An underwater working robot for hull fouling removal

Abstract

The application relates to the technical field of ship maintenance, in particular to an underwater working robot for cleaning ship body attachments, which comprises a remote sensing underwater robot, a cavitation water flow spray pipe, a collecting cabin, a driving motor, a rotating assembly, a smashing cutter, a staggered assembly and a staggered cutter. The cavitation water flow spray pipe is fixedly installed on the remote sensing underwater robot, and the collecting cabin is fixedly installed below the remote sensing underwater robot. The driving motor is fixedly installed in the collecting cabin, the rotating assembly is arranged in front of the driving motor, a plurality of smashing cutters are installed on the rotating assembly, the driving motor drives the smashing cutters to rotate through the rotating assembly, the staggered assembly is arranged in front of each of the smashing cutters, the staggered cutter is arranged on the staggered assembly, the staggered cutter is located in front of the smashing cutter, and the rotating assembly drives the staggered cutter and the smashing cutter to rotate in opposite directions through the staggered assembly. The underwater working robot can smash and collect the shellfish and algae cleaned from the ship body through rotary motion, avoids the phenomenon that the collection efficiency is reduced due to the blockage of the sewage pipe and secondary pollution occurs.

Description

Technical Field

[0001] This invention relates to the field of ship maintenance technology, specifically to an underwater working robot for cleaning attachments to ship hulls. Background Technology

[0002] During long-term voyages, a large amount of marine organisms accumulate on the surface of the underwater parts of a ship's hull. The accumulation and long-term adhesion of these marine organisms can lead to problems such as reduced speed, increased fuel consumption, and increased transportation costs. Therefore, underwater robots are needed to clean the marine organisms from the ship's hull.

[0003] The underwater working robot mainly consists of a remote sensing underwater robot and a cavitation water jet nozzle. The cavitation water jet nozzle is fixedly connected to the remote sensing underwater robot, and then the cavitation water jet is connected to a high-pressure water pump. In use, the remote sensing underwater robot is placed in the sea, and its position is adjusted by the thrusters installed on it, so that the cavitation water jet nozzle is aligned with the hull. The high-pressure water pump supplies water to the cavitation water jet nozzle, spraying high-pressure water jets to clean the shellfish and algae attached to the hull.

[0004] However, when underwater robots clean the hull, the shellfish and algae that are removed need to be recycled to avoid secondary marine pollution. However, when collecting large particles and algae through the sewage pipe, the pipe is prone to blockage, which reduces the cleaning efficiency and results in incomplete collection of shellfish and algae, leading to secondary pollution.

[0005] In view of this, we propose an underwater working robot for cleaning up attachments on ship hulls. Summary of the Invention

[0006] The purpose of this invention is to provide an underwater working robot for cleaning attachments off the hull, in order to solve the problem of secondary pollution caused by the difficulty in collecting attachments cleaned off the hull as mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] An underwater working robot for cleaning attachments to ship hulls includes a remote sensing underwater robot, a cavitation water jet nozzle, a collection chamber, a drive motor, a rotating assembly, a shredder, an interleaved assembly, and interleaved blades;

[0009] The remote-sensing underwater robot is fixedly equipped with a cavitation water jet nozzle and a thruster for moving and changing direction. The robot is connected to the vessel via a cable for easy recovery. The cavitation water jet nozzle is also fixedly mounted on the robot and connected to a high-pressure water pump on the vessel. This high-pressure water jet cleans the vessel's surface, removing shellfish and algae. A collection device is fixedly installed below the robot. The collection chamber is used to collect the cleaned shellfish and algae to prevent them from being left in the ocean and causing secondary pollution. The inlet of the collection chamber is opposite to the cavitation water jet nozzle, which facilitates the cavitation water jet nozzle to flush the cleaned shellfish and algae into the collection chamber. The rear end of the collection chamber is connected to a sewage pipe, which is connected to a sewage pump. The sewage pump pumps the contents of the collection chamber through the sewage pipe to collect the processed algae and shellfish, preventing them from drifting in the sea and causing secondary pollution.

[0010] A drive motor is fixedly installed inside the collection chamber. A rotating assembly is located in front of the drive motor, and multiple pulverizing blades are mounted on the rotating assembly. When the cavitation water jet nozzle is working, the drive motor drives the pulverizing blades to rotate through the rotating assembly. The pulverizing blades cut and pulverize shellfish and algae into small particles, making them easier to collect through the sewage pipe. An interlacing assembly is located in front of each of the pulverizing blades, and interlacing blades are mounted on the interlacing assembly. When the pulverizing blades rotate, the rotating assembly drives the interlacing blades and pulverizing blades to reverse their rotation through the interlacing assembly. When cutting and pulverizing shellfish and algae, algae, being relatively soft, may become entangled on the pulverizing blades, preventing them from being cut and affecting their normal operation. In this case, the interlacing assembly drives the interlacing blades and breaking blades to reverse their rotation, increasing the shearing force between the shellfish and algae, resulting in finer pulverization. Simultaneously, the pulverizing blades and interlacing blades interact to prevent algae from becoming entangled on each other's blades, thus avoiding interference with normal collection.

[0011] Preferably, the front end of the collection chamber has a trumpet-shaped structure, and the inner wall of the collection chamber has a spiral drainage channel arranged in a ring. The trumpet-shaped structure enhances the collection range of shellfish and algae through its wide opening. By gradually decreasing in width, the collected shellfish and algae are gathered together, thereby enhancing the pulverizing effect of the subsequent pulverizing blades and staggered blades. The spiral drainage channel on the inner wall of the collection chamber guides the flow of seawater, causing the seawater to flow in a spiral shape, which in turn drives the shellfish and algae in the seawater to move synchronously, causing the shellfish and algae to converge towards the central axis of the collection chamber, thereby improving the pulverizing efficiency of the pulverizing blades and staggered blades. At the same time, it avoids the shellfish and algae from adhering to the inner wall of the collection chamber without being pulverized.

