A power plant interceptor screen cleaning robot

Abstract

The present application relates to the technical field of net cleaning robot, and discloses a power plant intercepting net cleaning robot, which comprises a central square cabin, a walking mechanism, a tensioning mechanism and a cleaning mechanism, the central square cabin is internally provided with a collecting cabin, the tensioning mechanism is used for increasing the spacing of the two side gripping teeth to tension the net, the cleaning mechanism comprises a pivotally installed cleaning brush and a self-cleaning assembly, the self-cleaning assembly is driven to pivot and collide with the cleaning rod, thereby realizing the automatic cleaning of the cleaning brush, and the cleaned dirt is collected in the collecting cabin; the net in the working area is pulled tight and flat by the tensioning mechanism, thereby solving the problem of poor cleaning effect caused by the deformation of the net, the winding dirt of the cleaning brush can be cleaned in real time by the self-cleaning assembly, the cleaning capacity is ensured to be always in the best state, and the dirt is collected after cleaning, so that the dirt is not reattached to the net and the ocean environment is not polluted by the dirt spreading with the water flow.

Description

Technical Field

[0001] This invention relates to the field of netting cleaning robot technology, specifically to a power plant interception netting cleaning robot. Background Technology

[0002] Coastal power plants, nuclear power plants, and other industrial facilities typically install large-scale interception and filtration systems at their water intakes to prevent marine organisms, aquatic plants, and various debris from entering the cooling water circulation system, ensuring the safe operation of the equipment. These systems usually consist of interception nets and netting. The netting itself, constantly submerged in seawater, is highly susceptible to the growth and proliferation of marine organisms such as seaweed, mussels, barnacles, and algae, leading to severe biofouling. This biofouling causes a series of problems: firstly, it clogs the mesh, severely impacting the water intake flow and reducing the efficiency of the cooling system; secondly, the biofouling significantly increases the weight of the netting and water flow resistance, threatening the structural stability and safety of the entire interception system.

[0003] Chinese patent document CN115475808B discloses an underwater net cleaning robot for large-scale deep-sea aquaculture platforms. The robot includes a negative suction component, the air outlet of which is connected to a negative pressure suction device; a support component, on which the negative suction component is mounted, supporting the negative suction component; a moving component, mounted on the support component, used to move the support component within the aquaculture platform; and a scraping component, rotatably connected to the support component, used to scrape debris from the inner wall of the net cage. During operation, the negative pressure suction device is connected via a connecting pipe, generating suction through the suction pipe, base pipe, and connecting pipe. This suction then creates suction in the suction trough on the side frame, drawing in debris scraped from the inner wall of the aquaculture platform. This prevents the scraped debris from scattering within the platform, thus avoiding water quality contamination and extending the time before the net cage becomes clogged. This reduces the need for frequent net cleaning and lowers the difficulty of cleaning the net cage.

[0004] While the aforementioned mesh cleaning robot can clean mesh, it still has some other problems. First, the soft mesh is prone to denting and deformation when subjected to the pressure of the cleaning head, resulting in poor cleaning effect. Second, the cleaning head of the scraping component can become clogged with sticky dirt after working for a long time, which greatly reduces its cleaning ability and affects the cleaning effect of the mesh. Summary of the Invention

[0005] This invention provides a power plant interception net cleaning robot, which aims to solve the problems of poor cleaning effect caused by the netting cleaning robot in the related technology, which makes the netting easily dented and deformed, and the scraping components having a significant decrease in cleaning ability after long-term operation.

[0006] A power plant interception net cleaning robot includes a central square compartment and a walking mechanism. The walking mechanism is installed on both sides of the central square compartment to enable the central square compartment to move on the net surface. The walking mechanism includes tracks and multiple gripping teeth arranged on the tracks, as well as a tensioning mechanism and a cleaning mechanism installed on the central square compartment.

