A high-pressure water jet control device for an underwater cleaning robot

Abstract

The application relates to the field of robot automation control, and particularly discloses a high-pressure water flow jet control device for an underwater cleaning robot, which comprises a base seat, a front support plate, a base connecting assembly, a jet mechanism, a proximal pipeline stabilizing mechanism connected with the jet mechanism, a back pressure sensing module connected with the base connecting assembly, and a main control module built in the base seat and connected with the jet mechanism and the proximal pipeline stabilizing mechanism in signal mode. The jet mechanism comprises a telescopic jet assembly connected with the base connecting assembly and a driving assembly connected with the telescopic jet assembly. The back pressure is sensed in real time, the jet target distance and the incidence mode are dynamically adjusted, the jet flow fluctuation caused by the change of the water depth back pressure can be compensated, the cleaning effect and the substrate protection are considered, and the jet flow pressure mutation and the equipment posture disturbance caused by the pipeline dragging and bending can be relieved.

Description

Technical Field

[0001] This invention relates to the robotic automation control industry, specifically a high-pressure water jet control device for underwater cleaning robots. Background Technology

[0002] Underwater cleaning robots are core equipment for the surface maintenance of underwater facilities such as ship hulls, marine engineering equipment, and underwater transport pipelines. High-pressure water jet cleaning technology has become the mainstream technology for underwater surface cleaning due to its advantages of high cleaning efficiency, no secondary pollution, and wide adaptability.

[0003] Currently, high-pressure water jet control equipment used for underwater cleaning robots mostly adopts a layout that separates the surface power unit from the underwater execution unit. The high-pressure water source and control signal are synchronously transmitted through a coaxial drum that integrates the high-pressure water pipe and control cable. The robot body is equipped with a jet valve assembly and nozzle mechanism to perform cleaning operations. Pressure control generally adopts an open-loop or simple closed-loop regulation strategy based on pump-end pressure feedback. The pipeline extension and retraction are synchronized by matching the drum speed with the robot's travel speed to support the implementation of conventional underwater cleaning operations.

[0004] However, existing technologies still have many unresolved technical shortcomings. The dynamic changes in underwater operating depth can cause linear changes in environmental back pressure, directly reducing the effective differential pressure at the jet outlet. Traditional pressure control modes cannot compensate for back pressure fluctuations caused by depth in real time, resulting in significant differences in the actual jet impact force at different water depths for the same pump pressure parameters. In shallow water, excessive pressure can easily damage the anti-corrosion coating on the substrate surface, while in deep water, insufficient pressure can easily lead to substandard cleaning results. The adaptability and dynamic accuracy of pressure regulation are difficult to meet the needs of complex operations. At the same time, the existing coaxial dual-drum synchronous control scheme is not adaptable to complex curved surfaces and changing-direction operation scenarios. The synchronization accuracy between pipeline retraction and extension speed and robot movement speed is limited, further aggravating sudden changes in jet pressure. Moreover, during operation, there are potential hazards such as pipeline entanglement and sudden changes in drag resistance, which overall limit the stability, cleaning efficiency, and operational reliability of underwater cleaning operations. Summary of the Invention

[0005] The purpose of this invention is to provide a high-pressure water jet control device for underwater cleaning robots, so as to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: A high-pressure water jet control device for an underwater cleaning robot, comprising: Base; A front support plate, which is connected to the base plate; A base connection assembly, which is connected to a base plate, is used to support the bottom of the cleaning robot body; A jetting mechanism, which is connected to a base connection assembly; A proximal pipeline stabilization mechanism, which is connected to the injection mechanism, is used for stabilization and feedback control of the proximal pipeline; A back pressure sensing module, which is connected to the base connection assembly, is used for water body information sensing; The main control module is built into the base and is connected to the injection mechanism and the proximal pipeline stabilization mechanism respectively. The injection mechanism includes: A telescopic jet assembly, which is connected to a base connection assembly, is used to cooperate with a back pressure sensing module to complete high-pressure jet cleaning. A drive component, which is connected to the telescopic injection component, is used for movement control of the telescopic injection component.

[0007] Compared with the prior art, the beneficial effects of the present invention are: by combining real-time back pressure sensing to dynamically adjust the jet target distance and incident mode, the jet force fluctuation caused by changes in water depth and back pressure can be compensated, taking into account both cleaning effect and substrate protection; at the same time, the pipeline tension and attitude are adjusted in real time through the near-end pipeline stabilization mechanism to alleviate the jet pressure change and equipment attitude disturbance caused by pipeline dragging and bending, effectively improving the operational stability and adaptability of the equipment under complex underwater conditions. Attached Figure Description

[0008] Figure 1 This is a schematic diagram of a high-pressure water jet control device for an underwater cleaning robot according to an embodiment of the present invention.