[0012] Preferably, the rotating assembly includes a drive shaft, collecting fan blades, a baffle, a filter plate, a bushing, and a scraper. The drive shaft is fixedly connected to a drive motor, and the collecting fan blades are fixedly mounted on the drive shaft. When the drive motor starts, it drives the drive shaft to rotate synchronously, which in turn drives the collecting fan blades to rotate synchronously. The rotation of the collecting fan blades generates suction, which, in conjunction with the sewage pump, collects shellfish and algae in the collection chamber. This causes the shellfish and algae at the entrance of the collection chamber to move into the collection chamber and be crushed by the crushing blades and the interlaced blades, thus facilitating collection through the sewage pipe. A baffle is provided in front of the collecting fan blades to isolate the crushed shellfish and algae particles, preventing them from affecting the normal rotation of the collecting fan blades and thus the collection efficiency. The baffle is fixedly connected to the collection chamber, and the baffle has a circular array of through holes to diffuse the suction generated by the collecting fan blades towards the entrance of the collection chamber. Multiple filter plates are provided in front of the baffle. The filter plates are fixedly connected to the collection chamber, and the filter plates have openings... The filter plate has filter holes to filter crushed shellfish and algae impurities, preventing larger particles from entering the drain pipe and causing blockage. The diameter of the filter holes limits the size of the shellfish and algae particles collected by the drain pipe. The filter plate has an arc-shaped surface at its edge. Multiple filter plates have bushings at their front, which are fixedly connected to a drive shaft. A scraper is located near one end of each bushing. The scraper is a triangular structure, fitting snugly against the filter plate surface, with its tip tangent to the arc-shaped surface. The bushing rotates synchronously with the drive shaft, causing the scraper to rotate synchronously as well. This relative rotation between the scraper and the filter plate scrapes the filter plate surface and guides undersized shellfish and algae to accumulate on the arc-shaped surface, preventing them from accumulating on the filter plate surface and clogging the filter holes, thus affecting the filter plate's normal operating efficiency. A pulverizing blade is fixedly installed at the other end of the bushing, and the bushing drives the pulverizing blade to rotate and cut the shellfish.

[0013] Preferably, the collecting fan blade is an airfoil structure with a rotation angle of 15°-25°. The airfoil structure reduces seawater resistance, improves seawater flow efficiency, facilitates the collection of shellfish and algae, increases the suction force of the collecting fan blade, and reduces energy consumption. Furthermore, the airfoil structure design provides good stability and vibration resistance, maintaining stable performance even at high speeds. An airfoil tilt angle of 15°-25° allows for better balanced suction during rotation, ensuring the stability of the collecting fan blade's rotation. Simultaneously, it reduces seawater resistance, maintains the rotation speed of the collecting fan blade, and thus ensures the suction force generated by the collecting fan blade, facilitating the collection of shellfish and algae.

[0014] Preferably, the baffle has a convex structure, and the number of through holes located at the center of the convex structure is less than the number located at the edge of the convex structure. The convex structure on the baffle guides the crushed shellfish and algae, preventing them from adhering to the baffle and clogging the through holes, thus affecting the suction force of the collecting fan blades. The fact that the number of through holes located at the center of the convex structure is less than the number located at the edge of the convex structure makes the suction force at the edge of the baffle greater than the suction force at the center of the baffle, thereby creating a suction difference along the convex structure of the baffle, which facilitates the shellfish and algae to slide off the baffle and into the sewage pipe behind it.

[0015] Preferably, the diameter of the filter holes on the filter plate away from the baffle is smaller than the diameter of the filter holes near the baffle. By gradually reducing the diameter of the filter holes on the filter plate, multi-stage screening is achieved, ensuring the filtration efficiency of shellfish and algae particle size. This strictly guarantees the particle size of the shellfish and algae that finally enters the sewage pipe, thus avoiding the occurrence of sewage pipe blockage.

[0016] Preferably, the scraper has a linear array of pressure-increasing protrusions, which correspond to the filter holes. The pressure-increasing protrusions are made of rubber. When the scraper rotates, it drives the pressure-increasing protrusions to rotate synchronously. By gradually aligning with the filter holes, the pressure-increasing protrusions increase the pressure on the particles inside the filter holes, preventing shellfish and algae particles from adhering to the filter holes and causing blockage, which would affect the filtration efficiency of the filter plate. The pressure-increasing protrusions are made of rubber, which allows them to deform, thus preventing them from affecting the normal rotation of the scraper.

[0017] Preferably, the interleaved assembly includes a driving wheel, a driven wheel, a transmission wheel, a transmission shaft, a cam, a reciprocating rod, a reciprocating spring, and a pull ring; the driving wheel is fixedly connected to the drive shaft and is located in front of the pulverizing blade; a driven wheel is provided on the opposite side of the driving wheel; the driven wheel is fixedly connected to the interleaved blade, and a transmission wheel is provided between the driving wheel and the driven wheel; the transmission wheel is rotatably connected to the collection chamber via the transmission shaft; the interleaved blade is rotatably connected to the drive shaft via bearings, and the interleaved blade is arranged perpendicular to the pulverizing blade; the driving wheel is fixedly installed on the drive shaft and rotates synchronously with the drive shaft; when the driving wheel rotates, it meshes with the transmission wheel, and when the transmission wheel rotates, it meshes with the driven wheel. The driven wheel and the driving wheel rotate in opposite directions, which in turn causes the driven wheel and the shaft to rotate in opposite directions. The rotation of the driven wheel drives the interlaced blades, which are fixedly connected to it, to rotate synchronously. The interlaced blades are fixedly connected to the drive shaft through bearings, so that the interlaced blades do not rotate synchronously with the drive shaft. The interlaced blades and the crushing blades are arranged perpendicularly to each other, which enhances the shearing force generated when the interlaced blades and the crushing blades rotate in opposite directions, thereby enhancing the crushing effect on shellfish and algae. At the same time, the surfaces of the interlaced blades and the crushing blades are in close contact, so that each time the interlaced blades and the crushing blades cross, they will scrape off the objects adhering to each other, thereby preventing algae from getting entangled on each other's blades and affecting their rotation efficiency and cutting effect.

