Underwater cleaning robot

Abstract

The invention relates to the technical field of cleaning robots, in particular to an underwater cleaning robot which comprises a rack, a magnetic attraction wheel set, a first driving mechanism and a dirt removing part, the magnetic attraction wheel set is connected to the rack, and the magnetic attraction wheel set is used for magnetically attracting the rack to the surface of a structure and driving the rack to move; the first driving mechanism is connected to the rack; the rotating piece is connected to the first driving mechanism; the cleaning piece is connected to the rotating piece; wherein the first driving mechanism is used for driving the rotating part to rotate, so that the dirt cleaning part moves around the periphery of the magnetic attraction wheel set, the dirt cleaning part can clean an annular cleaning area on the surface of a structure, the magnetic attraction wheel set is located in the center of the annular cleaning area, and the attachment does not need to always depend on a propeller thruster to be attached to the surface of the structure in the attachment cleaning process; the cleaning cost is reduced; and the underwater cleaning robot can advance, retreat and steer when being adsorbed on the surface of a structure, and is convenient to control.

Description

Technical Field

[0001] This application relates to the field of cleaning robot technology, and in particular to an underwater cleaning robot. Background Technology

[0002] During operation, underwater structures such as ships often develop a layer of deposits, such as algae and shellfish, on their bottoms. These deposits corrode the underwater structures and increase the ship's drag, leading to higher operating costs. Currently, cleaning these deposits from underwater structures often requires divers to perform underwater cleaning or towing the ship back to dry dock for extensive and lengthy cleaning work, which is costly.

[0003] Chinese invention patent CN118306539B discloses an underwater ship cleaning robot, which includes a main frame, a tracked walking mechanism, and a rotating brush. The tracked walking mechanism includes a left track and a right track, which are respectively located on both sides of the main frame. The rotating brush is located between the left track and the right track, and is also located in the middle of the left track and the right track in the front-back direction. The rotating brush is used to clean the surface of the ship.

[0004] However, in this application, because the rotating brush is located between the left and right tracks, the area cleaned by the rotating brush is located between the left and right tracks. Therefore, after the tracked walking mechanism attaches to the hull, it always contacts the hull surface deposits before the rotating brush during the robot's movement. The barnacles, oysters, and other marine organisms attached to the hull surface form an uneven insulating layer, making it impossible to install a magnetic attraction device on the tracked walking mechanism to magnetically attach it to the outside of the hull. During the cleaning operation, a propeller propeller is constantly needed to provide thrust to the robot, allowing it to attach to the hull surface. The continuous operation of the propeller propeller consumes a lot of energy, resulting in high cleaning costs. Summary of the Invention

[0005] The technical problem to be solved by this application is that existing underwater cleaning robots cannot adhere to the surface of structures by using magnetic wheels during the cleaning process. They always need to use propellers to provide thrust to the robot so that it can attach to the hull surface. The continuous operation of the propellers consumes a lot of energy, resulting in high cleaning costs.

[0006] To address the aforementioned technical problems, the purpose of this application is to provide an underwater cleaning robot, comprising: frame; A magnetic roller assembly is connected to the frame. The magnetic roller assembly is used to magnetically attract the frame to the surface of the structure and drive the frame to move. A first drive mechanism is connected to the frame; A rotating component is connected to the first driving mechanism; A cleaning component, connected to the rotating component; The first driving mechanism is used to drive the rotating component to rotate, so that the cleaning component moves around the outer periphery of the magnetic roller assembly to remove the adhering substances on the surface of the structure located outside the magnetic roller assembly.

[0007] In some embodiments, the rotation center line of the rotating component is an axis, the direction of the axis is axial, and the underwater cleaning robot also has a radial direction perpendicular to the axial direction; The rotating component includes a fixed component and a movable component. The fixed component is connected to the first driving mechanism, the movable component is connected to the fixed component, and the cleaning component is connected to the movable component. The underwater cleaning robot further includes a second drive mechanism connected to the fixed member and / or the first drive mechanism, the second drive mechanism being configured to drive the moving member to move along the radial direction.