[0007] The tensioning mechanism is used to increase the distance between corresponding gripping teeth on both sides of the track when the track is moving, so as to tension the mesh located between the two sides of the track;

[0008] The cleaning mechanism includes a cleaning component and a self-cleaning assembly. The cleaning component includes a drive ring and multiple cleaning brushes pivotally mounted on the drive ring for removing dirt adhering to the surface of the mesh. A water flow channel is provided on the central square compartment, and a collection compartment is installed inside. The collection compartment is connected to the cleaning component through the water flow channel for collecting the dirt removed by the cleaning component. The self-cleaning assembly includes a cleaning rod for causing the cleaning brushes to pivot and collide with the cleaning rod when the cleaning component is working, thereby automatically cleaning the cleaning component.

[0009] Its effects are as follows: When the robot moves, the tensioning mechanism can actively stretch and flatten the netting in the work area, providing a solid and flat working surface for the cleaning components. This allows the cleaning components to remove dirt adhering to the surface of the netting. At the same time, the dirt generated during cleaning can flow along the water flow channel and enter the collection chamber for processing. In addition, by setting up a self-cleaning component, the cleaning brush can perform periodic self-cleaning during underwater operations, ensuring the cleaning ability of the brush. Therefore, through the coordinated work of the tensioning mechanism and the cleaning mechanism, real-time self-cleaning of the cleaning components can be achieved while ensuring the flatness of the netting. This systematically solves the problem of reduced cleaning efficiency and quality caused by the two major challenges of netting deformation and cleaning component contamination.

[0010] Preferably, the water flow channel has an inlet and an outlet. The inlet is located at the cleaning brush. A central propeller is installed on the central square chamber, and a filter screen is installed inside the collection chamber. When the central propeller is working, it generates negative pressure suction, drawing water carrying dirt from the inlet. The water flows through the filter screen and is discharged from the outlet. A one-way opening sealing plate is provided at the inlet to prevent dirt from flowing back. The effect is that by arranging the inlet close to the cleaning brush, and in conjunction with the strong negative pressure suction generated by the central propeller, dirt can be captured along with the surrounding water the moment it is peeled off the mesh, improving collection efficiency and preventing the possibility of dirt spreading, floating, and re-attaching to other mesh areas in the water.

[0011] Preferably, the tensioning mechanism includes an elastic element, a push rod, and a guide rod. The gripping teeth are slidably mounted on the track along a direction perpendicular to the track's forward movement. The elastic element is installed between the outer side of the gripping teeth and the track. The push rod is fixedly connected to the inner side of the gripping teeth. The guide rod is fixedly mounted on both sides of the central square compartment and located inside the lower half of the track's working area. The guide rod has a guide surface on the side facing the push rod. The guide surface consists of an outwardly inclined surface and a horizontal surface parallel to the track's forward movement. The inclined surface drives the push rod to move outward, and the horizontal surface maintains the gripping teeth at their maximum tension position within the working area. The advantages are: this tensioning structure is a purely mechanical linkage design, requiring no additional power source. It is simple and reliable, efficiently converting passive walking motion into active mesh tensioning action, creating ideal physical conditions for subsequent high-quality cleaning operations.

[0012] Preferably, the cleaning component further includes an underwater motor, which is mounted on the central square compartment. The drive ring is fixedly connected to the output end of the underwater motor. Multiple cleaning brushes are evenly arranged along the circumference of the drive ring, and each cleaning brush is fixedly connected to a rotating ring. The rotating ring is rotatably engaged with the drive ring by a torsion spring.

[0013] Preferably, the self-cleaning assembly further includes a guide ramp. The cleaning rod is fixedly installed at the water inlet. When the cleaning brush rotates, it is blocked by the central square chamber, causing the torsion spring to store energy. When it rotates to the water inlet, it disengages from the obstruction and rotates under the elastic force released by the torsion spring, colliding with the cleaning rod to remove dirt. Subsequently, it returns to the blocked state under the action of the guide ramp. Its effect is that by utilizing the energy storage-release mechanism of the torsion spring, combined with the fixed mechanical structure, periodic, high-intensity impact-type self-cleaning of the cleaning brush is achieved, thoroughly removing stubborn entangled and adhered dirt, ensuring that the cleaning ability of the cleaning component remains at its optimal state.