[0018] A cam is fixedly mounted on the drive shaft; a reciprocating rod is provided on the outer circumference of the cam; the reciprocating rod is slidably connected to the collection chamber via a reciprocating spring, and is fixedly connected to a pull ring; the pull ring fits against the arc surface, and traction inclined surfaces are provided at both ends of the pull ring. When the drive wheel rotates, it drives the drive shaft to rotate synchronously, and the drive shaft drives the cam fixedly mounted on it to move synchronously. The cam contacts the inner wall of the reciprocating rod through its surface, thereby pushing the reciprocating rod to slide. When the cam rotates from a low stroke to a high stroke, the cam pushes the reciprocating rod to slide along the filter plate direction. At the same time, the reciprocating rod pulls the reciprocating spring. When the cam rotates from a high stroke to a low stroke, the cam no longer squeezes the reciprocating rod. The reciprocating rod resets under the action of the reciprocating spring, thus achieving reciprocating motion. When the reciprocating rod slides towards the filter plate, it drives the pull ring to move synchronously. The pull ring fits against the arc surface of the filter plate. At this time, the scraper pushes shellfish and algae particles that do not meet the size standard into the pull ring. The traction slope on the pull ring reduces the resistance between the seawater and the pull ring, thus facilitating the entry of shellfish and algae particles into the pull ring. When the reciprocating rod resets under the action of the reciprocating spring, it drives the pull ring to move synchronously. The pull ring pulls the shellfish and algae particles to move synchronously, thus causing the shellfish and algae to come into contact with the crushing blade and the cross blade again, and then crush them a second time, so that the size of the shellfish and algae particles meets the filtration standard.

[0019] Preferably, the transmission wheel has a circular array of rotating arc blades. When the collecting fan blades rotate to pump seawater, the seawater flows along the direction of the sewage pipe, thereby impacting the rotating arc blades. This increases the rotational force on the transmission wheel through the rotating arc blades, thus enhancing the stability of the transmission wheel's rotation and ensuring the stability of the transmission shaft's rotation.

[0020] Preferably, the reciprocating rod is symmetrically provided with vibrating plates, which are tangent to the drive shaft. The drive shaft has friction textures that cooperate with the vibrating plates. The vibrating plates reciprocate synchronously with the reciprocating rod, thereby generating relative friction with the drive shaft, which is tangent to them. This causes the drive shaft to vibrate, and the vibration is then transmitted to the drive wheel. This prevents shellfish and algae particles on the drive wheel from affecting its rotation. The friction textures on the drive shaft enhance the interaction force between the drive shaft and the vibrating plates, thereby increasing the intensity of the generated vibration.

[0021] Compared with the prior art, the beneficial effects of the present invention are:

[0022] An underwater working robot for cleaning attachments to ship hulls. This invention achieves the crushing and collection of cleaned shellfish and algae through the cooperation of rotating and interleaved components, avoiding the phenomenon of secondary pollution caused by the clogging of sewage pipes leading to a decrease in collection efficiency.

[0023] An underwater working robot for cleaning attachments to ship hulls. This invention achieves multi-stage screening and filtration through a rotating component, ensuring the size of the finally collected shellfish and algae particles and avoiding the problem of clogging the sewage pipe.

[0024] An underwater working robot for cleaning attachments to ship hulls is disclosed. The interlaced components of this invention enhance the crushing and shearing force on shellfish and algae, while simultaneously crushing substandard particles, ensuring crushing efficiency and quality, and improving collection quality. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the underwater working robot of the present invention;

[0026] Figure 2 This is a half-sectional view of the collection chamber of the present invention;

[0027] Figure 3 For the present invention Figure 2 A magnified view of point A;

[0028] Figure 4 This is a vertical sectional view of the collection compartment of the present invention;

[0029] Figure 5 For the present invention Figure 4 A magnified view of point B;

[0030] Figure 6 For the present invention Figure 4 A magnified view of point C;

[0031] Figure 7 For the present invention Figure 4 A magnified view of point D;

[0032] Figure 8 This is an overall schematic diagram of the rotating component and the interlacing component of the present invention;

[0033] Figure 9 This is a half-sectional schematic diagram of the rotating component of the present invention;

[0034] Figure 10 For the present invention Figure 9 A magnified view of point E;

[0035] Figure 11 This is a schematic diagram of the overall interlaced component of the present invention.

