large gear 603 to rotate. The second pipe 605 will rotate around the axis of the bearing that fits with the first pipe 601. However, the axes of the bearings of the first pipe 601 and the second pipe 605 coincide, so there will be no angular change during rotation. When the second waterproof motor 606 is started, the second small gear 608 rotates to drive the second large gear 607 to rotate. The third pipe 609 will rotate around the axis of the bearing that fits with the second pipe 605 and an angular change will occur. When the third waterproof motor 610 is started, the third small gear 611 rotates to drive the third large gear 612 to rotate. The fourth pipe 613 will rotate around the axis of the bearing that fits with the third pipe 609 and an angular change will occur.

[0023] Embodiment 4 On the basis of Embodiment 3, further, the storage device 1, such as Figure 11As shown in the figure, it includes a transport boat 101, a loading bracket 102, and a high-pressure pump set 103. A loading bracket 102 is provided on the transport boat 101. Inside the loading bracket 102, there is a loading plate 105. The machine body 4 can be loaded into the loading bracket 102 and placed on the loading plate 105. At the bottom of the loading bracket 102, there are two high-pressure pumps 103. The two high-pressure pumps 103 are respectively connected to two high-pressure hoses. The two high-pressure hoses are respectively connected to an above-water cavitation jet spray gun 310 and an underwater cavitation jet spray gun 311. A water delivery hose 104 is also provided on the transport boat 101, and the water delivery hose 104 is connected to a water inlet pipe 406. The high-pressure pump 103 sends seawater to the above-water cavitation jet spray gun 310 and the underwater cavitation jet spray gun 311 of the cleaning device 3 through the high-pressure hose to provide a water source for its cleaning.

