An underwater cleaning robot

Abstract

The application relates to the technical field of cleaning equipment, and discloses an underwater cleaning robot, which comprises a robot main body and a suction wheel. The suction wheel comprises a support, a shell, a magnetic suction element and a swing mechanism. The shell is rotationally assembled on the support in a first direction, and the shell is a spherical element. The swing mechanism comprises a driving assembly, a first swing seat and a second swing seat. The driving assembly is connected with the shell, and the driving assembly is in transmission connection with the first swing seat. The second swing seat is rotationally assembled on the first swing seat, the magnetic suction element is connected with the second swing seat, and the swing axes of the first swing seat and the second swing seat respectively pass through the spherical center of the shell. The shell of the suction wheel is a spherical element, and the point contact between the shell and the pipe wall reduces the steering resistance of the suction wheel. When the suction wheel moves, the swing mechanism ensures that the normal magnetic force of the magnetic suction element always passes through the spherical center of the shell, the contact point between the shell and the pipe wall and the normal magnetic force of the magnetic suction element are the same, and the sudden change of the adsorption force at the intersection point of the intersecting line and the pipe column is reduced.

Description

Technical Field

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

[0002] Underwater metal facilities are the material foundation for marine engineering construction and resource development. Due to prolonged immersion in seawater, various metal components (such as ships, subsea pipelines, and offshore platform jackets) are highly susceptible to the growth of barnacles, oysters, and other marine organisms. The attachment of these organisms not only increases the facility's weight and wave and current loads but also accelerates metal corrosion, masks structural defects, and severely interferes with flaw detection. Therefore, underwater equipment needs to be cleaned, and automated cleaning operations using robots are commonly employed.

[0003] In the current field of special robots, especially for wall-climbing robots operating on large metal walls such as ship hulls, petrochemical storage tanks, and offshore platform jackets, magnetic adsorption technology is a core means to ensure their safe operation. For example, patent CN212605717U discloses an adsorption-type underwater cleaning robot, including a vertical propeller, a stepper motor, a control cabin, a robot frame, a cavitation jet rotation device, tracks, and a horizontal propeller. The overall structure is designed to have zero buoyancy. The outer surface of the tracks is concave and convex, and through holes are opened on the side end faces of the tracks for mounting cylindrical permanent magnet blocks. When the tracks move, the permanent magnets also move with the tracks, thereby enabling the robot body to adhere to the surface of the ship. The inner side of the tracks is connected to a chain. The rotation of the stepper motor drives the rotation of the drive sprocket, the sprocket drives the chain to move, and the chain drives the tracks to move.

[0004] The aforementioned adsorption-type underwater cleaning robot uses track drive, suspension system, and permanent magnet adsorption to attach to the ship's surface, giving the robot a large contact area. However, for complex underwater cleaning environments, especially curved ship bottoms and spatial manifold structures like offshore platform jackets composed of numerous variable-diameter steel pipes, the magnets are difficult to align with the pipe wall normal when the track makes spatial turns at intersections and crossing pipe junctions. This results in an increase in effective magnetic gap, a decrease in adsorption force, and the robot is prone to tipping over, detaching, or getting stuck at the nodes. Summary of the Invention

[0005] The purpose of this invention is to provide an underwater cleaning robot to solve the problem that robots in the prior art are prone to tipping over, falling off, or getting stuck at nodes.

[0006] To achieve the above objectives, the present invention provides an underwater cleaning robot, comprising a robot body and an adsorption wheel connected to the robot body. The adsorption wheel includes a bracket, a shell, a magnetic suction component, and a swing mechanism. The bracket is connected to the robot body. The shell is rotatably mounted on the bracket around a first direction. The shell is a spherical component and has an assembly cavity. The magnetic suction component is disposed in the assembly cavity. The swing mechanism includes a drive assembly, a first swing seat, and a second swing seat. The drive assembly is connected to the housing and is drively connected to the first swing seat. The drive assembly can drive the first swing seat to swing around the first direction. The second swing seat is rotatably mounted on the first swing seat around the second direction. The magnetic attractor is connected to the second swing seat. The first direction and the second direction are perpendicular to each other. The swing axis of the first swing seat and the swing axis of the second swing seat pass through the center of the sphere of the outer shell, respectively.