[0036] In the picture:

[0037] 1. Remote sensing underwater robot;

[0038] 2. Cavitation water jet nozzle;

[0039] 3. Collection chamber; 31. Trumpet-shaped structure; 32. Spiral drainage channel;

[0040] 4. Drive motor;

[0041] 5. Rotating assembly; 51. Drive shaft; 52. Collecting fan blades; 521. Airfoil structure; 53. Baffle; 531. Convex structure; 532. Through hole; 54. Filter plate; 541. Filter hole; 542. Arc surface; 55. Bushing; 56. Scraper; 561. Triangular mechanism; 562. Pressure boosting protrusion;

[0042] 6. Shredder;

[0043] 7. Interlaced assembly; 71. Driving wheel; 72. Driven wheel; 73. Transmission wheel; 731. Rotating arc plate; 74. Transmission shaft; 75. Cam; 76. Reciprocating rod; 761. Vibrating plate; 77. Reciprocating spring; 78. Pull ring; 781. Traction ramp;

[0044] 8. Cross-cutting cuts. Detailed Implementation

[0045] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0046] The underwater working robot mainly consists of a remote sensing underwater robot and a cavitation water jet nozzle. The cavitation water jet nozzle is fixedly connected to the remote sensing underwater robot, and then the cavitation water jet is connected to a high-pressure water pump. In use, the remote sensing underwater robot is placed in the sea, and its position is adjusted by the thrusters installed on it, so that the cavitation water jet nozzle is aligned with the hull. The high-pressure water pump supplies water to the cavitation water jet nozzle, spraying high-pressure water jets to clean the shellfish and algae attached to the hull.

[0047] The remote-controlled underwater robot is equipped with a thruster. After being placed in the water, the thruster propels the robot to move. The robot is connected to a computer on the ship via a cable, enabling the transmission of remote control signals and facilitating its recovery.

[0048] However, when underwater robots clean the hull, it is necessary to recycle the cleaned shellfish and algae to avoid secondary marine pollution. Existing underwater robots only collect large-sized shellfish and algae particles through sewage pipes. However, due to the size of the shellfish and algae, the pipes are prone to blockage. In particular, algae, due to their large size, adhere to the inner wall of the sewage pipe, causing blockage and reducing cleaning efficiency. This results in incomplete collection of shellfish and algae, leading to secondary pollution.

[0049] The present invention provides a technical solution:

[0050] like Figures 1 to 11 As shown, an underwater working robot for cleaning debris from a ship's hull includes a remote-sensing underwater robot 1, a cavitation water jet nozzle 2, a collection chamber 3, a drive motor 4, a rotating assembly 5, shredders 6, an interleaved assembly 7, and interleaved blades 8. The cavitation water jet nozzle 2 is fixedly mounted on the remote-sensing underwater robot 1, and the collection chamber 3 is fixedly mounted below the remote-sensing underwater robot 1. The inlet of the collection chamber 3 is opposite to the cavitation water jet nozzle 2, and the rear end of the collection chamber 3 is connected to a sewage pipe. The drive motor 4 is fixedly mounted inside the collection chamber 3. A rotating assembly 5 is located in front of the drive motor 4, and multiple shredders 6 are mounted on the rotating assembly 5. When the cavitation water jet nozzle 2 is working, the drive motor 4 drives the shredders 6 to rotate through the rotating assembly 5. Interleaved assemblies 7 are located in front of each of the multiple shredders 6, and interleaved blades 8 are mounted on the interleaved assembly 7. The interleaved blades 8 are located in front of the shredders 6. When the shredders 6 rotate, the rotating assembly 5 drives the interleaved blades 8 to rotate in the opposite direction to the shredders 6 through the interleaved assembly 7.

[0051] Specifically, the remote sensing underwater robot 1 is fixedly equipped with a cavitation water jet nozzle 2. The remote sensing underwater robot 1 is equipped with a thruster for driving its movement and reversing direction. The remote sensing underwater robot 1 is connected to the ship via a cable for easy recovery. The cavitation water jet nozzle 2 is fixedly installed on the remote sensing underwater robot 1 and connected to a high-pressure water pump on the ship. The high-pressure water pump delivers water to the cavitation water jet nozzle 2, generating a high-pressure water jet to clean the ship's hull surface, removing shellfish and algae. A collection device is fixedly installed below the remote sensing underwater robot 1. The collection chamber 3 and the remote sensing robot can be fixedly connected by bolts. The collection chamber 3 is used to collect the cleaned shellfish and algae to prevent them from being left in the ocean and causing secondary pollution. The inlet of the collection chamber 3 is opposite to the cavitation water jet nozzle 2, which facilitates the cavitation water jet nozzle 2 to flush the cleaned shellfish and algae into the collection chamber 3. The rear end of the collection chamber 3 is connected to the sewage pipe, which is connected to the sewage pump. The sewage pump sucks the contents of the collection chamber 3 through the sewage pipe to collect the processed algae and shellfish through the sewage pipe, preventing them from being scattered in the sea and causing secondary pollution.

[0052] A drive motor 4 is fixedly installed inside the collection chamber 3. A sealed cavity is provided at the rear end of the collection chamber 3 for fixing the drive motor 4. A rotating assembly 5 is provided in front of the drive motor 4, and multiple pulverizing blades 6 are installed on the rotating assembly 5. When the cavitation water jet pipe 2 is working, the drive motor 4 drives the pulverizing blades 6 to rotate through the rotating assembly 5. The pulverizing blades 6 cut and pulverize shellfish and algae into small particles, which are easy to be collected by the sewage pipe. An interlacing assembly 7 is provided in front of each of the multiple pulverizing blades 6, and an interlacing blade 8 is provided on the interlacing assembly 7. The interlacing blades 8 are located in front of the pulverizing blades 6. When the crusher 6 rotates, the rotating component 5 drives the interlaced blade 8 to reverse the rotation of the crusher 6 via the interlaced component 7. When cutting and crushing shellfish and algae, the algae is relatively soft and may become entangled on the crusher 6. This will prevent the crusher from cutting and affect its normal operation. At this time, the interlaced component 7 drives the interlaced blade 8 to reverse the rotation of the crusher 6 and the crushing blade, which enhances the shearing force between the shellfish and algae and makes the crushed shellfish and algae finer. At the same time, the crusher 6 and the interlaced blade 8 interact with each other to prevent algae from becoming entangled on each other's blades and affecting the normal collection process.