[0009] Figure 2 This is a schematic diagram of the proximal pipeline stabilization mechanism in a high-pressure water jet control device for an underwater cleaning robot, according to an embodiment of the present invention.

[0010] Figure 3 This is a schematic diagram of the base connection assembly in a high-pressure water jet control device for an underwater cleaning robot according to an embodiment of the present invention.

[0011] Figure 4 This is a schematic diagram of the control flow of the main control module in a high-pressure water jet control device for an underwater cleaning robot according to an embodiment of the present invention.

[0012] In the diagram: 1-Base, 2-Base connecting assembly, 3-Spraying mechanism, 4-Telescopic spraying assembly, 5-Drive assembly, 6-Proximal pipeline stabilization mechanism, 7-Back pressure sensing module, 101-Front support plate, 201-Rear support plate, 202-First telescopic control rod, 203-First connecting block, 204-Second telescopic control rod, 205-Second connecting block, 206-Limiting slide, 401-Linkage rod, 402-Transmission rod, 403-Connecting frame, 404-Telescopic nozzle, 405-Telescopic stabilizing rod, 501-Drive rod, 502-Frame, 503-Miniature pump, 601-Stabilizing plate frame, 602-Conical stabilizing chamber, 603-Linkage support rod, 701-Elastic shaft, 702-Differential pressure sensor, 703-Anti-collision flexible protrusion. Detailed Implementation

[0013] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0014] In one embodiment of the present invention: A high-pressure water jet control device for underwater cleaning robots, such as Figure 1 and Figure 4 As shown, it includes: a base 1; a front support plate 101 connected to the base 1; a base connection assembly 2 connected to the base 1 for supporting the bottom of the cleaning robot body; a spraying mechanism 3 connected to the base connection assembly 2; a proximal pipeline stabilization mechanism 6 connected to the spraying mechanism 3 for stabilizing and controlling the proximal pipeline; a back pressure sensing module 7 connected to the base connection assembly 2 for sensing water information; and a main control module built into the base 1, which is connected to both the spraying mechanism 3 and the proximal pipeline stabilization mechanism 6. The spraying mechanism 3 includes: a telescopic spraying assembly 4 connected to the base connection assembly 2 for cooperating with the back pressure sensing module 7 to perform high-pressure spray cleaning; and a drive assembly 5 connected to the telescopic spraying assembly 4 for controlling its movement.

[0015] In one embodiment of the present invention: like Figure 1As shown, the base connection assembly 2 includes: a rear support plate 201 connected to the base 1; a first telescopic control rod 202 connected to the rear support plate 201; a connecting block 203 connected to the end of the first telescopic control rod 202 away from the rear support plate 201; a second telescopic control rod 204 connected to the bottom of the connecting block 203; a connecting plate 205 connected to the end of the second telescopic control rod 204 away from the connecting block 203; and a limiting slide 206 connected to the connecting plate 206 on one side and slidably connected to the front support plate 101 on the other side. The bottom of the underwater cleaning robot is connected to the base 1, and the front side abuts against the inner side of the front support plate 101. According to the specifications of the underwater cleaning robot, the distance between the rear support plate 201 and the front support plate 101 is adjusted by the first telescopic control rods 202 on both sides to clamp the underwater cleaning robot. At the same time, bolt holes matching the shell of the underwater cleaning robot are provided on the front support plate 101 and the rear support plate 201 for further fixing to the shell of the underwater cleaning robot. A sliding groove for sliding limit of the rear support plate 201 is provided on the top side of the base 1.

[0016] In one embodiment of the present invention: like Figure 1 As shown, the telescopic spray assembly 4 includes: a linkage rod 401, which is movably connected to the connecting plate 205; a transmission rod 402, which is movably connected to the linkage rod 401; a connecting frame 403, which is connected to the end of the linkage rod 401 away from the connecting plate 205; a telescopic nozzle 404, which is connected to the connecting frame 403; and a telescopic stabilizing rod 405, one end of which is movably connected to the connecting frame 403, and the other end of which is movably connected to the connecting plate 205. When the drive component 5 is running, it can drive several transmission rods 402 to run, which in turn, in conjunction with the linkage rod 401, drive the telescopic nozzle 404 to expand or concentrate, realizing two cleaning modes: multi-point coverage area cleaning or enhanced concentrated point cleaning. When the linkage rod 401 and the connecting frame 403 swing, the telescopic stabilizing rod 405 at the corresponding position will adjust synchronously. At the same time, a connecting hose is also provided inside the linkage rod 401. One end of the connecting hose is connected to the telescopic nozzle 404, and the other end is connected to the water supply component.