[0008] In some embodiments, a plurality of rotating members are provided, and each rotating member is arranged at intervals around the axis; the fixing member of each rotating member is connected to the first driving mechanism, and the moving member of each rotating member is connected to the cleaning member; The second driving mechanism includes a second driving member, a turntable, and a first sliding member. The second driving member is connected to the first driving mechanism and / or each of the fixed members. The turntable is connected to the second driving member. The turntable has a plurality of limiting grooves, each of the limiting grooves being arranged at intervals around the axis. One of the limiting grooves is provided with a first sliding member, and one of the first sliding members is connected to the moving member of one of the rotating members. The second driving member can drive the turntable to rotate around the axis, causing each of the first sliding members to move away from or closer to the axis in the radial direction.

[0009] In some embodiments, the underwater cleaning robot further includes an air distribution valve, a rotary joint, and multiple air distribution pipes; The air distribution valve is rotatably connected to the turntable, and the rotation center line of the air distribution valve is coaxial with the axis. The air distribution valve has an air inlet end and multiple air outlet ends. Each of the cleaning components has a jet hole. One end of the air distribution pipe is connected to the air outlet end, and the other end of the air distribution pipe is connected to the cleaning component and communicates with the jet hole on the cleaning component. The rotary joint is rotatably connected to the air inlet end and is used to connect to the air source.

[0010] In some embodiments, the air distribution pipe includes a rigid pipe section and a flexible pipe section, the rigid pipe section being connected to the air outlet end and the flexible pipe section being connected to the cleaning component; the underwater cleaning robot also includes a plurality of limiting components, the limiting components being connected to the fixed component or the moving component, the limiting components having limiting holes, and the rigid pipe section passing through the limiting holes.

[0011] In some embodiments, the underwater cleaning robot further includes a third drive mechanism connected to the rotating component, the cleaning component being connected to the third drive mechanism, and the third drive mechanism being configured to drive the cleaning component toward or away from the structure.

[0012] In some embodiments, the frame includes a top plate, side panels, and a bottom plate; the top plate and the bottom plate are arranged at intervals relative to each other in the axial direction, the side panels connect the outer periphery of the top plate and the outer periphery of the bottom plate, and the magnetic pulley assembly is connected to the top plate and / or the bottom plate; The top plate and the bottom plate are provided with receiving grooves, and the side members are provided with clearance channels, which are connected to the receiving grooves; the second drive mechanism can drive the cleaning member and the third drive mechanism to move radially and enter the receiving groove through the clearance channels.

[0013] In some embodiments, the first drive mechanism includes a planetary reducer and a first drive member, both of which are connected to the frame, and the rotating member is connected to the planetary reducer.

[0014] In some embodiments, the rotation center line of the rotating component is an axis, and the underwater cleaning robot further includes a plurality of first propeller thrusters, each of the first propeller thrusters being arranged at intervals around the axis, and the central axis of each of the first propeller thrusters being parallel to the axis.

[0015] In some embodiments, the underwater cleaning robot further includes a plurality of second propellers, each second propeller being arranged at intervals around the axis, and the central axis of each second propeller being perpendicular to the axis.

[0016] Compared with the prior art, the beneficial effects of this application are as follows: The underwater cleaning robot of this application includes a frame, a magnetic wheel assembly, a first drive mechanism, and a cleaning component. The magnetic wheel assembly is connected to the frame and is used to magnetically attach the frame to the surface of a structure and drive the frame to move. The first drive mechanism is connected to the frame. A rotating component is connected to the first drive mechanism. The cleaning component is connected to the rotating component. The first drive mechanism drives the rotating component to rotate, causing the cleaning component to move around the outer periphery of the magnetic wheel assembly to remove deposits from the surface of the structure outside the magnetic wheel assembly. In this application, the cleaning component moves around the outer periphery of the magnetic wheel assembly, creating a ring-shaped cleaning area on the surface of the structure. The magnetic wheel assembly is located at the center of this ring-shaped cleaning area. The cleaning component cleans the deposits in the ring-shaped cleaning area before the magnetic wheel assembly moves to the corresponding area, allowing the magnetic wheel assembly to magnetically attach to the surface of the structure. Furthermore, the underwater cleaning robot can move forward, backward, and turn without being affected by deposits, facilitating operation. Therefore, the underwater cleaning robot of this application does not need to rely on a propeller to adhere to the surface of the structure during the process of cleaning deposits, reducing cleaning costs. Attached Figure Description

