Underwater robot for cleaning attached algae on wall surface of water delivery canal

Abstract

The invention relates to an underwater robot for cleaning attached algae on the wall surface of a water delivery canal, which comprises a robot body, a scraping assembly, a processing assembly and a drainage assembly, the scraping assembly is arranged at the front end of the robot body, and the scraping assembly is used for scraping periphytic algae from the wall surface of the water channel; the treatment assembly is installed in the robot body, and a pipeline is formed on the treatment assembly so that periphytic algae scraped from the wall face of a water channel can be sucked into the pipeline and removed; the drainage assembly is arranged at the rear end of the robot body; the drainage assembly is connected with the treatment assembly, and the drainage assembly is used for draining water treated by the treatment assembly to the wall surface of the scraped water channel. And periphytic algae on the wall surface of the artificial canal can be cleaned.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of algae cleaning, in particular to an underwater robot for cleaning periphytic algae on the wall of a water channel. BACKGROUND

[0002] Periphytic algae are prone to grow on the wall of an artificial water channel, and excessive growth of periphytic algae can easily lead to water ecological problems; when periphytic algae on the wall of a water channel proliferate, the wall of the artificial water channel needs to be cleaned.

[0003] Chemical cleaning can cause secondary pollution of water bodies, so physical methods are often used for cleaning. Patent No. CN120228102A discloses an environmentally friendly treatment method for periphytic algae on the side slope of a channel, which relies on a truck to walk on the road beside the water channel, and a mechanical telescopic wall device is extended into the wall of the water channel to clean the periphytic algae on the wall of the water channel. This method requires a high environment, and a road must be provided next to the water channel; for example, if there are trees between the water channel and the road, this treatment method is not applicable.

[0004] How to clean periphytic algae on the wall of an artificial water channel is one of the important problems to be solved in the field. SUMMARY

[0005] The present disclosure is proposed in view of the above problems. The present disclosure provides an underwater robot for cleaning periphytic algae on the wall of a water channel.

[0006] According to one aspect of the present disclosure, an underwater robot for cleaning periphytic algae on the wall of a water channel is provided, comprising a robot body, a scraping assembly, a treatment assembly, and a drainage assembly. The scraping assembly is arranged at the front end of the robot body, and is used to scrape the periphytic algae off the wall of the water channel. The treatment assembly is installed in the robot body, and a pipeline is formed on the treatment assembly to suck the periphytic algae scraped off the wall of the water channel into the pipeline and perform treatment. The drainage assembly is arranged at the rear end of the robot body, and is connected with the treatment assembly. The drainage assembly is used to drain the water treated by the treatment assembly to the wall of the water channel from which the periphytic algae have been scraped off.

[0007] The underwater robot for cleaning periphytic algae on the wall of a water channel as described above, wherein, optionally, the scraping assembly comprises a first support and a scraping piece, one end of the first support is connected with the robot body, and the other end of the first support away from the robot body is provided with the scraping piece. The scraping piece can be in contact with the wall of the water channel to scrape the periphytic algae on the wall of the water channel.

[0008] The underwater robot for cleaning the algae growing on the wall surface of the water channel as described above, wherein, optionally, the scraping member is provided with a scraping part for contacting the wall surface of the water channel, the scraping part is made of rubber material, and the scraping part is provided with a metal inner skeleton.

[0009] The underwater robot for cleaning the algae growing on the wall surface of the water channel as described above, wherein, optionally, the scraping assembly further comprises a rotating shaft and a spiral disc fixed on the rotating shaft, and the scraping part is arranged along the outer edge of the spiral disc. The thickness of the scraping part gradually decreases in the direction away from the rotating shaft.

[0010] The underwater robot for cleaning the algae growing on the wall surface of the water channel as described above, wherein, optionally, the number of the spiral discs is two, and the two spiral discs extend to both ends along the middle part of the rotating shaft; the starting angles of the two spiral discs are different by at least 30 degrees. When the rotating shaft rotates, the two spiral discs rotate, the scraping part rubs against the wall surface of the water channel, and the scraped algae is gathered to both ends or the middle.