[0024] The electrical compartment 5 is arranged in the main body frame 401. Inside the electrical compartment 5, there is a motor controller. The motor controller is respectively connected to a Y-axis motor 303, an X-axis motor 305, a robotic arm motor 307, a first waterproof motor 602, a second waterproof motor 606, and a third waterproof motor 610. The motor controller is used to precisely control the rotation speed, torque, direction, start, and stop of each motor. Embodiment 5 The cleaning method of the ship cleaning robot based on the cavitation jet technology of the present invention is specifically as follows: Place the machine body 4 on the loading bracket 102, connect the water delivery hose 104 to the outlet pipe inlet 417. Seawater is ejected from the two vector nozzles 6 through the outlet pipe inlet 417 and the outlet pipe outlet 414, and cooperate with the four propellers 201 to provide the power for working on the water. The two vector nozzles 6 realize the rotation of the first pipe 601, the second pipe 605, and the third pipe 609 through the waterproof motor. The X-axis motor 305 drives the X-axis lead screw 306 to rotate, and moves left and right along the slide bar 322 through the X-axis lead screw sleeve 324 and the X-axis slider 323 to control the lateral position of the cleaning device 3. The Y-axis motor 303 drives the Y-axis lead screw 302 to rotate, drives the Y-axis lead screw sleeve 318 and the Y-axis slider 317 to move up and down along the slide bar 316 to adjust the longitudinal position of the cleaning device 3. At the same time, the robotic arm motor 307 drives the first synchronous wheel 312 to rotate. The first synchronous wheel 312 drives the synchronous wheel 313 to rotate. The synchronous wheel 313 drives the second synchronous wheel 314 to rotate. The second synchronous wheel 314 drives the transmission shaft 321 to rotate, so that the above-water cavitation jet spray gun 310 and the underwater cavitation jet spray gun 311 can swing up and down to form a high-pressure cavitation jet. Embodiment 6 The ship cleaning robot based on the cavitation jet technology of the present invention has the following specific working principle: The ship cleaning robot based on the cavitation jet technology is placed on the transport boat 101 and transported by the transport boat 101 to the vicinity of the ship to be cleaned. The water delivery hose 104 is connected to the drainage hole of the transport ship, and the other end is connected to the inlet 417 of the water outlet pipe, delivering seawater to the ship cleaning robot based on the cavitation jet technology. The seawater is ejected from the two vector nozzles 6 through the inlet 417 of the water outlet pipe and the outlet 414 of the water outlet pipe. In cooperation with the four propellers 201, the propellers provide the power for working on the water. The two vector nozzles 6 can achieve multi-degree-of-freedom adjustment. The rotation of the first pipe 601, the second pipe 605, and the third pipe 609 is realized through each waterproof motor, enabling the two vector nozzles 6 to provide the power for movement in different directions, so that the ship cleaning robot based on the cavitation jet technology can move to the place on the water ship that needs to be cleaned. The place on the ship that needs to be cleaned is determined by the binocular camera 402. The X-axis motor 305 drives the X-axis lead screw 306 to rotate, and moves left and right along the slide bar 322 through the X-axis lead screw sleeve 324 and the X-axis slider 323 to control the lateral position of the cleaning device. The Y-axis motor 303 drives the Y-axis lead screw 302 to rotate, driving the Y-axis lead screw sleeve 318 and the Y-axis slider 317 to move up and down along the slide bar 316 to adjust the longitudinal position of the cleaning device 3, so that the square cleaning area of the cleaning device 3 is always directly opposite to the place on the ship that needs to be cleaned. At the same time, the underwater cavitation jet spray gun 310 is started to work. The high-pressure pump 103 delivers seawater to the underwater cavitation jet spray gun 310 and the underwater cavitation jet spray gun 311 through the pump group hose, forming a high-pressure cavitation jet. The rust, parasites, and barnacles on the hull are cleaned and peeled off by using the cavitation jet technology. The robotic arm motor 307 drives the first synchronous pulley 312 to rotate, the first synchronous pulley 312 drives the synchronous pulley 313 to rotate, the synchronous pulley 313 drives the second synchronous pulley 314 to rotate, and the second synchronous pulley 314 drives the transmission shaft 321 to rotate, enabling the robotic arm 309 to swing up and down, so that the underwater cavitation jet spray gun 310 and the underwater cavitation jet spray gun 311 on the robotic arm 309 can swing up and down. The propellers 201 of the quadcopter device 2 on the water can provide the ability to move and hover on the water surface. When the cleaning of the water area is completed, the underwater cavitation jet spray gun 310 stops working, and the output power of the quadcopter device 2 and the two vector nozzles 6 continuously decreases, causing the ship cleaning robot based on the cavitation jet technology to continuously decrease in height until it enters the underwater area. At this time, the quadcopter device 2 and the two vector nozzles 6 stop working. Underwater, the upper thruster 404 and the lower thruster 407 of the machine body 4 work together, providing the propulsion power in different directions through each thruster to cooperate to achieve the underwater turning function, adjusting the underwater attitude and direction, and realizing precise underwater maneuverability. Due to the underwater environment being too dark and turbid, the binocular camera 402 and the underwater lighting lamp 403 are used to collect the information on the water and underwater in real time to assist in navigation and positioning. The underwater working process is the same as the water working process and will not be elaborated too much.The motor controller in the electrical compartment 5 adjusts the rotational speed, torque, and direction of the Y-axis motor 303, X-axis motor 305, waterproof motor, etc. in real time to ensure the movement accuracy and operation stability. After the operation is completed, the robot returns to the transport boat 101 through the quadcopter device 2 and two vector nozzles 6, and is recovered onto the loading plate 105 by the loading bracket 102, and the high-pressure pump group stops supplying water.

Claims

1. A ship cleaning robot based on cavitation jet technology, characterized in that, Including: A storage device (1), a quadcopter device (2), a cleaning device (3), a machine body (4), and two vector nozzles (6); a cleaning device (3) is arranged in the middle of the machine body (4), and the cleaning device (3) is used for cleaning the hull; a quadcopter device (2) is arranged on the top of the machine body (4), and the quadcopter device (2) is used for providing power for working on water; two vector nozzles (6) are arranged on both sides of the bottom of the machine body (4), and the vector nozzles (6) are used to assist the quadcopter device (2) to provide power for hovering in the air and support the movement of the ship cleaning robot in different directions in the water area.