[0053] In this embodiment, the front end of the collection chamber 3 is a trumpet-shaped structure 31, and the inner wall of the collection chamber 3 is arranged with spiral drainage grooves 32 in a ring.

[0054] Specifically, the trumpet-shaped structure 31 enhances the collection range of shellfish and algae through its wide opening. By gradually decreasing in width, the collected shellfish and algae are gathered together, thereby enhancing the pulverizing effect of the subsequent pulverizing blades 6 and crisscross blades 8. The spiral guide channel 32 on the inner wall of the collection chamber 3 guides the flow of seawater, causing the seawater to flow in a spiral shape, which in turn drives the shellfish and algae in the seawater to move synchronously, causing the shellfish and algae to converge towards the central axis of the collection chamber 3, thereby improving the pulverizing efficiency of the pulverizing blades 6 and crisscross blades 8. At the same time, it avoids the shellfish and algae from adhering to the inner wall of the collection chamber 3 without being pulverized.

[0055] In this embodiment, the rotating assembly 5 includes a drive shaft 51, collecting fan blades 52, a baffle 53, filter plates 54, a bushing 55, and a scraper 56; the drive shaft 51 is fixedly connected to the drive motor 4, and the collecting fan blades 52 are fixedly mounted on the drive shaft 51; a baffle 53 is provided in front of the collecting fan blades 52; the baffle 53 is fixedly connected to the collecting chamber 3, and the baffle 53 has a circular array of through holes 532; a plurality of filter plates 54 are provided in front of the baffle 53; the filter plates 54 are connected to the collecting chamber 3. The filter plate 54 is fixedly connected and has filter holes 541. An arc surface 542 is formed at the edge of the filter plate 54. A bushing 55 is provided in front of each of the filter plates 54, and the bushing 55 is fixedly connected to the drive shaft 51. A scraper 56 is provided near one end of the bushing 55 close to the filter plate 54. The scraper 56 is a triangular structure 561, and it fits against the surface of the filter plate 54. The top of the scraper 56 is tangent to the arc surface 542. A pulverizing blade 6 is fixedly installed at the other end of the bushing 55.

[0056] Specifically, the drive shaft 51 and the drive motor 4 are fixedly connected via a coupling. A collecting fan blade 52 is fixedly mounted on the drive shaft 51. When the drive motor 4 starts, it drives the drive shaft 51 to rotate synchronously. The drive shaft 51 then drives the collecting fan blade 52 to rotate synchronously. The rotation of the collecting fan blade 52 generates suction, which, in conjunction with the sewage pump, collects the shellfish and algae in the collection chamber 3. This causes the shellfish and algae at the entrance of the collection chamber 3 to move into the collection chamber 3, where they are pulverized by the crushing blade 6 and the interlaced blade 8, facilitating collection through the sewage pipe. A baffle 53 is located in front of the collecting fan blade 52. Baffle 53 is used to isolate crushed shellfish and algae particles, preventing them from affecting the normal rotation of the collecting fan blades 52 and thus the collection efficiency. Baffle 53 is fixedly connected to the collecting chamber 3, which has a cross-shaped support frame at the rear. Baffle 53 is fixedly connected to the cross-shaped support frame. Through holes 532 are arranged in a ring on baffle 53. The through holes 532 are used to diffuse the suction force generated by the collecting fan blades 52 toward the inlet of the collecting chamber 3. Multiple filter plates 54 are provided in front of baffle 53. The filter plates 54 are fixedly connected to the inner wall of the collecting chamber 3 and have filter holes 541. The filter plate 54 filters the crushed shellfish and algae impurities, preventing larger particles from entering the drain pipe and causing blockage. The filter plate 54 limits the particle size of the shellfish and algae collected by the drain pipe through the diameter of the filter holes 541. The filter plate 54 has an arc surface 542 at its edge. Each filter plate 54 has a bushing 55 in front of it, which is fixedly connected to the drive shaft 51. A scraper 56 is provided near one end of the bushing 55 near the filter plate 54. The scraper 56 is a triangular mechanism 561, which fits against the surface of the filter plate 54. The top of the scraper 56 is flush with the arc surface 542. The bushing 55 is tangent to the drive shaft 51 and rotates synchronously, which in turn drives the scraper 56 to rotate synchronously. The scraper 56 rotates relative to the filter plate 54, which causes the scraper 56 to scrape the surface of the filter plate 54. At the same time, the triangular structure guides the shellfish and algae that are not up to size to accumulate on the arc surface 542 of the filter plate 54, so as to avoid the shellfish and algae accumulating on the surface of the filter plate 54 and causing the filter holes 541 to be blocked, which would affect the normal working efficiency of the filter plate 54. The other end of the bushing 55 is fixedly installed with a crushing blade 6. The bushing 55 drives the crushing blade 6 to rotate to cut the shellfish.

[0057] In this embodiment, the collecting fan blade 52 is an airfoil structure 521, and the rotation angle of the collecting fan blade 52 is 15°-25°;

[0058] Specifically, the airfoil structure 521 reduces seawater resistance, improves seawater flow efficiency, facilitates the collection of shellfish and algae, increases the suction force of the collecting fan blades 52, and reduces energy consumption. Furthermore, the airfoil structure 521's structural design provides good stability and vibration resistance, maintaining stable performance even at high speeds. When the collecting fan blades 52 are tilted at an angle of 15°-25°, they generate better balanced suction during rotation, ensuring the stability of the collecting fan blades 52's rotation. Simultaneously, it reduces seawater resistance, ensuring the rotational speed of the collecting fan blades 52 and thus guaranteeing the suction force generated by the collecting fan blades 52, facilitating the collection of shellfish and algae.