[0011] The underwater robot for cleaning the algae growing on the wall surface of the water channel as described above, wherein, optionally, the processing assembly comprises a water inlet pipe, a filtering unit and a water outlet channel. One end of the water inlet pipe is arranged on the first support and located at the middle part or both ends of the rotating shaft. The filtering unit is arranged inside the robot body, the other end of the water inlet pipe is connected with the filtering unit, and the filtering unit is used for filtering out the algae. The water outlet channel is connected with the drainage assembly to drain the filtered water to the drainage assembly.

[0012] The underwater robot for cleaning the algae growing on the wall surface of the water channel as described above, wherein, optionally, the filtering unit comprises a driving member, a water filtering cylinder, a piston, a piston rod, a first water filtering bag and a cylinder cover. One end of the piston rod is hinged with the driving member, and the other end is hinged with one end of the piston. The first water filtering bag is in a cylindrical shape, the edge of one end of the first water filtering bag is connected with the edge of the piston, and the other end of the first water filtering bag is connected with the edge of one end of the water filtering cylinder; the piston is slidingly installed in the water filtering cylinder, the piston is provided with a one-way valve, and the one-way valve is used for allowing water flow to enter the first water filtering bag. The middle part of the water filtering cylinder is provided with a water passing hole. The cylinder cover is arranged at the end of the water filtering cylinder connected with the first water filtering bag. The cylinder cover is provided with an openable and closable discharge door.

[0013] The underwater robot for cleaning the wall surface of a water channel from algae as described above, wherein the discharge door is optionally connected to a discharge bin of the robot body.

[0014] The underwater robot for cleaning the wall surface of a water channel from algae as described above, wherein the outer side of the filter cylinder is optionally sleeved with a filter shell, and a water collecting cavity is formed between the filter shell and the filter cylinder sleeve; the water collecting cavity is in communication with the filter cylinder and the water discharge assembly. The filter shell covers all water passing holes on the filter cylinder.

[0015] The underwater robot for cleaning the wall surface of a water channel from algae as described above, wherein a water pump is further included, and the water pump is arranged downstream of the filter unit.

[0016] As will be described in detail below, the underwater robot for cleaning the wall surface of a water channel from algae according to the embodiments of the present disclosure sets a scraping assembly on the robot body, scrapes the algae from the wall surface of the water channel by using the scraping assembly, processes the water and the scraped algae by using a processing assembly, stores the algae in a discharge bin, reduces the re-attachment of the scraped algae to the wall surface of the water channel, and flushes the scraped area by using a water discharge assembly to restore the flow speed of the water channel wall surface, and further reduces the survival probability of the algae on the wall surface of the water channel.

[0017] It is to be understood that both the foregoing general description and the following detailed description are exemplary and intended to provide further explanation of the subject technology. BRIEF DESCRIPTION OF DRAWINGS

[0018] The foregoing and other objects, features and advantages of the present disclosure will become more apparent from the following detailed description, which proceeds with reference to the accompanying drawings. The drawings are provided to illustrate embodiments of the present disclosure and, together with the detailed description, serve to explain the present disclosure and do not constitute limitations on the present disclosure. In the drawings, the same reference numerals generally refer to the same components or steps throughout the drawings.

[0019] Figure 1 is a schematic diagram of the overall structure of the present invention; Figure 2 is a schematic diagram of the structure of the scraping member according to the present invention; Figure 3 is a three-dimensional sectional view of the scraping member according to the present invention; Figure 4 is a front view of the scraping member according to the present invention; Figure 5 is a schematic diagram of the structure of the filter unit according to the present invention; Figure 6 is a perspective view of the filter unit according to the present application; Figure 7 is a sectional view of the filter cartridge and filter housing mounting structure according to the present application; Figure 8 is a schematic view of the principle of the filter unit according to the present application; Figure 9 is a perspective view of the piston according to the present application; Figure 10 is a schematic view of the mounting structure of the piston and the one-way valve according to the present application; Figure 11 is a perspective view of the cartridge cover according to the present application; Figure 12 is a sectional view of the cartridge cover according to the present application.