[0017] Figure 1 This is a first structural schematic diagram of the underwater cleaning robot of this application in its working state; Figure 2 This is a second structural schematic diagram of the underwater cleaning robot of this application in its working state; Figure 3 This is a schematic diagram of the third structure of the underwater cleaning robot in the working state of this application; Figure 4 This is a schematic diagram of the fourth structure of the underwater cleaning robot in the working state of this application; Figure 5 This is a schematic diagram of the underwater cleaning robot of this application in its non-working state; Figure 6 A schematic diagram showing the arrangement of the second drive mechanism, rotating parts, and fixed parts after the side panel is concealed; Figure 7 Another schematic diagram showing the arrangement of the second drive mechanism, rotating parts, and fixed parts after the side panel is concealed; Figure 8 This is a schematic diagram showing the arrangement of the first drive mechanism; Figure 9 This is a schematic diagram of the third drive mechanism; In the diagram, X represents the axis, 1 represents the frame, 11 represents the top plate, 12 represents the side panel, 121 represents the clearance passage, 13 represents the bottom plate, 14 represents the sealing cylinder, 15 represents the receiving groove, 2 represents the magnetic chuck assembly, 21 represents the magnetic chuck, 22 represents the driver, 3 represents the first drive mechanism, 31 represents the first drive component, 32 represents the planetary reducer, 321 represents the gear ring, 322 represents the sun gear, 323 represents the planet gears, 324 represents the planet carrier, 325 represents the output shaft, 4 represents the rotating component, 41 represents the fixed component, 42 represents the moving component, and 5 represents the moving component. 61. Cleaning component; 62. Second drive component; 63. Turntable; 64. Limiting groove; 75. First sliding component; 76. Air distribution valve; 77. Rotary joint; 78. Air distribution pipe; 79. Rigid pipe section; 70. Flexible pipe section; 71. Limiting component; 72. Limiting hole; 80. Third drive mechanism; 81. Third drive component; 82. Lead screw; 83. Slider; 84. Connecting component; 85. Guide seat; 86. Guide post; 97. First propeller thruster; 98. Second propeller thruster. Detailed Implementation

[0018] The specific embodiments of this application will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this application, but are not intended to limit the scope of this application.

[0019] In the description of this application, it should be understood that the terms "upper," "lower," "left," "right," "top," and "bottom," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. It should be understood that the terms "first," "second," etc., are used in this application to describe various information, but this information should not be limited to these terms, and these terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of this application, "first" information can also be referred to as "second" information, and similarly, "second" information can also be referred to as "first" information.

[0020] like Figures 1 to 9As shown, the underwater cleaning robot of this application includes a frame 1, a magnetic wheel assembly 2, a first drive mechanism 3, and a cleaning component 5. The magnetic wheel assembly 2 is connected to the frame 1 and is used to magnetically attract the frame 1 to the surface of the structure and drive the frame 1 to move. The first drive mechanism 3 is connected to the frame 1. A rotating component 4 is connected to the first drive mechanism 3. The cleaning component 5 is connected to the rotating component 4. The first drive mechanism 3 is used to drive the rotating component 4 to rotate, so that the cleaning component 5 moves around the outer periphery of the magnetic wheel assembly 2 to remove the adhering substances on the surface of the structure outside the magnetic wheel assembly 2. In this application, the cleaning component 5 moves around the outer periphery of the magnetic chuck assembly 2. The movement trajectory of the cleaning component 5 covers the hull area outside the magnetic chuck assembly 2. The cleaning component 5 cleans the attached objects in the area before the magnetic chuck assembly 2 moves to the corresponding area, so that the magnetic chuck assembly 2 can magnetically adhere to the surface of the structure. Moreover, the cleaning component 5 can clean an annular cleaning area on the surface of the structure. The magnetic chuck assembly 2 is located at the center of the annular cleaning area, so that the underwater cleaning robot can adhere to the surface of the structure without constantly relying on the propeller propeller to adhere to the surface of the structure during the cleaning process, thus reducing the cleaning cost. In addition, the cleaning area surrounds the magnetic chuck assembly 2, so that the magnetic chuck assembly 2 can move forward, backward and turn, which is convenient for operation.