[0014] Preferably, the filter screen is a rotatable, circulating filter screen, and a scraper is fixedly installed inside the collection chamber. The scraper can contact the surface of the filter screen and is used to scrape off dirt adhering to the surface of the filter screen when the filter screen rotates. The effect is that by cooperating with the rotating filter screen and the scraper, the static filtration process is upgraded to a dynamic self-cleaning process, fundamentally eliminating the risk of the collection system failing due to filter screen clogging and greatly extending the robot's continuous operating time.

[0015] Preferably, the collection chamber is equipped with a detachable collection basket located below the scraper for collecting the scraped-off dirt.

[0016] Preferably, the walking mechanism further includes a protective plate disposed on the outside of the track, the protective plate being used to prevent the mesh from being excessively deformed or caught in when the robot moves.

[0017] Preferably, the central square cabin is also equipped with a horizontal thruster and a vertical thruster. The horizontal thruster is used to control the robot's forward, backward and turning movements in the water, and the vertical thruster is used to control the robot's diving and surfacing movements in the water, and to adjust the pressure between the cleaning components and the surface of the net.

[0018] Preferably, the central square cabin is also equipped with a video monitoring system, which includes an underwater camera and an underwater light, for real-time monitoring of the cleaning process and the robot's status.

[0019] By adopting the above technical solution, the beneficial effects of the present invention are as follows:

[0020] 1. By setting up a collection chamber, the dirt generated during cleaning can enter the collection chamber through the inlet with the water flow for treatment. The "water-sludge separation" is achieved through a circulating filter screen, so that the cleaned material falls into the collection basket for collection. The filtered water flows out through the outlet, which not only prevents the attached material from re-attaching to the netting and prolonging the time it takes for the dirt to clog the netting, but also prevents the attached material from spreading with the water flow and polluting the marine environment, thus solving the pain point of traditional cleaning where "cleaning one place leaves a dirty area".

[0021] 2. By setting up a tensioning mechanism, the robot can actively stretch and flatten the mesh in the work area while moving, providing a solid and flat working surface for the cleaning parts. This fundamentally solves the problem of uneven cleaning pressure and poor effect caused by the softness and indentation of the mesh, and significantly improves the cleaning quality.

[0022] 3. By setting up a self-cleaning component, the cleaning component can perform periodic self-cleaning during underwater operations without cleaning or recycling the robot, removing dirt entangled or adhering to itself in real time, ensuring that its cleaning ability is always kept at its best, and greatly extending the robot's effective continuous operation time. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0024] Figure 2 This is a schematic diagram of the assembly structure of the walking mechanism and the tensioning mechanism of the present invention.

[0025] Figure 3 This is a schematic diagram of the structure of the present invention cut along its longitudinal direction.

[0026] Figure 4 This is a schematic diagram of the cleaning mechanism of the present invention.

[0027] Figure 5 This is a schematic diagram of the assembly structure of the self-cleaning component and the cleaning part of the present invention.

[0028] Figure 6 This is a schematic diagram of the cleaning component of the present invention.

[0029] Figure label:

[0030] 1. Central rectangular compartment; 11. Inlet; 12. Outlet; 2. Walking mechanism; 21. Track; 22. Gripper; 23. Protective plate; 24. Horizontal thruster; 25. Vertical thruster; 3. Tensioning mechanism; 31. Elastic element; 32. Push rod; 33. Guide rod; 4. Collection compartment; 41. Central thruster; 42. Filter screen; 43. Scraper; 5. Cleaning component; 51. Underwater motor; 52. Cleaning brush; 53. Drive ring; 54. Rotating ring; 6. Self-cleaning assembly; 61. Cleaning rod; 62. Guide ramp; 7. Video monitoring system. Detailed Implementation

[0031] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0032] like Figures 1-6 As shown, a power plant interception net cleaning robot includes a central square cabin 1, a walking mechanism 2, a horizontal thruster 24, a vertical thruster 25, a tensioning mechanism 3, and a cleaning mechanism.