[0020] Explanation of Reference Numerals 1 - robot body, 2 - scraping assembly, 3 - processing assembly, 4 - drainage assembly; 11 - discharge bin; 111 - metal filter screen, 112 - cloth filter screen; 21 - first support, 22 - scraping member, 23 - rotating shaft, 24 - spiral disc; 221 - scraping portion, 222 - metal inner skeleton; 31 - water inlet pipe, 32 - filter unit, 33 - water outlet passage; 301 - one-way valve; 321 - driving member, 322 - filter cartridge, 323 - piston, 324 - piston rod, 325 - first filter bag, 326 - cartridge cover, 327 - filter housing, 328 - water passage hole, 329 - water collecting cavity, 330 - second filter bag; 331 - cover body, 332 - sector-shaped baffle; 41 - second support, 42 - drainage nozzle, 43 - drainage pipe, 44 - adjusting member. DETAILED DESCRIPTION

[0021] In order to make the objectives, technical solutions and advantages of the present disclosure more apparent, the following will describe the example embodiments according to the present disclosure in detail with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments of the present disclosure, and it should be understood that the present disclosure is not limited to the example embodiments described herein.

[0022] In order to solve the problems presented in the background art, the following solutions are presented below.

[0023] Please refer to Figures 1 to 12 The present disclosure proposes an underwater robot for cleaning algae growing on the wall surface of a water channel, wherein please refer toFigure 1 The robot comprises a robot body 1, a scraping assembly 2, a processing assembly 3 and a drainage assembly 4.

[0024] The robot body 1 can be a remotely controlled underwater vehicle, for example, comprising a vehicle body, a signal transceiver arranged on the vehicle body, the signal transceiver being configured to receive signals from a remote control unit and send signals to the remote control unit, and a power source, such as a battery, arranged on the vehicle body to provide power for the operation of the robot body and the scraping assembly 2, the processing assembly 3 and the drainage assembly 4. In a specific implementation, various sensors and cameras for detecting water quality and facilitating observation of underwater conditions can also be arranged on the vehicle body, which can be implemented by those skilled in the art and will not be described here.

[0025] Please refer to Figure 2 , Figure 3 and Figure 4 In the present application, the scraping assembly 2 is arranged at the front end of the robot body 1, and the scraping assembly 2 is used to scrape the attached algae from the water channel wall. In actual application, the scraping assembly 2 can also be arranged at the bottom of the robot body 1. In actual application, when the scraping assembly 2 scrapes the water channel wall, a certain pressure is required on the water channel wall. When the robot body 1 is submerged in water for too long, the buoyancy will affect the pressure of the robot body 1 and the water channel wall. Therefore, a counterweight with a larger density, such as a metal block, can be added to the robot body 1. The scraping assembly 2 can also be arranged at the bottom of the robot body 1, as long as it can scrape the water channel wall.

[0026] In actual application, the scraping assembly 2 can be a fixed scraper or a brush arranged at the bottom of the robot body 1.

[0027] The processing assembly 3 is installed in the robot body 1, and a pipeline is formed on the processing assembly 3 to suck the attached algae scraped from the water channel wall into the pipeline and perform processing. The processing assembly 3 separates the attached algae scraped from the water channel wall from the water, so that it can be taken out for further processing, reduces the growth of the scraped attached algae on the water channel wall, and improves the cleaning effect.

[0028] The drainage assembly 4 is arranged at the rear end of the robot body 1; the drainage assembly 4 is connected to the processing assembly 3, and the drainage assembly 4 is used to drain the water treated by the processing assembly 3 to the scraped water channel wall. In this way, the flow rate of the water channel wall can be increased, and the scraped attached algae can be prevented from reattaching to the water channel wall.

[0029] In use, the robot body 1 is controlled to travel at the bottom or slope of the water channel, when passing through the area where the growing algae are attached, the scraping assembly 2 scrapes the water channel wall, the scraped algae are sucked into the treatment assembly 3, and after being treated by the treatment assembly 3, the algae are temporarily stored in the discharge bin, and when the discharge bin is full, the algae in the discharge bin are taken out. The water treated by the treatment assembly 3 can be discharged backward or to the rear, so that the water flow can be used to drive the robot body 1 to move forward, which is beneficial to improve the endurance. The water flow is washed towards the scraped water channel wall, which can improve the water flow mobility of the water channel wall and reduce the probability of the scraped algae reattaching to the water channel wall, thereby reducing the survival rate of the scraped algae.