[0021] Among them, such as Figure 1 , Figures 3 to 7 As shown, the rotation center line of the rotating component 4 is axis X, and the direction of axis X is axial. The underwater cleaning robot also has a radial direction perpendicular to the same axis. The rotating component 4 includes a fixed component 41 and a moving component 42. The fixed component 41 is connected to the first drive mechanism 3, the moving component 42 is connected to the fixed component 41, and the cleaning component 5 is connected to the moving component 42. The underwater cleaning robot also includes a second drive mechanism, which is connected to the fixed component 41 and / or the first drive mechanism 3. The second drive mechanism is configured to drive the moving component 42 to move radially. Specifically, the fixing member 41 is a strip-shaped plate, and the moving member 42 is radially slidably guided and connected to the fixing member 41. The second drive mechanism can drive the moving member 42 to move radially away from or close to the axis X, and fix the device in the desired position. This setting direction makes the distance between the cleaning member 5 and the axis X adjustable. During the cleaning of the attached objects, the working range of the cleaning member 5 can be expanded by the distance between the strip-shaped cleaning member 5 and the axis X, so that the underwater cleaning robot can have a larger working range after stopping in the same position, thereby improving the working efficiency.

[0022] Furthermore, multiple rotating components 4 are provided, and each rotating component 4 is arranged at intervals around the axis X; the fixing component 41 of each rotating component 4 is connected to the first driving mechanism 3, and the moving component 42 of each rotating component 4 is connected to the cleaning component 5; the second driving mechanism includes a second driving component 61, a turntable 62, and a first sliding component 63. The second driving component 61 is connected to the first driving mechanism 3 and / or each fixing component 41, and the turntable 62 is connected to the second driving component 61; the turntable 62 has multiple limiting grooves 621, and each limiting groove 621 is arranged at intervals around the axis X. A first sliding component 63 is provided in one limiting groove 621, and one first sliding component 63 is connected to a moving component 42 of one rotating component 4; wherein, the second driving component 61 can drive the turntable 62 to rotate around the axis X, causing each first sliding component 63 to move radially away from or closer to the axis X. Specifically, in this embodiment, there are four rotating components 4 arranged in a cross shape, and four cleaning components 5 are also provided. The cleaning components 5 and rotating components 4 are connected one-to-one. Rotation of the turntable 62 drives each cleaning component 5 to move radially. This arrangement of multiple cleaning components 5 further improves the operational efficiency of the underwater cleaning robot in this embodiment. Furthermore, controlling the movement of multiple cleaning components 5 with a single turntable 62 makes the structure of the underwater cleaning robot in this embodiment more compact. In this embodiment, there are four limiting grooves 621, evenly spaced around the axis X. The limiting grooves 621 are arc-shaped, with their central axes parallel to and spaced apart from the axis X. One end of each limiting groove 621 is closer to the axis X, and the other end is farther away. Rotating the turntable 62 allows the sliding component to slide within the limiting groove 621, increasing or decreasing the distance between the sliding component and the axis X. The sliding component then drives the moving component 42 to move radially.