2. The ship cleaning robot based on the cavitation jet technology according to claim 1, characterized in that, The machine body (4) includes a main body frame (401), and support members are further arranged inside the main body frame (401). The support members include an upper support frame plate (409) and a lower support frame plate (410). The upper support frame plate (409) and the lower support frame plate (410) are connected by a plurality of main support columns (414). Two welding columns (413) are further arranged between the upper support frame plate (409) and the lower support frame plate (410), and the upper ends of both extend out of the upper support frame plate (409); a plurality of upper support columns (412) are inclined on the upper support frame plate (409), a plurality of lower support columns (415) are inclined on the lower support frame plate (410), four support plates (411) are arranged along the circumference at the bottom of the lower support frame plate (410), welding short columns (416) are horizontally arranged on the upper parts of the support plates (411), and a plurality of reinforcing columns (408) are horizontally arranged on the inner wall of the lower support frame plate (410). The upper support columns (412), the lower support columns (415), the welding columns (413), and the welding short columns (416) are all connected to the main body frame (401). A shunt pipe (405) is arranged at the bottom of the main body frame (401). Water outlet openings (414) are arranged at both ends of the shunt pipe (405), and the water outlet openings (414) are connected to the two vector nozzles (6); a water inlet opening (417) is arranged in the middle of the shunt pipe (405); the water inlet opening (417) is connected to a water inlet pipe (406).

3. The ship cleaning robot based on the cavitation jet technology according to claim 2, characterized in that, Four upper thrusters (404) and lower thrusters (407) are respectively arranged at the top and bottom of the main body frame (401); a binocular camera (402) and an underwater lighting lamp (403) are further arranged at the top of the main body frame (401).

4. The ship cleaning robot based on the cavitation jet technology according to claim 2, characterized in that, The quadcopter device (2) includes a loading plate (202), and the loading plate (202) is fixed on the upper surface of the main body frame (401); mounting holes (205) are arranged at the four corners of the loading plate (202), four support frames (204) are arranged at the center of the loading plate (202), a support arm (203) is arranged on each support frame (204), and a propeller (201) is arranged at the end of the support arm (203), and the propeller (201) extends out of the loading plate (202).

5. The ship cleaning robot based on the cavitation jet technology according to claim 4, characterized in that, The cleaning device (3) includes a bottom plate (304) fixed to one side of the main body frame (401). At both ends of the bottom plate (304), there are Y-axis support frames (301). Along the longitudinal direction on the Y-axis support frames (301), there are two Y-axis slide bars (316). Y-axis sliders (317) are sleeved on both of the two Y-axis slide bars (316). A Y-axis motor (303) is arranged on the Y-axis support frame (301). The output shaft of the Y-axis motor (303) is connected to a Y-axis lead screw (302). A Y-axis lead screw sleeve (318) is sleeved on the Y-axis lead screw (302). Horizontally arranged between the two Y-axis support frames (301) is an X-axis support frame (315). Along the transverse direction on the X-axis support frame (315), there are two X-axis slide bars (322). X-axis sliders (323) are sleeved on both of the two X-axis slide bars (322). An X-axis motor (305) is arranged on the X-axis support frame (315). The output shaft of the X-axis motor (305) is connected to an X-axis lead screw (306). An X-axis lead screw sleeve (324) is sleeved on the X-axis lead screw (306). The X-axis lead screw sleeve (324) is welded to the two X-axis sliders (323). The two X-axis sliders (323) are connected by a fixing plate (320). An extension plate (308) is arranged on the fixing plate (320). A robotic arm motor (307) is arranged on the side of the extension plate (308). The motor shaft of the robotic arm motor (307) extends out of the extension plate (308), and the end of the motor shaft is connected to a first synchronous pulley (312). At the end of the extension plate (308), there is a connecting ear plate. A rotating shaft (321) is arranged at the center of the connecting ear plate. One end of the rotating shaft (321) is connected to the hole at the center of the connecting ear plate, and the other end is connected to a second synchronous pulley (314). A synchronous belt (313) is connected between the second synchronous pulley (314) and the first synchronous pulley (312). A robotic arm (309) is also sleeved on the rotating shaft (321). At the end of the robotic arm (309), there is a Y-shaped support frame (319). At the two open ends of the Y-shaped support frame (319), a water cavitation jet spray gun (310) and an underwater cavitation jet spray gun (311) are respectively arranged.