[0030] Please refer to Figures 2 to 4 In actual application, in order to make the scraping assembly 2 have a better scraping effect, the scraping assembly 2 must be able to closely contact the water channel wall and move along the water channel wall. Therefore, in the present application, the scraping assembly 2 comprises a first support 21 and a scraping piece 22, one end of the first support 21 is connected with the robot body 1, and the scraping piece 22 is installed at the end of the first support 21 away from the robot body 1. In specific implementation, a driving member such as a hydraulic rod or an electric telescopic rod can be arranged between the first support 21 and the robot body 1, so as to drive the first support 21 to lift or press down through the hydraulic rod or the electric telescopic rod, thereby controlling the contact between the scraping piece 22 and the water channel wall.

[0031] Specifically, when the hydraulic rod or the electric telescopic rod drives the first support 21 to press down, the scraping piece 22 contacts the water channel wall, at this time, when there is relative movement between the scraping piece 22 and the water channel wall, scraping is realized, so as to scrape the algae attached to the water channel wall. For those skilled in the art, the first support 21 is driven to rotate by the hydraulic rod or the electric telescopic rod, so that the end of the first support 21 where the scraping piece 22 is installed is pressed down, which belongs to the prior art for those skilled in the art and can be realized by those skilled in the art, and will not be described here.

[0032] Specifically, the scraping piece 22 can be a rectangular plate fixed on the first support 21, or a brush.

[0033] In practical application, the wall surface of the water channel is uneven, if the hard plate is used, the concave area cannot be scraped, and when the convex part is encountered, the interference is caused, and the scraper is damaged. Therefore, the scraping part 221 for contacting with the wall surface of the water channel is arranged on the scraping part 22, the scraping part 221 is made of rubber material, and the metal inner framework 222 is arranged in the scraping part 221. Specifically, the scraping part 221 can be made of wear-resistant rubber, by arranging the metal inner framework 222 in the scraping part 221, the scraping part 221 can have certain strength. It can generate enough friction force to scrape the growing algae on the wall surface of the water channel.

[0034] The scraping part 22 is arranged in the form of a plate, which can play a certain scraping role, but there are two shortcomings, one is that the scraping effect needs to rely on the power of the robot, and one position can be scraped only once with the advancement of the robot body, which can cause the phenomenon that the scraping is not clean; the second is that after scraping, the scraped growing algae is scattered in a large area, and the scraped growing algae is not easy to be collected and removed. Therefore, the scraping assembly is further improved, the scraping assembly 2 further comprises a rotating shaft 23 and a spiral disc 24 fixed on the rotating shaft 23, and the scraping part 221 is arranged along the outer edge of the spiral disc 24; in use, the rotating shaft 23 is driven to rotate the spiral disc 24, the scraping part 221 continuously contacts the wall surface of the water channel, and the growing algae on the wall surface of the water channel is scraped off. In the direction away from the rotating shaft 23, the thickness of the scraping part 221 gradually decreases.

[0035] In specific implementation, the rotating speed of the spiral disc 24 and the advancing speed of the robot body 1 should satisfy the following condition formula: ; Among them, is the rotating speed of the spiral disc 24, is a constant, and the value is between 1.5 and 5; V is the advancing speed of the robot body, is the size of the position where the scraping part 221 coincides with the wall surface of the water channel in the front and rear directions in the working state.

[0036] Through the above formula, the robot can advance for each time, which is not less than the time of rotating of the spiral disc, so that the same position point can be scraped multiple times.

[0037] By arranging the above structure, the growing algae can be scraped at the same time, and the scraped growing algae is driven to one side by the spiral disc 24, so as to be sucked by the processing assembly 3.