[0023] In this embodiment, the cleaning component 5 is a jet flushing disc, and the underwater cleaning robot also includes an air distribution valve 71, a rotary joint 72, and multiple air distribution pipes 73; the air distribution valve 71 is rotatably connected to the turntable 62, and the rotation center line of the air distribution valve 71 is coaxial with the axis X; the air distribution valve 71 has an air inlet end and multiple air outlet ends, and each cleaning component 5 has a jet hole, such as... Figure 1 One end of the air distribution pipe 73 is connected to the air outlet, and the other end of the air distribution pipe 73 is connected to the cleaning component 5 and communicates with the jet hole on the cleaning component 5. The rotary joint 72 is rotatably connected to the air inlet and is used to connect to the air source. Specifically, in use, the air supply pipe is connected to the rotary joint 72. The movement of the air supply pipe away from the rotary joint 72 is connected to the high-pressure air source. The air distribution valve 71 delivers the high-pressure airflow delivered by the air supply pipe to each air distribution pipe 73 to each cleaning component 5. During the rotation of the rotating component 4, the turntable 62 and the second drive component 61 rotate synchronously with the rotating component 4. The air distribution valve 71 also rotates synchronously with the second rotating component 4. At this time, the air supply pipe does not rotate, and the rotary joint 72 itself does not rotate. The air distribution valve 71 rotates relative to the rotary joint 72, thereby avoiding the air supply pipe from getting tangled.

[0024] Furthermore, the air distribution pipe 73 includes a rigid pipe section 731 and a flexible pipe section 732. The rigid pipe section 731 is connected to the air outlet, and the flexible pipe section 732 is connected to the cleaning component 5. The underwater cleaning robot also includes multiple limiting components 74, which are connected to the fixed component 41 or the moving component 42. Each limiting component 74 has a limiting hole 741, and the rigid pipe section 731 passes through the limiting hole 741. Specifically, when the second driving component 61 drives the turntable 62 to rotate, the rigid pipe section 731 remains fixed under the constraint of the limiting component 74, and the air distribution valve 71 also remains fixed under the constraint of the rigid pipe section 731. The turntable rotates relative to the air distribution valve 71, and the flexible pipe section 732 is provided to accommodate the radial adjustment requirements of the cleaning component 5.

[0025] In this embodiment, the underwater cleaning robot also includes a third drive mechanism 8, which is connected to the rotating component 4. The cleaning component 5 is connected to the third drive mechanism 8, and the third drive mechanism 8 is configured to drive the cleaning component 5 to approach or move away from the structure. During the cleaning process, the distance between the cleaning component 5 and the structure is adjusted by the third drive mechanism 8 to clean attachments of different thicknesses.

[0026] Specifically, such as Figure 9 As shown, the third drive mechanism 8 includes a third drive member 81, a lead screw 82, a slider 83, a connecting member 84, a guide seat 85, and multiple guide posts 86. The connecting member 84 is axially connected to the moving member 42 at one end and to the guide seat 85 at the other end. Axially, the guide seat 85 is located between the cleaning member 5 and the end member, with the guide seat 85 and the moving member 42 spaced apart. One end of the lead screw 82 is rotatably connected to the moving member 42, and the other end is connected to the guide seat 85. The slider 83 is threadedly fitted onto the outside of the lead screw 82. One end of each of the multiple guide posts 86 is axially connected to the guide seat 85. The guide seat 85 is connected to the cleaning component 5 at one end. Multiple guide posts 86 are arranged axially along their length and are parallel to each other. A third drive component 81 is fixedly connected to the moving component 42. The output end of the third drive component 81 is connected to a lead screw 82. The third drive component 81 drives the lead screw 82 to rotate, which in turn drives the slider 83 to move axially, thereby driving each guide post 86 to move axially, and ultimately driving the cleaning component 5 to move axially. The arrangement of the third drive mechanism 8 provides stable guiding capability and a more compact structure. In this embodiment, the end of the moving component 42 away from the fixed component 41 has a mounting cavity, and the third drive component 81 is disposed in the mounting cavity.

[0027] In this embodiment, the first drive mechanism 3 includes a planetary reducer 32 and a first drive member 31. Both the first drive member 31 and the planetary reducer 32 are connected to the frame 1, and the rotating member 4 is connected to the planetary reducer 32. The planetary reducer 32 has a compact overall structure, and its volume and mass are smaller than those of a gear reducer, making the underwater cleaning robot of this application more compact.