[0033] like Figure 1 As shown, the central square cabin 1 serves as the main structure of the power plant's netting cleaning robot, housing various types of equipment. A video monitoring system 7 is installed on the central square cabin 1. This system includes at least one forward-facing underwater camera and one rear-facing underwater camera, each equipped with an underwater light. The forward-facing camera observes the condition of the netting and obstacles ahead, while the rear-facing camera monitors the cleaning effect of the netting in real time, facilitating precise control and visualized operations, and avoiding blind cleaning. A hook is installed on the central square cabin 1 for connecting a hook lock, facilitating the robot's entry and exit from the water.

[0034] like Figures 1-3 As shown, the walking mechanism 2 is installed on both sides of the central square compartment 1. This walking mechanism 2 is a typical tracked structure, including tracks 21, drive motors, drive wheels, and a series of support wheels. The outer surface of the tracks 21 is evenly distributed with gripping teeth 22 that match the mesh of the netting. These gripping teeth 22 are made of high-strength stainless steel and are specially designed to fit the mesh structure of the marine interception net, so that each gripping tooth 22 can be embedded into the mesh of the netting. Through mechanical engagement, it provides strong adhesion and driving force, ensuring that the robot can walk stably on the vertical or even inverted netting surface and effectively preventing slippage.

[0035] To prevent excessive stretching or damage to the flexible netting during movement, a protective plate 23 is also provided on the outer side of the walking mechanism 2. This protective plate 23 is parallel to the track 21 and has a smooth surface. Its function is to limit the lateral deformation of the netting, ensuring that the netting passes smoothly under the robot, and also to prevent debris such as weeds from getting caught in the drive wheels, thus ensuring the reliability of the walking mechanism 2.

[0036] like Figure 1 As shown, at least two horizontal thrusters 24 are symmetrically mounted on both sides of the central square compartment 1 to control the robot's forward, backward, and turning movements in the water. When the robot needs to move forward, the horizontal thrusters 24 on both sides rotate at the same speed in the same direction, spraying water backward to generate equal and opposite reaction forces, thus propelling the robot forward in a straight line. Reversing the rotation achieves backward movement. When turning is required, differential thrust control is used to generate a net torque at the robot's center of gravity that causes it to yaw to one side, thus achieving a smooth turn. By precisely adjusting the rotational speed of the horizontal thrusters 24 on both sides, precise control of the robot's travel speed and turning angular velocity can be achieved.

[0037] like Figure 1 As shown, at least two vertical thrusters 25 are installed at both ends of the central square cabin 1. These thrusters are used to control the robot's ascent and descent in the water and to adjust the pressure between the cleaning mechanism and the net surface. When the robot is freely navigating in the water, the two vertical thrusters 25 operate in the same direction and at the same speed, enabling the robot to ascend and descend. By applying different thrusts to the two vertical thrusters 25, the robot's pitch angle can be precisely controlled, allowing the robot to approach and leave the net at the appropriate angle. During net cleaning operations, the core task of the vertical thrusters 25 is to operate in the same direction, spraying water away from the net. This generates a strong reaction force, firmly "pressing" the entire robot onto the net surface. This ensures effective contact between the cleaning mechanism and the net, guaranteeing cleaning power, while preventing excessive pressure that could damage the net. It is compatible with marine interception nets of different tightness and materials, eliminating the need for manual adjustment.