[0038] The aforementioned spiral disk 24 structure still has some problems. The main issue is that the spiral disk 24 is subjected to lateral forces during rotation, and in an underwater environment, the robot body is easily affected by these lateral forces, making it difficult to control and causing it to deviate. Therefore, this invention makes a further improvement: the spiral disk 24 is divided into two, extending from the middle of the rotating shaft 23 towards both ends; the starting angles of the two spiral disks 24 differ by at least 30 degrees. By setting two opposing spiral disks 24, the lateral forces generated by the two spiral disks 24 can cancel each other out when the shaft rotates.

[0039] When the rotating shaft 23 rotates, the two spiral disks 24 rotate, causing the scraping part 221 to rub against the wall of the water channel, and gathering the scraped algae towards both ends or towards the middle. It is preferable to gather the scraped algae towards the middle. This facilitates the absorption of the concentrated central algae by the processing component 3, preventing the scraped algae from spreading to the sides.

[0040] In some implementations, the first support 21 is provided with an arc-shaped shell located above the spiral disk 24 to reduce the outward diffusion of water flow fluctuations caused by the rotation of the spiral disk 24, which helps to prevent the scraped attached algae from spreading outward.

[0041] To ensure that as much of the scraped algae as possible is removed through the treatment process, the treatment component 3 in this invention has been further designed. Specifically, the treatment component 3 includes an inlet pipe 31, a filtration unit 32, and an outlet channel 33. The inlet pipe 31 is used to draw in water mixed with algae, the filtration unit 32 is used to filter out the algae, and the algae is discharged into the discharge chamber. The outlet channel 33 is used to discharge the filtered water.

[0042] One end of the water inlet pipe 31 is mounted on the first support 21 and located in the middle or at both ends of the rotating shaft 23. Specifically, the position of the water inlet pipe 31 is related to the working state of the spiral disk 24. Initially, if the spiral disk 24 drives the scraped algae to move towards the center, the water inlet pipe 31 should be positioned in the middle. If the spiral disk 24 drives the scraped algae to move towards both ends, then two water inlet pipes 31 should be used, with their inlets located at both ends of the spiral disk 24. This ensures that as much of the scraped algae as possible is drawn into the filter unit 32. In practical applications, some of the water inlets of the water inlet pipe 31 can also be positioned at the bottom of the robot body 1 to capture more of the scraped algae. On the other hand, placing the inlet of the water inlet pipe 31 at the bottom of the robot body 1 helps to create a negative pressure zone at the bottom of the robot body 1, thereby increasing the pressure between the robot body 1 and the wall of the water channel. The filter unit 32 is disposed inside the robot body 1; the other end of the water inlet pipe 31 is connected to the filter unit 32, which is used to filter out attached algae; the water outlet channel 33 is connected to the drainage assembly 4 to discharge the filtered water into the drainage assembly 4.

[0043] Conventional filtration methods easily lead to filter clogging, and the filtered algae are not easily removed, causing further blockage and making the system unsuitable for long-term operation. Therefore, this invention further improves the filter unit 32. Please refer to... Figures 5 to 8 The filtration unit 32 includes a drive component 321, a filter cylinder 322, a piston 323, a piston rod 324, a first filter bag 325, and a cylinder cover 326. The drive component 321 drives the piston 323 to reciprocate within the filter cylinder 322, and the piston 323 squeezes the water within the filter cylinder 322 for filtration. The first filter bag 325 allows water to pass through while preventing algae and debris from passing through, thus achieving the purpose of filtration and preventing algae from flowing back into the water channel.

[0044] Specifically, one end of the piston rod 324 is hinged to the drive member 321, and the other end is hinged to one end of the piston 323. In a specific implementation, the drive member can be an eccentric wheel structure driven by a motor or a crankshaft structure driven by a motor. Through the piston rod, the piston 323 can reciprocate within the filter cylinder 322. The filter cylinder 322 has a water passage hole 328 in the middle. In a specific implementation, the diameter of the water passage hole 328 on the filter cylinder 322 is no greater than 2 mm.