[0028] Specifically, such as Figure 8 As shown, the planetary reducer 32 includes a ring gear 321, a sun gear 322, a planet carrier 324, and multiple planet gears 323. The ring gear 321 is fixed to the frame 1, the sun gear 322 is connected to the output end of the first drive member 31, each planet gear 323 meshes with the sun gear 322 and the ring gear 321, and each planet gear 323 is rotatably connected to the planet carrier 324. The planet carrier 324 is connected to an output shaft 325, and the output shaft 325 is connected to a rotating member 4.

[0029] In this embodiment, as Figure 1 As shown, the frame 1 includes a top plate 11, side panels 12, and a bottom plate 13. The side panels 12 are connected to the outer periphery of the top plate 11 and the outer periphery of the bottom plate 13. The magnetic wheel assembly 2 is connected to the top plate 11 and / or the bottom plate 13. The periphery of the top plate 11 and the bottom plate 13 is provided with a receiving groove 15 for the third drive mechanism 8 and the cleaning component 5 to be placed. The side panels 12 are provided with a clearance channel 121, which connects to the receiving groove 15. After the cleaning operation is completed, the second drive mechanism drives the cleaning component 5 and the third drive mechanism 8 to move radially and enter the receiving groove 15 through the clearance channel 121. Then, the third drive mechanism 8 drives the cleaning component 5 to move axially towards the rotating component 4, so that the cleaning component 5 can retract into the receiving groove 15. This makes the underwater cleaning robot of this application more compact in the non-working state, and facilitates storage and transportation.

[0030] In this embodiment, the frame 1 also includes a sealing cylinder 14, which is disposed between the bottom plate 13 and the top plate 11 and is located in the middle of the top plate 11 and the bottom plate 13. The two ends of the sealing cylinder 14 in the axial direction are respectively connected to the bottom plate 13 and the top plate 11. The top plate 11, the bottom plate 13 and the sealing cylinder 14 surround a sealing cavity, and the first drive mechanism 3 is disposed in the sealing cavity.

[0031] In this embodiment, as Figure 3As shown, the underwater cleaning robot also includes multiple first propeller thrusters 91, which are arranged at intervals around axis X, and the central axis of each first propeller thruster 91 is parallel to axis X. In the initial stage of the cleaning operation, before the magnetic wheel assembly 2 is attached to the structure, the first propeller thruster frame 1 applies thrust, allowing each cleaning component 5 to clean an initial area on the structure's surface. After the initial area is cleaned, the magnetic wheel assembly 2 is attached to the initial area, and then the first propeller thrusters can be turned off. In special cases, if the magnetic force of the magnetic wheel assembly 2 is insufficient, the first propeller thrusters 91 can be turned on to provide auxiliary thrust. Specifically, in this embodiment, there are four first propeller thrusters 91, which are evenly spaced around axis X.

[0032] In this embodiment, as Figure 4 As shown, the underwater cleaning robot also includes multiple second propeller thrusters 92, which are arranged at intervals around axis X, and the central axis of each second propeller thruster 92 is perpendicular to axis X. Specifically, the second propeller thrusters 92 provide thrust to propel the underwater cleaning robot, and there are four second propeller thrusters 92, which are evenly spaced around axis X.

[0033] In this application, such as Figure 1 As shown, there are two sets of magnetic roller sets 2, both of which are connected to the base plate 13. Each set of magnetic roller sets 2 includes two magnetic rollers 21 and a driver 22 for driving the two magnetic rollers 21 to rotate. The two magnetic rollers 21 are arranged opposite to each other at intervals. Each magnetic roller 21 has a control switch that can turn the magnetic force on or off.

[0034] The underwater cleaning robot of this application also includes a controller, a camera device, and a remote control device. The camera device is connected to the frame 1. The control switch, the first drive unit 31, the second drive unit 61, the third drive unit 81, the first propeller thruster 91, and the second propeller thruster 92 are all electrically connected to the controller. The controller is signal-connected to the remote control device, which enables remote control of the underwater cleaning drone. The first drive unit 31, the second drive unit 61, and the third drive unit 81 are all motors that can be used underwater.