[0059] In this embodiment, the baffle 53 is a convex structure 531, and the number of through holes 532 located at the center of the convex structure 531 is less than the number located at the edge of the convex structure 531.

[0060] Specifically, the convex structure 531 on the baffle 53 guides the crushed shellfish and algae, preventing them from adhering to the baffle 53 and clogging the through holes 532, thus affecting the suction force of the collecting fan blades 52. The number of through holes 532 located at the center of the convex structure 531 is less than the number located at the edge of the convex structure 531, making the suction force at the edge of the baffle 53 greater than the suction force at the center of the baffle 53. This creates a suction difference along the convex structure 531 of the baffle 53, making it easier for the shellfish and algae to slide off the baffle 53 and into the sewage pipe behind it.

[0061] In this embodiment, the diameter of the filter holes 541 on the filter plate 54 that are away from the baffle 53 is smaller than the diameter of the filter holes 541 that are close to the baffle 53.

[0062] Specifically, by gradually reducing the filter holes 541 of the filter plate 54, multi-stage screening is achieved, ensuring the filtration efficiency of shellfish and algae particle size, strictly guaranteeing the particle size of shellfish and algae that finally enter the sewage pipe, and avoiding the occurrence of sewage pipe blockage.

[0063] In this embodiment, the scraper 56 has a linear array of pressure-boosting protrusions 562, which correspond to the filter holes 541, and the pressure-boosting protrusions 562 are made of rubber material.

[0064] Specifically, when the scraper 56 rotates, it drives the pressure-boosting protrusion 562 to rotate synchronously. The pressure-boosting protrusion 562 gradually overlaps with the filter hole 541, thereby increasing the pressure on the particles inside the filter hole 541. This prevents shellfish and algae particles from adhering to the filter hole 541, causing the filter hole 541 to become clogged and affecting the filtration efficiency of the filter plate 54. The pressure-boosting protrusion 562 is made of rubber material, which allows the pressure-boosting protrusion 562 to deform, thereby preventing the pressure-boosting protrusion 562 from affecting the normal rotation of the scraper 56.

[0065] In this embodiment, the interleaved assembly 7 includes a driving wheel 71, a driven wheel 72, a transmission wheel 73, a transmission shaft 74, a cam 75, a reciprocating rod 76, a reciprocating spring 77, and a pull ring 78; the driving wheel 71 is fixedly connected to the drive shaft 51 and is located in front of the crushing blade 6; the driven wheel 72 is provided on the opposite side of the driving wheel 71; the driven wheel 72 is fixedly connected to the interleaved blade 8; the interleaved blade 8 is rotatably connected to the drive shaft 51 through bearings, and the interleaved blade 8 is perpendicular to the crushing blade 6. The arrangement is as follows: a drive wheel 73 is provided between the drive wheel 71 and the driven wheel 72; the drive wheel 73 is rotatably connected to the collection chamber 3 via a drive shaft 74; a cam 75 is fixedly mounted on the drive shaft 74; a reciprocating rod 76 is provided on the outer circumference of the cam 75; the reciprocating rod 76 is slidably connected to the collection chamber 3 via a reciprocating spring 77, and the reciprocating rod 76 is fixedly connected to a pull ring 78; the pull ring 78 fits against the arc surface 542, and traction inclined surfaces 781 are provided at both ends of the pull ring 78;

[0066] Specifically, the drive wheel 71 is fixedly connected to the drive shaft 51 and is located in front of the crushing blade 6; a driven wheel 72 is provided on the opposite side of the drive wheel 71; the driven wheel 72 is fixedly connected to the interlaced blade 8, and a transmission wheel 73 is provided between the drive wheel 71 and the driven wheel 72; the transmission wheel 73 is rotatably connected to the collection chamber 3 through the transmission shaft 74; the interlaced blade 8 is rotatably connected to the drive shaft 51 through bearings, and the interlaced blade 8 is arranged perpendicular to the crushing blade 6; the drive wheel 71 is fixedly installed on the drive shaft 51 and rotates synchronously with the drive shaft 51; when the drive wheel 71 rotates, it meshes with the transmission wheel 73; when the transmission wheel 73 rotates, it meshes with the driven wheel 72, thereby driving the driven wheel 72 and the drive wheel 72 to rotate. 1. Reversal, thereby causing the driven wheel 72 and the shaft to rotate in opposite directions. The rotation of the driven wheel 72 drives the interlaced blade 8, which is fixedly connected to it, to rotate synchronously. The interlaced blade 8 and the drive shaft 51 are fixedly connected by bearings, so that the interlaced blade 8 does not rotate synchronously with the drive shaft 51. The interlaced blade 8 and the crushing blade 6 are arranged perpendicularly to enhance the shearing force generated when the interlaced blade 8 and the crushing blade 6 rotate in opposite directions, thereby enhancing the crushing effect on shellfish and algae. At the same time, the surfaces of the interlaced blade 8 and the crushing blade 6 are in contact, so that each time the interlaced blade 8 and the crushing blade 6 cross, they will scrape off the objects adhering to each other's surfaces, thereby avoiding the algae organisms entangled on each blade, which would affect their rotation efficiency and cutting effect.