[0045] As a crucial structure for achieving water filtration, the first filter bag 325 is cylindrical. One edge of the first filter bag 325 is connected to the edge of the piston 323, and the other end of the first filter bag 325 is connected to one edge of the filter cylinder 322. The piston 323 is slidably mounted inside the filter cylinder 322, and a one-way valve 301 is provided on the piston 323. The one-way valve is used to supply water flow into the first filter bag 325. When the piston 323 moves away from the drive member 321, the one-way valve closes, and the piston 323 compresses the space inside the first filter bag 325. Water flows out through the first filter bag 325 and the filter cylinder 322, while algae and debris remain inside the first filter bag 325. By setting the first filter bag 325, it is beneficial to prevent algae or debris from clogging the water passages. In practical implementation, the one-way valve 310 is a metal sheet covered with a rubber layer, and the piston 323 has a through hole. The metal sheet is hinged to the piston 323, and the metal sheet can block the through hole. Specifically, the metal sheet is located on the side near the cylinder cover. Please refer to... Figure 8 , Figure 8 The dashed arrows indicate the flow path of the attached algae, while the solid arrows indicate the flow path of the water.

[0046] The cover 326 is located at the end where the filter cylinder 322 connects to the first filter bag 325. This structure enables filtration of algae, but as algae accumulate in the first filter bag 325, it becomes difficult to remove them. To ensure continuous filtration, the cover 326 is equipped with an openable and closable discharge door. The discharge door is connected to the discharge chamber 11 of the robot body 1. Thus, when algae in the first filter bag 325 needs to be removed, opening the discharge door and recompressing the piston pushes the algae from the first filter bag 325 into the discharge chamber. In practice, the discharge door should be located on the upper part of the side wall of the discharge chamber 11 to reduce the possibility of the pushed-out algae being brought back into the first filter bag 325 when the piston retracts.

[0047] In practical applications, multiple filter units can work simultaneously. When multiple filter units work simultaneously, different filter units can have different phases. For example, when there are two filter units, the two pistons can be driven by the same driving element or by two separate driving elements. The two pistons are 180 degrees out of phase during their respective reciprocating strokes.

[0048] In practical applications, the filter unit can be used directly as a pump, or a separate water pump can be installed. When the filter unit is used directly as a pump, the water flowing out through the water passage on the filter cylinder 322 can be directly discharged into the water channel. To further flush the scraped water channel wall and provide sufficient suction to draw more of the freshly scraped algae into the filter unit, a water pump is required. The water pump can be located upstream of the filter unit 32, or downstream of the filter unit 32. However, considering that the water upstream of the filter unit 32 may contain algae or other debris, which could easily cause pump blockage, in some implementations, the water pump is located downstream of the filter unit 32.

[0049] When the water pump is positioned downstream of the filter unit 32, the water flowing out of the water passage holes on the filter cylinder 322 needs to be discharged by the water pump. For this purpose, the filter cylinder 322 needs to be further improved. Specifically, a filter housing 327 is sleeved on the outside of the filter cylinder 322, and a water collection cavity 329 is formed between the filter housing 327 and the sleeve of the filter cylinder 322. The water collection cavity 329 is connected to the filter cylinder 322 and the drainage assembly 4. The filter housing 327 covers all the water passage holes 328 on the filter cylinder 322.

[0050] In practical applications, please refer to Figure 8 When the piston 323 moves from the end near the cover 326 to the end away from the cover 326, algae are mixed in the water in the filter cylinder 322 on the side of the piston away from the cover 326. When the piston moves away from the cover 326 again, although the one-way valve on the piston opens, a small amount of algae will still remain in the filter cylinder 322. When the piston 323 moves, the water passage 328 is easily blocked. To address this, in some implementations, a second filter bag 330 is added. The second filter bag 330 is cylindrical, with one edge of the second filter bag 330 located on the edge of the piston 323 away from the first filter bag 325, and the edge of the other end connected to the edge of the filter cylinder 322 away from the cover 326.