[0038] like Figures 1-5As shown, the tensioning mechanism 3 is used to tension the mesh located between the two track belts 21 to solve the problem of poor cleaning effect caused by the flexible mesh collapsing under pressure. Specifically, each gripping tooth 22 is not rigidly fixed to the track belt 21 link, but is mounted on a sliding base. This base is constrained within a short track set on the track belt 21 link, allowing it to reciprocate along a path perpendicular to the forward direction of the track belt 21. Two sets of tensioning mechanisms 3 are symmetrically installed on both sides of the central square compartment 1. Each set of tensioning mechanisms 3 consists of an elastic element 31, a push rod 32, and a guide rod 33. The elastic element 31 is installed between the outer side of the base and the fixed part of the track belt 21 link. This elastic element 31 can be a highly resilient elastic block, which has a certain preload in its natural state and can continuously apply an inward thrust to the base. The push rod 32 is fixedly connected to the inner side of the base, and the end of the push rod 32 extends towards the central square compartment 1. The guide rod 33 is fixedly installed on the central square compartment 1 and corresponds to the position of the lower half of the working area of ​​the track 21. The guide rod 33 has a guide surface on the side facing the push rod 32. The guide surface consists of an outwardly inclined surface and a horizontal surface parallel to the forward direction of the track 21. The inclined surface is used to drive the push rod 32 to move outward, and the horizontal surface is used to maintain the maximum tension position of the gripper teeth 22 in the working area.

[0039] In the non-working area of ​​track 21, push rod 32 is not in contact with guide rod 33. At this time, under the continuous inward pushing action of elastic element 31, the base of gripper tooth 22 is pushed to the inner limit position of its sliding track. In this state, the lateral distance between the two corresponding gripper teeth 22 on both sides of track 21 is minimal. This small gap makes it easier for the gripper teeth 22 to align and embed into the mesh structure when the robot first attaches the mesh. When track 21 rotates to the lower working area of ​​the robot, push rod 32 connected to the inner side of the base begins to contact guide rod 33 fixed on the central square compartment 1. Since guide rod 33 has an outwardly inclined guide surface, it converts the longitudinal movement of track 21 into a lateral pushing force on push rod 32, which acts on the base of gripper tooth 22. Under the forced push of guide rod 33, the base is forced to slide outward along its track, and in the process, it continuously compresses the elastic element 31 on its outer side, causing the elastic element 31 to compress and store force. Since the tensioning mechanisms 3 on both sides of the walking mechanism 2 work synchronously, when the robot moves forward, each pair of gripping teeth 22 entering the working area moves outward simultaneously, instantly pulling and tightening the mesh area hooked between them to both sides, forming a flat and relatively rigid working plane, creating ideal working conditions for the cleaning mechanism below. When the track 21 continues to rotate, causing the gripping teeth 22 to leave the working area, their corresponding push rods 32 also disengage from the end of the guide rod 33. Without the external force, the elastic potential energy stored in the compressed elastic element 31 is released instantly, generating a strong rebound force, quickly pushing the base back to its initial position inside the track.

[0040] like Figures 1-5 As shown, a through-flow water channel is provided on the central square compartment 1, which has an inlet 11 adjacent to the cleaning mechanism and an outlet 12 away from the inlet 11. A collection compartment 4 is installed inside the central square compartment 1, which is connected to the cleaning mechanism via the water channel and is used to collect the dirt removed by the cleaning mechanism. A central thruster 41 is installed on the central square compartment 1. The core function of the central thruster 41 is to provide a strong and continuous negative pressure suction for the collection compartment 4. Its structure includes a sealed motor, a drive shaft, and a high-efficiency propeller installed in the water channel. When the motor starts and rotates at high speed, it drives the propeller. The propeller blades with a specific pitch rapidly draw water from the water channel from the outlet 12 side and accelerate it towards the robot's tail, causing a sharp drop in pressure in that area, forming a stable strong negative pressure zone. This allows all the dirt generated during the cleaning mechanism's operation, along with the surrounding water, to be sucked into the collection compartment 4 through the inlet 11 for processing. In addition, to prevent contaminants that have entered the collection chamber 4 from flowing back from the inlet 11 when the robot's posture changes or the water flow is disturbed, a one-way opening sealing plate, such as a flexible rubber curtain or a gravity baffle, is also installed at the inlet 11.