[0035] The underwater cleaning robot of this embodiment is used as follows: After the underwater cleaning robot is placed in the water, the first propeller 91 and the second propeller 92 are used to move the underwater cleaning robot to the surface of the structure, and the end of the frame 1 equipped with the magnetic wheel assembly 2 is oriented towards the structure. Then, the second drive mechanism drives each cleaning component 5 to detach from the receiving groove 15 radially, and the third drive mechanism 8 drives the cleaning component 5 to move towards the structure. Then, the first drive mechanism 3 drives each cleaning component 5 to rotate; and the first propeller pushes... The inlet 91 pushes the frame 1 toward the structure until each cleaning component cleans the surface of the structure to a sufficient initial area for the drive wheel assembly to adhere. Then, the magnetic wheel assembly 2 adheres to the initial area. After that, the power of each first propeller thruster 91 can be turned off or reduced. The frame 1 is adhered to the structure by the magnetic wheel assembly 2, and the frame 1 is driven to move to clean the surface of the structure. During the cleaning process, the cleaning components 5 can be driven to move radially through the second drive mechanism to expand the cleaning range. When moving, they can move forward, backward or turn.

[0036] In summary, the underwater cleaning robot of this application includes a frame 1, a magnetic wheel assembly 2, a first drive mechanism 3, and a cleaning component 5. The magnetic wheel assembly 2 is connected to the frame 1 and is used to magnetically attract the frame 1 to the surface of the structure and drive the frame 1 to move. The first drive mechanism 3 is connected to the frame 1. A rotating component 4 is connected to the first drive mechanism 3. The cleaning component 5 is connected to the rotating component 4. The first drive mechanism 3 is used to drive the rotating component 4 to rotate, so that the cleaning component 5 moves around the outer periphery of the magnetic wheel assembly 2 to remove the adhering substances on the surface of the structure outside the magnetic wheel assembly 2. In this application, the cleaning component 5 moves around the outer periphery of the magnetic chuck assembly 2, and the movement trajectory of the cleaning component 5 covers the hull area outside the magnetic chuck assembly 2. The cleaning component 5 cleans the attachments in the area before the magnetic chuck assembly 2 moves to the corresponding area, so that the magnetic chuck assembly 2 can magnetically adhere to the surface of the structure. Moreover, the cleaning component 5 can clean the attachments in any of the forward, backward, left, or right travel paths of the magnetic chuck assembly 2, so that the underwater cleaning robot can move forward, backward, and turn when it is attached to the surface of the structure, which is easy to operate. Therefore, the underwater cleaning robot of this application does not need to rely on the propeller propulsion to adhere to the surface of the structure at all times during the process of cleaning attachments, which reduces the cleaning cost.

[0037] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of this application, and these improvements and substitutions should also be considered within the scope of protection of this application.

Claims

1. An underwater cleaning robot, characterized in that, include: Rack (1); A magnetic chuck assembly (2) is connected to the frame (1). The magnetic chuck assembly (2) is used to magnetically attract the frame (1) to the surface of the structure and drive the frame (1) to move. The first drive mechanism (3) is connected to the frame (1); Rotating component (4) is connected to the first drive mechanism (3); Cleaning component (5) is connected to the rotating component (4); The first driving mechanism (3) is used to drive the rotating part (4) to rotate, so that the cleaning part (5) moves around the outer periphery of the magnetic chuck assembly (2) to remove the adhering substances on the surface of the structure located outside the magnetic chuck assembly (2).

2. The underwater cleaning robot according to claim 1, characterized in that, The rotation center line of the rotating component (4) is the axis (X), the direction of the axis (X) is the axial direction, and the underwater cleaning robot also has a radial direction perpendicular to the axial direction; The rotating component (4) includes a fixed component (41) and a moving component (42). The fixed component (41) is connected to the first driving mechanism (3), the moving component (42) is connected to the fixed component (41), and the cleaning component (5) is connected to the moving component (42). The underwater cleaning robot also includes a second drive mechanism connected to the fixed member (41) and / or the first drive mechanism (3), the second drive mechanism being configured to drive the movable member (42) to move radially.