[0067] A cam 75 is fixedly mounted on the drive shaft 74; a reciprocating rod 76 is provided on the outer circumference of the cam 75; the reciprocating rod 76 is slidably connected to the collection chamber 3 through a reciprocating spring 77, and the reciprocating rod 76 is fixedly connected to a pull ring 78; the pull ring 78 fits against the arc surface 542, and traction inclined surfaces 781 are provided at both ends of the pull ring 78. When the drive wheel 73 rotates, it drives the drive shaft 74 to rotate synchronously, and the drive shaft 74 drives the cam 75 fixedly mounted on it to move synchronously. The cam 75 contacts the inner wall of the reciprocating rod 76 through its surface, thereby pushing the reciprocating rod 76 to slide. When the cam 75 rotates from the low stroke to the high stroke, the cam 75 pushes the reciprocating rod 76 to slide along the direction of the filter plate 54. At the same time, the reciprocating rod 76 pulls the reciprocating spring 77. When the cam 75 rotates from the high stroke to the low stroke, the cam 75 no longer squeezes the reciprocating rod 76. The reciprocating rod 76 is reset under the action of the reciprocating spring 77, thus realizing reciprocating motion. When the reciprocating rod 76 slides towards the filter plate 54, the reciprocating rod 76 drives the pull ring 78 to move synchronously. The pull ring 78 is in contact with the arc surface 542 of the filter plate 54. At this time, the scraper 56 pushes the shellfish and algae particles that do not meet the particle size standard into the pull ring 78. The traction slope 781 opened on the pull ring 78 reduces the resistance between the seawater and the pull ring 78, thus facilitating the entry of shellfish and algae particles into the pull ring 78. When the reciprocating rod 76 is reset under the action of the reciprocating spring 77, the reciprocating rod 76 drives the pull ring 78 to move synchronously. The pull ring 78 pulls the shellfish and algae particles to move synchronously, thus causing the shellfish and algae to come into contact with the crushing blade 6 and the interlaced blade 8 again, and then crush them a second time, so that the shellfish and algae particles reach the filtration standard.

[0068] Preferably, when the scraper 56 rotates downwards, the pull ring 78 moves towards the filter plate 54 under the action of the reciprocating rod 76, which facilitates the collection of shellfish and algae by the pull ring 78. When the scraper 56 rotates upwards, the reciprocating rod 76 pulls the pull ring 78 towards the crushing blade 6. The crushing blade 6 and the interlaced blades 8 can be selected as arc-shaped blades. Arc-shaped blades can generate greater shearing force than straight blades, thus cutting and crushing shellfish and granulation more smoothly, reducing the resistance generated during cutting, and thereby improving work efficiency.

[0069] In this embodiment, the transmission wheel 73 has a circular array of rotating arc plates 731;

[0070] Specifically, when the collecting fan blade 52 rotates to pump seawater, the seawater flows along the direction of the sewage pipe, which in turn impacts the rotating arc plate 731. This increases the rotational force on the transmission wheel 73 through the rotating arc plate 731, thereby enhancing the rotational stability of the transmission wheel 73 and ensuring the rotational stability of the transmission shaft 74.

[0071] In this embodiment, the reciprocating rod 76 is symmetrically provided with a vibration plate 761, the vibration plate 761 is tangent to the transmission shaft 74, and the transmission shaft 74 is provided with friction textures that cooperate with the vibration plate 761.

[0072] Specifically, the vibrating plate 761 reciprocates synchronously with the reciprocating rod 76, thereby generating relative friction with the drive shaft 74 tangent to it, which causes the drive shaft 74 to vibrate. This vibration is then transmitted to the drive wheel 73, preventing shellfish and algae particles on the drive wheel 73 from affecting its rotation. The friction texture on the drive shaft 74 is used to enhance the interaction force between the drive shaft 74 and the vibrating plate 761, thereby increasing the intensity of the generated vibration.

[0073] The underwater working robot of the present invention for cleaning attachments to ship hulls is deployed by operators into the sea. Its movement is controlled by a thruster. Simultaneously, a high-pressure water pump is activated to supply high-pressure water to the cavitation water jet nozzle 2 for cleaning. The drive motor 4 and the sewage pump are also activated concurrently. The drive motor 4 rotates, which in turn drives the drive shaft 51 to rotate synchronously. The drive shaft 51 drives the collecting fan blades 52 to rotate synchronously. The rotating collecting fan blades 52 generate suction, which sucks up shellfish and algae at the entrance of the collection chamber 3. The shellfish and algae are drawn along the collection chamber... 3. Simultaneously, the drive shaft 51 drives the bushing 55 to rotate synchronously, and the bushing 55 drives the crushing blade 6 to rotate synchronously. The crushing blade 6 crushes the shellfish and algae in the collection chamber 3. After crushing, the shellfish and algae are filtered through the filter plate 54. The filtered shellfish and algae are collected through the drain pipe. The filtered shellfish and algae are blocked on the surface of the filter plate 54. At this time, the drive shaft 51 drives the scraper 56 to rotate synchronously through the bushing 55. The scraper 56 scrapes the shellfish and algae on the surface of the filter plate 54 and guides them to fall into the arc surface 542.

[0074] Simultaneously, the drive shaft 51 drives the drive wheel 71 to rotate synchronously. When the drive wheel 71 rotates, it meshes with the transmission wheel 73. The transmission wheel 73 rotates and meshes with the driven wheel 72, thereby driving the driven wheel 72 and the drive wheel 71 to rotate in opposite directions. The driven wheel 72 drives the interlaced blade 8 and the crushing blade 6 to rotate in opposite directions, thereby enhancing the shearing force on shellfish and algae and ensuring the shearing effect. At the same time, the rotation of the transmission wheel 73 drives the transmission shaft 74 to rotate synchronously. The transmission shaft 74 drives the cam 75 to rotate synchronously. The cam 75 cooperates with the reciprocating spring 77 to realize the reciprocating motion of the reciprocating rod 76. When the reciprocating rod 76 slides towards the filter plate 54, the reciprocating rod 76 drives the pull ring 78 synchronously. During the movement, the pull ring 78 is in contact with the arc surface 542 of the filter plate 54. At this time, the scraper 56 pushes the shellfish and algae particles that do not meet the particle size standard into the pull ring 78. The traction slope 781 opened on the pull ring 78 reduces the resistance between the seawater and the pull ring 78, thus facilitating the entry of shellfish and algae particles into the pull ring 78. When the reciprocating rod 76 is reset under the action of the reciprocating spring 77, the reciprocating rod 76 drives the pull ring 78 to move synchronously. The pull ring 78 pulls the shellfish and algae particles to move synchronously, thus causing the shellfish and algae to come into contact with the crushing blade 6 and the interlaced blade 8 again, and then crush them a second time, so that the size of the shellfish and algae particles meets the filtration standard.