[0017] In one embodiment of the present invention: like Figure 1As shown, the drive assembly 5 includes: a plurality of drive rods 501, the drive rods 501 being connected to the end of the connecting plate 205 away from the linkage rod 401; a sleeve 502, the sleeve 502 being connected to the side of the drive rods 501 away from the connecting plate 205; and a central frame 503, the central frame 503 being fixedly connected to the sleeve 502 by insertion, one end being telescopically connected to the rear support plate 201, the other end being telescopically connected to the rear support plate 201, and the ends of the plurality of transmission rods 402 away from the linkage rod 401 being movably connected to the central frame 503; When the drive rod 501 moves the sleeve 502, it can move the central frame 503 synchronously, which in turn drives the transmission frame 402 to open and close, thereby controlling the telescopic nozzle 404. At the same time, a micro pump is built into the central frame 503, which is connected to the connecting hose for water negative pressure control.

[0018] In one embodiment of the present invention: like Figure 1 and Figure 2 As shown, the proximal pipeline stabilization mechanism 6 includes: a stabilization plate frame 601, which is connected to the end of the central frame 503 away from the sleeve frame 502, and has a plurality of drainage holes inside the plate frame 601; a conical stabilization chamber 602, which is disposed inside the stabilization plate frame 601; and a plurality of interlocking support rods 603, which are spirally disposed inside the conical stabilization chamber 602 for feedback control of the proximal pipeline. Pressure sensors are installed at the ends of several control support rods 603. When the main control module performs jet pressure switching, spray mode adjustment or spray angle adjustment, it synchronously outputs attitude compensation control signals to the near-end pipeline stabilization mechanism 6, controlling the corresponding control support rods 603 to correct the pipeline support guidance force and angle in real time, compensating for the disturbances caused by jet reaction force fluctuations and pipeline drag force changes to the movement attitude of the equipment body and the stability of jet pressure.

[0019] In one embodiment of the present invention: like Figure 1 As shown, the back pressure sensing module 7 includes: several sets of elastic shafts 701, which are respectively connected to the rear support plate 201 and the connecting plate 205; a composite sensor 702, which is connected to the ends of several elastic shafts 701; and an anti-collision flexible protrusion 703, which is connected to the outside of the differential pressure sensor 702. Several sets of elastic shafts 701 can rotate elastically on the rear support plate 201 or the connecting plate 205. When the equipment moves underwater, the several sets of elastic shafts 701 on the outside can realize external collision detection. When the anti-collision flexible protrusion 703 collides, the equipment stops moving, realizing the anti-collision protection of the equipment. The composite sensor 702 includes a depth sensor and a differential pressure sensor. The depth sensor is used to collect the operating water depth data, and the differential pressure sensor is used to collect the actual pressure difference data between the jet outlet and the environment. The two are fed back to the main control module to form a back pressure compensation closed loop.

[0020] In one embodiment of the present invention: The main control module pre-stores the corresponding mapping relationship between water depth, ambient back pressure, and the extension length of the jet nozzle and the jetting mode. When the composite sensor 702 detects that the ambient back pressure increases with the increase of water depth, the main control module outputs an extension command to the telescopic jet assembly 4 to increase the jet target distance, and at the same time outputs a convergence adjustment command to the drive assembly 5 to gather multiple telescopic nozzles 404 into the optimal impact range to compensate for the attenuation of jet impact force caused by the increase of back pressure. When the water depth decreases and the ambient back pressure decreases, the main control module controls the telescopic nozzles 404 to shorten and outputs an expansion adjustment command to the drive assembly 5 to avoid excessive jet pressure damaging the surface coating of the substrate to be cleaned.

[0021] In one embodiment of the present invention: The main control module is electrically connected to the jetting mechanism 3. The main control module takes the water depth and environmental back pressure data collected by the back pressure sensing module 7 as input and synchronously adjusts the jet target distance and incident mode of the jetting mechanism to form a three-level linkage compensation mechanism of water supply pressure, jet target distance and jetting mode, which is used to maintain the constant effective impact force of the jet outlet under different water depth operating environments.

[0022] In summary, by combining real-time back pressure sensing with dynamic adjustment of the jet target distance and incident mode, the jet force fluctuation caused by changes in water depth and back pressure can be compensated, balancing cleaning effect and substrate protection. At the same time, the near-end pipeline stabilization mechanism 6 controls the pipeline tension and attitude in real time, mitigating jet pressure changes and equipment attitude disturbances caused by pipeline dragging and bending, effectively improving the operational stability and adaptability of the equipment under complex underwater conditions.