[0041] like Figures 1-5 As shown, a filter screen 42 is installed inside the collection chamber 4. When water carrying contaminants flows through the filter screen 42, the water can pass through the filter holes, while the contaminants are trapped and adhere to the surface of the filter screen 42. To solve the problem of easy clogging of traditional filter screens 42, this invention uses a rotatable, circulating filter screen 42. This filter screen 42 is cylindrical and driven by an independent low-speed motor to rotate continuously and slowly. Inside the collection chamber 4, a scraper 43 is fixedly installed close to the surface of the circulating filter screen 42. As the filter screen 42 rotates, the area with contaminants will rotate to the scraper 43, which will scrape the contaminants off the surface of the filter screen 42. The scraped-off contaminants fall into a collection basket located at the bottom of the collection chamber 4 under the action of gravity. The collection basket is a mesh basket with a handle that can be easily removed from the collection chamber 4 for final storage of all solid contaminants. The collection chamber 4 is equipped with a sealing cover. After the operation is completed, simply open the cover and lift out the collection basket to empty it.

[0042] like Figures 1-6 As shown, the cleaning mechanism includes a cleaning component 5, which is installed on the side of the central square compartment 1 facing the netting. The cleaning component 5 is the direct tool for performing the cleaning task and mainly includes an underwater motor 51 and multiple cleaning brushes 52. A drive ring 53 is fixedly connected to the output shaft of the underwater motor 51. The multiple cleaning brushes 52 are arranged in an array along the circumference of the drive ring 53. These cleaning brushes 52 can be made of stiff nylon bristles to remove soft debris such as algae, or they can be brush bodies inlaid with alloy blades to remove hard attachments such as barnacles and shellfish. When the underwater motor 51 starts, it drives the drive ring 53 to rotate at high speed, which in turn drives all the cleaning brushes 52 to rotate as a whole, scrubbing the tensioned netting.

[0043] like Figures 1-6As shown, the cleaning mechanism also includes a self-cleaning component 6, which is mounted on the central square chamber 1. The self-cleaning component 6 mainly includes a cleaning rod 61 fixedly installed at the water inlet 11 and a guide ramp 62. To achieve cleaning of the cleaning brushes 52, each cleaning brush 52 is not rigidly connected to the drive ring 53, but rather pivotally engaged with the drive ring 53 via a rotating ring 54. The rotating ring 54 is fixedly connected to the cleaning brush 52. Simultaneously, a torsion spring is installed between the drive ring 53 and the rotating ring 54, providing a pre-tightening restoring torque to the rotating ring 54 in a specific direction. The cleaning rod 61 can be a solid round bar made of high-strength material, with a polished surface to reduce friction and adhesion. Its end facing the cleaning brush 52 is designed with an arc surface to optimize stress distribution and ensure structural integrity under long-term impact. The guide ramp 62 is fixedly installed at the water inlet 11 on the central square compartment 1. It can be a guide block with a smooth and continuous curved surface. Following the rotation direction of the cleaning brush 52, the guide ramp 62 follows the cleaning rod 61. Its guide surface tends to gradually approach the bottom of the central square compartment 1. That is, the starting end is lower and can smoothly contact the end of the popped-up cleaning brush 52, while the ending end is higher and can completely press the cleaning brush 52 back to the initial state blocked by the bottom of the compartment.