[0051] In practical applications, the discharge gate can open once after the piston 323 has moved back and forth multiple times, and close after the algae accumulated in the filter cylinder 322 are discharged. In some implementations, the discharge gate can also open once for each reciprocation of the piston 323. In this case, each time the piston moves towards the cylinder cover, the water between the piston 323 and the cylinder cover is squeezed out during the first half of the movement, passing through the first filter bag 325 and the water passage 328 and then discharged. During the second half of the movement, the discharge gate opens and closes. When the second half of the movement is completed, that is, after the piston moves to a position close to the cylinder cover, the discharge gate opens and closes. In this way, the substances discharged into the discharge hopper include water and attached algae. In practical applications, to increase the capacity of the discharge hopper, one side of the discharge hopper 11 can be provided with a metal filter 111 and a cloth filter 112. The cloth filter 112 is arranged in a layer, so that excess water can pass through the cloth filter 112 and the metal filter 111 layer and be discharged into the water channel.

[0052] In practical applications, to ensure the adjustment of the drainage angle, the drainage assembly 4 further includes a second bracket 41, a drainage nozzle 42, a drainage pipe 43, and an adjusting component 44. The drainage nozzle 42 is a metal cylinder. The second bracket 41 is rotatably connected to the rear end of the robot body 1 and can swing up and down. The drainage nozzle 42 is fixedly connected to the second bracket 41. One end of the adjusting component 44 is hinged to the robot body 1, and the other end is hinged to the second bracket 41. The adjusting component 44 can be a hydraulic rod or an electric telescopic rod, with an electric telescopic rod being preferred. The orientation of the drainage nozzle 42 is adjusted by extending and retracting the adjusting component 44 to achieve the purpose of draining water directly backward or downward. In specific implementations, the drainage pipe 43 is a flexible hose or a corrugated pipe to cooperate with the drainage nozzle 42.

[0053] In specific implementation, please refer to Figure 11 and Figure 12 To enable the closing and opening of the cylindrical cover 326, the cover 326 includes a cover body 331, which is cylindrical with a movable space in its middle. A sector-shaped baffle 332 is provided within this movable space, perpendicular to the centerline of the cover body 331. The sector-shaped baffle 332 is rotatably connected to the cover body 331, and can either block or unblock the inner hole of the cover body 331 to achieve the closing and opening of the cylindrical cover 326. A toothed structure is provided on the outer arc surface of the sector-shaped baffle 332 to form a toothed sector-shaped baffle 332, facilitating the opening and closing of the cylindrical cover 326 via gear transmission.

[0054] The basic principles of this disclosure have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this disclosure are merely examples and not limitations, and should not be considered as essential features of each embodiment of this disclosure. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the scope of this disclosure to the necessity of employing the aforementioned specific details for implementation.

[0055] The block diagrams of devices, apparatuses, devices, and systems disclosed herein are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0056] Additionally, as used herein, the "or" used in a list of items beginning with "at least one" indicates a separate list, such that a list of, for example, "at least one of A, B, or C" means A or B or C, or AB or AC or BC, or ABC (i.e., A and B and C). Furthermore, the word "exemplary" does not imply that the described example is preferred or better than other examples.

[0057] It should also be noted that in the systems and methods of this disclosure, the components or steps can be decomposed and / or recombined. These decompositions and / or recombinations should be considered as equivalent solutions to this disclosure.

[0058] Various changes, substitutions, and modifications can be made to the technology described herein without departing from the teachings defined by the appended claims. Furthermore, the scope of the claims of this disclosure is not limited to the specific aspects of the processes, machines, manufactures, events, means, methods, and actions described above. Currently existing or later-developed processes, machines, manufactures, events, means, methods, or actions that perform substantially the same function or achieve substantially the same result as the corresponding aspects described herein can be utilized. Therefore, the appended claims include such processes, machines, manufactures, events, means, methods, or actions within their scope.

[0059] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of this disclosure. Therefore, this disclosure is not intended to be limited to the aspects shown herein, but rather to be carried out within the widest scope consistent with the principles and novel features disclosed herein.

[0060] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this disclosure to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations therein.

Claims

1. An underwater robot for cleaning algae growing on the walls of a water conveyance channel, characterized in that, It includes a robot body (1), a scraping component (2), a processing component (3), and a drainage component (4); The scraping component (2) is located at the front end of the robot body (1) and is used to scrape the attached algae off the wall of the water channel. The processing component (3) is installed inside the robot body (1), and a pipe is formed on the processing component (3) to suck up the attached algae scraped off the wall of the water channel into the pipe and remove it; The drainage component (4) is located at the rear end of the robot body (1); the drainage component (4) is connected to the processing component (3), and the drainage component (4) is used to discharge the water processed by the processing component (3) to the scraped water channel wall.