6. The ship cleaning robot based on the cavitation jet technology according to claim 5, characterized in that, The storage device (1) includes a transport boat (101). A loading bracket (102) is arranged on the transport boat (101). Inside the loading bracket (102), there is a loading plate (105). At the bottom of the loading bracket (102), there are two high-pressure pumps (103). The two high-pressure pumps (103) are respectively connected to two high-pressure hoses. The two high-pressure hoses are respectively connected to the water cavitation jet spray gun (310) and the underwater cavitation jet spray gun (311). A water delivery hose (104) is also arranged on the transport boat (101). The water delivery hose (104) is connected to the water inlet pipe (406).

7. The ship cleaning robot based on the cavitation jet technology according to claim 6, wherein The vector nozzle (6) includes a first pipe (601), a second pipe (605), a third pipe (609) and a fourth pipe (613) connected in sequence. The upper end of the first pipe (601) is provided with an opening in the shape of an inverted frustum. The lower end of the fourth pipe (613) is provided with a nozzle outlet in the shape of an inverted frustum. The upper end of the first pipe (601) is connected to the outlet of the water outlet pipe (414). The lower end of the first pipe (601) is connected to the second pipe (605). The lower end of the second pipe (605) is provided with an upwardly inclined opening. The lower end of the second pipe (605) is connected to the upper end of the third pipe (609). The upper end of the third pipe (609) is provided with an upwardly inclined opening. The lower end of the third pipe (609) is provided with a downwardly inclined opening. The lower end of the third pipe (609) is connected to the upper end of the fourth pipe (613). The upper end of the fourth pipe (613) is provided with a downwardly inclined opening. A first waterproof motor (602) is installed on the outer wall of the first pipe (601). The output shaft of the first waterproof motor (602) is connected to a first small gear (604). The first small gear (604) meshes with a first large gear (603). The first large gear (603) is sleeved on the outer wall of the first pipe (601). A second waterproof motor (606) is installed on the outer wall of the second pipe (605). The output shaft of the second waterproof motor (606) is connected to a second small gear (608). The second small gear (608) meshes with a second large gear (607). The second large gear (607) is sleeved on the outer wall of the second pipe (605). A third waterproof motor (610) is installed on the outer wall of the third pipe (609). The output shaft of the third waterproof motor (610) is connected to a third small gear (611). The third small gear (611) meshes with a third large gear (612). The third large gear (612) is sleeved on the outer wall of the third pipe (609).

8. The ship cleaning robot based on the cavitation jet technology according to claim 7, wherein An electrical compartment (5) is further provided on the machine body (4). The electrical compartment (5) is arranged in the main body frame (401). A motor controller is arranged inside the electrical compartment (5). The motor controller is respectively connected to the Y-axis motor (303), the X-axis motor (305), the robotic arm motor (307), the first waterproof motor (602), the second waterproof motor (606), and the third waterproof motor (610).

9. The cleaning method of a ship cleaning robot based on cavitation jet technology is implemented by using the ship cleaning robot based on cavitation jet technology as described in claim 8, characterized in that, Specifically: Seawater is ejected from two vector nozzles (6) through the water outlet pipe inlet (417) and the water outlet pipe outlet (414), and cooperates with four propellers (201) to provide power for working on water. The vector nozzle (6) is rotated by a motor; the X-axis motor (305) drives the X-axis lead screw (306) to rotate, thereby controlling the lateral position of the cleaning device (3), and the Y-axis motor (303) drives the Y-axis lead screw (302) to rotate, thereby controlling the longitudinal position of the cleaning device (3). At the same time, the robotic arm motor (307) drives the first synchronous pulley (312) and the second synchronous pulley (314) to rotate, thereby causing the water cavitation jet spray gun (310) and the underwater cavitation jet spray gun (311) to swing up and down, forming a high-pressure cavitation jet.

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