[0044] During operation, in most areas of the rotation path of the cleaning brush 52, the end of the cleaning brush 52 is obstructed by the mechanical structure of the bottom plate of the central square compartment 1. This obstruction prevents the cleaning brush 52 from rotating freely, forcing it to maintain a parallel posture to the bottom of the compartment. To maintain this posture, the rotating ring 54 must twist at an angle relative to the drive ring 53, thereby twisting the torsion spring and storing a large amount of elastic potential energy. In this state, the cleaning brush 52 vigorously scrubs the tensioned mesh below. When a cleaning brush 52 rotates with the drive ring 53 to the open area directly opposite the inlet 11, the physical obstruction from the bottom of the compartment instantly disappears. At this moment, the energy stored in the compressed torsion spring is released, generating an instantaneous torque that drives the rotating ring 54 and the cleaning brush 52 to rotate around the drive ring 53. During the flipping process, the brush body of cleaning brush 52 impacts the cleaning rod 61 fixed at the water inlet 11, instantly shaking off the aquatic plants, fibers, or sticky dirt that were entangled on the brush bristles during the previous brushing process. The shaken-off dirt is located at the water inlet 11 where the suction is strongest and is immediately sucked into the collection chamber 4 by the negative pressure water flow. After completing the impact self-cleaning, cleaning brush 52 continues to rotate with drive ring 53, and its end contacts guide ramp 62. The smooth curved surface of guide ramp 62 guides cleaning brush 52 to rotate in the opposite direction, overcoming the elasticity of the torsion spring and pressing it back to the blocked state parallel to the bottom of the chamber. It also stores energy for the torsion spring again, preparing for the self-cleaning action when rotating to the water inlet 11 next time.

[0045] Working Principle: The robot is lowered into the water by a crane. Based on the footage transmitted from the video monitoring system 7, the horizontal thrusters 24 and vertical thrusters 25 are operated to guide it to the vicinity of the target interception net and adjust it to a suitable approach posture. The vertical thrusters 25 are activated to generate pressure on the netting, simultaneously driving the walking mechanism 2 so that the gripping teeth 22 engage with the mesh, achieving stable attachment. As the tracks 21 begin to move, the tensioning mechanism 3 automatically tensions and flattens the netting beneath the robot. Simultaneously, the cleaning mechanism and the central thruster 41 are activated, and the cleaning brushes 52 begin to rotate, powerfully scrubbing the tensioned netting. Each cleaning brush 52 triggers the self-cleaning component 6 when it rotates to the water inlet 11, completing self-cleaning by impacting the cleaning rod 61. All removed and shaken-off dirt is immediately sucked into the collection chamber 4 from the water inlet 11 by the powerful suction of the central thruster 41. Inside the collection chamber 4, the circulating filter 42 rotates continuously, separating dirt from the water flow. At the same time, the scraper 43 continuously scrapes the dirt attached to the filter 42 into the collection basket. Clean water flows through the filter 42 and is discharged from the outlet 12. Workers can operate a robot to periodically lift the basket ashore and remove the dirt for disposal.

[0046] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A power plant interception net cleaning robot, comprising a central square compartment (1) and a walking mechanism (2), wherein the walking mechanism (2) is installed on both sides of the central square compartment (1) for enabling the central square compartment (1) to walk on the surface of the net, the walking mechanism (2) comprising tracks (21) and a plurality of gripping teeth (22) disposed on the tracks (21), characterized in that, It also includes a tensioning mechanism (3) and a cleaning mechanism installed on the central square compartment (1); The tensioning mechanism (3) is used to increase the distance between the corresponding gripping teeth (22) on both sides of the track (21) when the track (21) is moving, so as to tension the mesh located between the two sides of the track (21). The tensioning mechanism (3) includes an elastic element (31), a push rod (32) and a guide rod (33). The gripping teeth (22) are slidably mounted on the track (21) in a direction perpendicular to the forward direction of the track (21). The elastic element (31) is installed on the outside of the gripping teeth (22) between the track (21) and the track (21). The push rod (32) is slidably mounted on the track (21) in a direction perpendicular to the forward direction of the track (21). 2) The guide rod (33) is fixedly connected to the inner side of the gripper (22). It is fixedly installed on both sides of the central square compartment (1) and located on the inner side of the lower half of the working area of ​​the track (21). The guide rod (33) has a guide surface on the side facing the push rod (32). The guide surface consists of an outward inclined surface and a horizontal surface parallel to the forward direction of the track (21). The inclined surface is used to drive the push rod (32) to move outward, and the horizontal surface is used to maintain the maximum tension position of the gripper (22) in the working area. The cleaning mechanism includes a cleaning component (5) and a self-cleaning component (6). The cleaning component (5) includes a drive ring (53) and a plurality of cleaning brushes (52) pivotally mounted on the drive ring (53) for removing dirt attached to the surface of the mesh. A water flow channel is provided on the central square chamber (1), and a collection chamber (4) is installed inside. The collection chamber (4) is connected to the cleaning component (5) through the water flow channel for collecting the dirt removed by the cleaning component (5). The self-cleaning component (6) includes a cleaning rod (61) for causing the cleaning brushes (52) to pivot and collide with the cleaning rod (61) when the cleaning component (5) is working, thereby automatically cleaning the cleaning component (5).