2. The underwater robot for cleaning algae growing on the walls of a water conveyance channel as described in claim 1, characterized in that, The scraping assembly (2) includes a first bracket (21) and a scraper (22). One end of the first bracket (21) is connected to the robot body (1), and the scraper (22) is installed on the end of the first bracket (21) away from the robot body (1). The scraper (22) can contact the wall of the canal to scrape off the algae growing on the wall of the canal.

3. The underwater robot for cleaning algae growing on the walls of a water conveyance channel as described in claim 2, characterized in that, The scraper (22) is provided with a scraping part (221) for contacting the wall of the water channel. The scraping part (221) is made of rubber material and has a metal inner skeleton (222) inside.

4. The underwater robot for cleaning algae growing on the walls of a water conveyance channel as described in claim 3, characterized in that, The scraping assembly (2) further includes a rotating shaft (23) and a spiral disk (24) fixed on the rotating shaft (23), and the scraping part (221) is arranged along the outer edge of the spiral disk (24); Along the direction away from the axis of rotation (23), the thickness of the scraping part (221) gradually decreases.

5. The underwater robot for cleaning algae growing on the walls of a water conveyance channel as described in claim 4, characterized in that, There are two spiral disks (24), and the two spiral disks (24) extend from the middle of the shaft (23) to both ends; the starting angles of the two spiral disks (24) differ by at least 30 degrees; When the shaft (23) rotates, the two spiral disks (24) rotate, causing the scraping part (221) to rub against the wall of the water channel, and gathering the scraped algae towards both ends or towards the middle.

6. The underwater robot for cleaning algae growing on the walls of a water conveyance channel as described in claim 5, characterized in that, The processing component (3) includes an inlet pipe (31), a filter unit (32), and an outlet channel (33). One end of the water inlet pipe (31) is disposed on the first bracket (21) and located in the middle or at both ends of the rotating shaft (23); The filter unit (32) is located inside the robot body (1); the other end of the water inlet pipe (31) is connected to the filter unit (32), and the filter unit (32) is used to filter out attached algae. The water outlet channel (33) is connected to the drainage assembly (4) to discharge the filtered water into the drainage assembly (4).

7. The underwater robot for cleaning algae growing on the walls of a water conveyance channel as described in claim 6, characterized in that, The filter unit (32) includes a drive (321), a filter cylinder (322), a piston (323), a piston rod (324), a first filter bag (325), and a cylinder cover (326). One end of the piston rod (324) is hinged to the drive member (321), and the other end is hinged to one end of the piston (323); The first filter bag (325) is cylindrical. One edge of the first filter bag (325) is connected to the edge of the piston (323), and the other end of the first filter bag (325) is connected to one edge of the filter cylinder (322). The piston (323) is slidably installed inside the filter cylinder (322). A one-way valve is provided on the piston (323), and the one-way valve is used to supply water flow into the first filter bag (325). The filter cylinder (322) is provided with a water passage hole (328) in the middle. The cap (326) is located at the end where the filter cylinder (322) connects to the first filter bag (325); The cylinder cover (326) is provided with an openable and closable discharge door.

8. The underwater robot for cleaning algae growing on the walls of a water conveyance channel as described in claim 7, characterized in that, The discharge gate is connected to the discharge bin of the robot body (1).

9. The underwater robot for cleaning algae growing on the walls of a water conveyance channel as described in claim 7, characterized in that, The filter cylinder (322) is fitted with a filter housing (327) on its outer side, and a water collection cavity (329) is formed between the filter housing (327) and the sleeve of the filter cylinder (322); the water collection cavity (329) and the filter cylinder (322) are connected to the drainage assembly (4); The filter housing (327) covers all the water passage holes (328) on the filter cylinder (322).

10. The underwater robot for cleaning algae growing on the walls of a water conveyance channel as described in claim 7, characterized in that, It also includes a water pump, which is located downstream of the filter unit (32).

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