[0075] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. An underwater working robot for cleaning attachments to ship hulls, characterized in that: It includes a remote sensing underwater robot (1), a cavitation water jet nozzle (2), a collection chamber (3), a drive motor (4), a rotating assembly (5), a crushing blade (6), an interleaved assembly (7), and an interleaved blade (8); The remote sensing underwater robot (1) is fixedly installed with a cavitation water jet nozzle (2), and a collection chamber (3) is fixedly installed below the remote sensing underwater robot (1). The front end of the collection chamber (3) is a trumpet-shaped structure (31), and the inner wall of the collection chamber (3) is arranged with spiral drainage grooves (32). The inlet of the collection chamber (3) is opposite to the cavitation water jet pipe (2), and the rear end of the collection chamber (3) is connected to the sewage pipe; A drive motor (4) is fixedly installed inside the collection chamber (3), and a rotating component (5) is provided in front of the drive motor (4). The rotating assembly (5) includes a drive shaft (51), collecting fan blades (52), baffles (53) and filter plates (54); The drive shaft (51) is fixedly connected to the drive motor (4), and a collecting fan blade (52) is fixedly installed on the drive shaft (51). A baffle (53) is provided in front of the collecting fan blade (52); The baffle (53) is fixedly connected to the collection chamber (3), and the baffle (53) has a ring array of through holes (532). Multiple filter plates (54) are provided in front of the baffle (53). The filter plate (54) is fixedly connected to the collection chamber (3). The filter plate (54) has filter holes (541) and an arc surface (542) at the edge of the filter plate (54). Multiple crushing blades (6) are installed on the rotating assembly (5). When the cavitation water jet pipe (2) is working, the drive motor (4) drives the crushing blades (6) to rotate through the rotating assembly (5). Each of the multiple crushing blades (6) is provided with an interlaced assembly (7), and the interlaced assembly (7) is provided with an interlaced blade (8). The interlaced blade (8) is located in front of the crushing blade (6). When the crushing blade (6) rotates, the rotating assembly (5) drives the interlaced blade (8) to reverse the direction of the crushing blade (6) through the interlaced assembly (7).

2. The underwater working robot according to claim 1, characterized in that: The rotating assembly also includes a bushing (55) and a scraper (56); Each of the filter plates (54) is provided with a bushing (55) in front of it, and the bushing (55) is fixedly connected to the drive shaft (51); The bushing (55) has a scraper (56) at one end near the filter plate (54). The scraper (56) is a triangular structure (561). The scraper (56) is in contact with the surface of the filter plate (54). The top of the scraper (56) is tangent to the arc surface (542). A crushing blade (6) is fixedly installed at the other end of the bushing (55).

3. The underwater working robot according to claim 1, characterized in that: The collecting fan blade (52) is an airfoil structure (521), and the rotation angle of the collecting fan blade (52) is 15°-25°.

4. The underwater working robot according to claim 1, characterized in that: The baffle (53) has a convex structure (531), and the number of through holes (532) located at the center of the convex structure (531) is less than the number located at the edge of the convex structure (531).

5. The underwater working robot according to claim 2, characterized in that: The diameter of the filter holes (541) of the filter plate (54) away from the baffle (53) is smaller than the diameter of the filter holes (541) close to the baffle (53).

6. The underwater working robot according to claim 5, characterized in that: The scraper (56) has a linear array of pressure-boosting protrusions (562), which correspond to the filter holes (541). The pressure-boosting protrusions (562) are made of rubber.

7. The underwater working robot according to claim 2, characterized in that: The interleaved assembly (7) includes a drive wheel (71), a driven wheel (72), a transmission wheel (73), a transmission shaft (74), a cam (75), a reciprocating rod (76), a reciprocating spring (77), and a pull ring (78). The drive wheel (71) is fixedly connected to the drive shaft (51), and the drive wheel (71) is located in front of the crusher (6); a driven wheel (72) is provided on the opposite side of the drive wheel (71). The driven wheel (72) is fixedly connected to the interlaced blade (8); The interlaced blade (8) is rotatably connected to the drive shaft (51) via a bearing, and the interlaced blade (8) is arranged perpendicular to the crushing blade (6); A transmission wheel (73) is provided between the driving wheel (71) and the driven wheel (72); The drive wheel (73) is rotatably connected to the collection chamber (3) via a drive shaft (74); A cam (75) is fixedly mounted on the drive shaft (74); The cam (75) has a reciprocating rod (76) on its outer circumference. The reciprocating rod (76) is slidably connected to the collection chamber (3) via a reciprocating spring (77), and the reciprocating rod (76) is fixedly connected to the pull ring (78); The pull ring (78) is fitted with the arc surface (542), and the two ends of the pull ring (78) are provided with traction inclined surfaces (781).

8. The underwater working robot according to claim 7, characterized in that: The transmission wheel (73) has a circular array of rotating arc plates (731).

9. The underwater working robot according to claim 7, characterized in that: The reciprocating rod (76) is symmetrically provided with a vibrating plate (761), the vibrating plate (761) is tangent to the transmission shaft (74), and the transmission shaft (74) is provided with friction texture that cooperates with the vibrating plate (761).

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