2. The power plant interception net cleaning robot according to claim 1, characterized in that, The water flow channel has an inlet (11) and an outlet (12). The inlet (11) is located at the cleaning brush (52). A central propeller (41) is installed on the central square chamber (1). A filter screen (42) is installed in the collection chamber (4). When the central propeller (41) is working, it generates negative pressure suction to draw water carrying dirt from the inlet (11). After the water passes through the filter screen (42), it is discharged from the outlet (12). A one-way opening sealing plate is provided at the inlet (11) to prevent dirt from flowing back.

3. The power plant interception net cleaning robot according to claim 2, characterized in that, The cleaning component (5) also includes an underwater motor (51), which is mounted on the central square compartment (1). The drive ring (53) is fixedly connected to the output end of the underwater motor (51). Multiple cleaning brushes (52) are evenly arranged along the circumference of the drive ring (53). Each cleaning brush (52) is fixedly connected to a rotating ring (54), which rotates in conjunction with the drive ring (53) through a torsion spring.

4. The power plant interception net cleaning robot according to claim 3, characterized in that, The self-cleaning component (6) also includes a guide ramp (62). The cleaning rod (61) is fixedly installed at the water inlet (11). When the cleaning brush (52) rotates, it is blocked by the central square chamber (1) and the torsion spring stores energy. When it rotates to the water inlet (11), it is freed from the blockage and rotates under the elastic force released by the torsion spring. It then collides with the cleaning rod (61) to remove dirt. Subsequently, it returns to the blocked state under the action of the guide ramp (62).

5. A power plant interception net cleaning robot according to claim 2, characterized in that, The filter screen (42) is a rotatable circulating filter screen. A scraper (43) is fixedly installed inside the collection chamber (4). The scraper (43) can contact the surface of the filter screen (42) and is used to scrape off the dirt attached to the surface of the filter screen (42) when the filter screen (42) rotates.

6. A power plant interception net cleaning robot according to claim 5, characterized in that, The collection chamber (4) is equipped with a detachable collection basket located below the scraper (43) for collecting scraped-off dirt.

7. A power plant interception net cleaning robot according to claim 1, characterized in that, The walking mechanism (2) also includes a protective plate (23) disposed on the outside of the track (21), the protective plate (23) being used to prevent the mesh from being excessively deformed or caught in when the robot moves.

8. A power plant interception net cleaning robot according to claim 1, characterized in that, The central square cabin (1) is also equipped with a horizontal thruster (24) and a vertical thruster (25). The horizontal thruster (24) is used to control the robot's forward, backward and turning movements in the water. The vertical thruster (25) is used to control the robot's diving and surfacing movements in the water and to adjust the pressure between the cleaning component (5) and the surface of the net.

9. A power plant interception net cleaning robot according to claim 1, characterized in that, The central square cabin (1) is also equipped with a video monitoring system (7), which includes an underwater camera and an underwater light, for real-time monitoring of the cleaning process and the robot status.

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