[0023] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A high-pressure water jet control device for an underwater cleaning robot, characterized in that, include: Base (1); A front support plate (101) is connected to a base plate (1); The base connection component (2) is connected to the base base (1) and is used to support the bottom of the cleaning robot body; The spraying mechanism (3) is connected to the base connection assembly (2); A proximal pipeline stabilization mechanism (6) is connected to the injection mechanism (3) and is used for the stabilization and feedback control of the proximal pipeline. Back pressure sensing module (7), which is connected to the base connection component (2) for water body information sensing; The main control module is built into the base (1) and is connected to the injection mechanism (3) and the near-end pipeline stabilization mechanism (6) respectively. The injection mechanism (3) includes: Telescopic spray assembly (4), which is connected to the base connection assembly (2) and is used to cooperate with the back pressure sensing module (7) to complete high-pressure spray cleaning; A drive component (5) is connected to the telescopic jet assembly (4) and is used for movement control of the telescopic jet assembly (4).

2. The high-pressure water jet control device for an underwater cleaning robot according to claim 1, characterized in that, The base connection assembly (2) includes: A rear support plate (201) is connected to a base plate (1); The first telescopic control rod (202) is connected to the rear support plate (201); A connecting block (203) is connected to the end of the first telescopic control rod (202) away from the rear support plate (201); The second telescopic control rod (204) is connected to the bottom of the connecting block (203); A connecting plate (205) is connected to the end of the second telescopic control rod (204) away from the connecting block (203); The limiting slide (206) is connected to the connecting plate (206) on one side and is slidably connected to the front support plate (101) on the other side.

3. The high-pressure water jet control device for an underwater cleaning robot according to claim 2, characterized in that, The telescopic jet assembly (4) includes: Linkage rod (401), which is movably connected to connecting plate (205); A transmission rod (402) is movably connected to a linkage rod (401); A connecting frame (403) is connected to the end of the linkage rod (401) away from the connecting plate (205); Telescopic nozzle (404), which is connected to the connecting frame (403); Telescopic stabilizer bar (405), one end of which is movably connected to the connecting frame (403), and the other end of which is movably connected to the connecting plate (205).

4. The high-pressure water jet control device for an underwater cleaning robot according to claim 3, characterized in that, The driving component (5) includes: A plurality of drive rods (501), wherein the drive rods (501) are connected to the end of the connecting plate (205) away from the linkage rod (401); A sleeve (502) is connected to the side of the drive rod (501) away from the connecting plate (205); The central frame (503) is fixedly connected to the sleeve frame (502) by insertion. One end is telescopically connected to the rear support plate (201), and the other end is telescopically connected to the rear support plate (201). Several transmission rods (402) are movably connected to the central frame (503) at the end away from the linkage rod (401).

5. The high-pressure water jet control device for an underwater cleaning robot according to claim 4, characterized in that, The proximal pipeline stabilization mechanism (6) includes: A stabilizing plate frame (601) is connected to the end of the central frame (503) away from the sleeve frame (502), and a number of drainage holes are provided in the document plate frame (601); A conical stabilizing trough (602) is disposed inside the stabilizing plate frame (601); Several control support rods (603) are spirally arranged inside the conical stabilizing tank (602) for feedback control of the near-end pipeline.

6. The high-pressure water jet control device for an underwater cleaning robot according to claim 5, characterized in that, The back pressure sensing module (7) includes: Several sets of elastic shafts (701) are connected to the rear support plate (201) and the connecting plate (205) respectively; A composite sensor (702) is connected to the ends of several elastic shafts (701); A collision-resistant flexible bump (703) is connected to the outside of the differential pressure sensor (702).

7. The high-pressure water jet control device for an underwater cleaning robot according to claim 6, characterized in that, The main control module pre-stores the corresponding mapping relationship between water depth, environmental back pressure, jet tube extension length, and jet mode. When the composite sensor (702) detects that the environmental back pressure increases with the increase of water depth, the main control module outputs an extension command to the telescopic jet assembly (4) to increase the jet target distance, and at the same time outputs a convergence adjustment command to the drive assembly (5) to gather multiple telescopic nozzles (404) into the optimal impact range to compensate for the jet impact force attenuation caused by the increase of back pressure. When the water depth decreases and the environmental back pressure decreases, the main control module controls the telescopic nozzle (404) to shorten and outputs an expansion adjustment command to the drive assembly (5) to avoid excessive jet pressure damaging the surface coating of the substrate to be cleaned.

8. The high-pressure water jet control device for an underwater cleaning robot according to claim 1, characterized in that, The main control module is electrically connected to the jetting mechanism (3); the main control module takes the water depth and environmental back pressure data collected by the back pressure sensing module (7) as input and synchronously adjusts the jet target distance and incident mode of the jetting mechanism to form a three-level linkage compensation mechanism of water supply pressure, jet target distance and jetting mode, which is used to maintain the constant effective impact force of the jet outlet under different water depth operating environments.

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