3. The underwater cleaning robot according to claim 2, characterized in that, The rotating component (4) is provided in multiple ways, and each rotating component (4) is arranged at intervals around the axis (X); the fixing component (41) of each rotating component (4) is connected to the first driving mechanism (3), and the moving component (42) of each rotating component (4) is connected to the cleaning component (5). The second driving mechanism includes a second driving member (61), a turntable (62), and a first sliding member (63). The second driving member (61) is connected to the first driving mechanism (3) and / or each of the fixed members (41). The turntable (62) is connected to the second driving member (61). The turntable (62) has a plurality of limiting grooves (621). Each limiting groove (621) is arranged at intervals around the axis (X). A first sliding member (63) is provided in one of the limiting grooves (621). A first sliding member (63) is connected to the moving member (42) of one of the rotating members (4). The second driving member (61) can drive the turntable (62) to rotate around the axis (X), thereby causing each of the first sliding members (63) to move away from or closer to the axis (X) in the radial direction.

4. The underwater cleaning robot according to claim 3, characterized in that, The underwater cleaning robot also includes an air distribution valve (71), a rotary joint (72), and multiple air distribution pipes (73). The air distribution valve (71) is rotatably connected to the turntable (62), and the rotation center line of the air distribution valve (71) is coaxial with the axis (X); the air distribution valve (71) has an air inlet end and multiple air outlet ends, each of the cleaning components (5) has a jet hole, one end of the air distribution pipe (73) is connected to the air outlet end, and the other end of the air distribution pipe (73) is connected to the cleaning component (5) and communicates with the jet hole on the cleaning component (5); the rotary joint (72) is rotatably connected to the air inlet end, and the rotary joint (72) is used to connect the air source.

5. The underwater cleaning robot according to claim 4, characterized in that, The air distribution pipe (73) includes a rigid pipe section (731) and a flexible pipe section (732). The rigid pipe section (731) is connected to the air outlet end, and the flexible pipe section (732) is connected to the cleaning component (5). The underwater cleaning robot also includes multiple limiting components (74). The limiting components (74) are connected to the fixed component (41) or the moving component (42). The limiting components (74) have limiting holes (741), and the rigid pipe section (731) passes through the limiting holes (741).

6. The underwater cleaning robot according to claim 2, characterized in that, The underwater cleaning robot also includes a third drive mechanism (8), which is connected to the rotating component (4). The cleaning component (5) is connected to the third drive mechanism (8), and the third drive mechanism (8) is configured to drive the cleaning component (5) to approach or move away from the structure.

7. The underwater cleaning robot according to claim 6, characterized in that, The frame (1) includes a top plate (11), side panels (12) and a bottom plate (13); the top plate (11) and the bottom plate (13) are arranged at intervals relative to each other in the axial direction, the side panels (12) connect the outer periphery of the top plate (11) and the outer periphery of the bottom plate (13), and the magnetic pulley assembly (2) is connected to the top plate (11) and / or the bottom plate (13). The top plate (11) and the bottom plate (13) are provided with receiving grooves (15), and the side panel (12) is provided with a clearance channel (121), which connects to the receiving groove (15); the second drive mechanism can drive the cleaning component (5) and the third drive mechanism (8) to move radially and enter the receiving groove (15) through the clearance channel (121).

8. The underwater cleaning robot according to claim 1, characterized in that, The first drive mechanism (3) includes a planetary reducer (32) and a first drive member (31). The first drive member (31) and the planetary reducer (32) are both connected to the frame (1). The rotating member (4) is connected to the planetary reducer (32).

9. The underwater cleaning robot according to claim 1, characterized in that, The rotation center line of the rotating component (4) is the axis (X). The underwater cleaning robot also includes a plurality of first propeller thrusters (91). Each first propeller thruster (91) is arranged at intervals around the axis (X), and the central axis of each first propeller thruster (91) is parallel to the axis (X).

10. The underwater cleaning robot according to claim 9, characterized in that, The underwater cleaning robot also includes a plurality of second propeller thrusters (92), each of the second propeller thrusters (92) being arranged at intervals around the axis (X), and the central axis of each of the second propeller thrusters (92) being perpendicular to the axis (X).

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