[0007] Optionally, a rotating shaft is fixedly connected to the first swing seat, the rotating shaft extends along the second direction, the second swing seat is suspended and assembled on the rotating shaft, and a swing bearing is connected between the second swing seat and the rotating shaft.

[0008] Optionally, the second swing seat includes a yoke frame and a fixed frame, the magnetic attractor is fixedly connected to the yoke frame, the yoke frame and the fixed frame are connected, and the swing bearing is disposed between the fixed frame and the rotating shaft.

[0009] Optionally, the drive assembly includes a swing motor and a central shaft. The central shaft extends along the first direction, and support bearings are respectively connected between the two ends of the central shaft and the housing. The swing motor is fixedly connected to the bracket and is driven by the central shaft to drive the central shaft to rotate. The first swing seat is anti-rotationally engaged with the central shaft.

[0010] Optionally, the adsorption wheel further includes a walking motor, which is fixedly connected to the bracket and driven by the outer casing. The walking motor can drive the outer casing to rotate around the first direction.

[0011] Optionally, the underwater cleaning robot further includes several horizontal thrusters and several vertical thrusters. The horizontal thrusters and the vertical thrusters are respectively connected to the robot body. The horizontal thrusters are rotatably mounted on the robot body about a third direction. The horizontal thrusters can push the robot body to move perpendicular to the third direction, and the vertical thrusters can push the robot body to move along the third direction.

[0012] Optionally, the underwater cleaning robot further includes a cleaning mechanism connected to the robot body. There are multiple cleaning mechanisms, and the robot body is provided with cleaning mechanisms on both sides along the third direction. The underwater cleaning robot also includes a water inlet assembly, which is connected to each of the cleaning mechanisms.

[0013] Optionally, the cleaning mechanism includes a connecting shaft, a connecting frame, a universal joint, and a cleaning tray. The connecting shaft is connected to the robot body, the universal joint is connected between the connecting shaft and the connecting frame, and the cleaning tray is connected to the connecting frame. The cleaning tray is also equipped with a cleaning brush, a water inlet, and multiple spray pipes connected to the water inlet. The cleaning brush is arranged in a ring, and each of the spray pipes is located inside the cleaning brush. The water inlet is connected to the water inlet assembly.

[0014] Optionally, the water inlet assembly includes a water inlet pipe, a water interface, and a selector valve. The water inlet pipe is used to connect to an external water source. The selector valve is connected between the water inlet pipe and the water interface. There are multiple water interfaces, and each water interface is connected to the water inlet of a multiple cleaning mechanism.

[0015] Optionally, the robot body includes a frame and a floating material connected to the frame, the floating material being configured such that the underwater cleaning robot is in a zero-buoyancy state.

[0016] Compared with existing technologies, the underwater cleaning robot of this invention has the following advantages: The outer shell of the adsorption wheel is spherical, ensuring that the shell remains aligned with the normal direction of the pipe wall to be cleaned when the underwater cleaning robot moves to the intersection line or the pipe column junction. Simultaneously, the point contact between the shell and the pipe wall reduces the steering resistance of the adsorption wheel, preventing it from jamming and improving its adaptability to different environments. The magnetic suction component inside the assembly cavity of the shell is connected to the second swing seat of the swing mechanism. Since the swing direction of the first swing seat is consistent with the rotation direction of the adsorption wheel, and the swing direction of the second swing seat is perpendicular to the swing direction of the first swing seat, and their swing axes pass through the center of the shell, the driving component of the swing mechanism can drive the first swing seat to rotate synchronously when the adsorption wheel moves. Simultaneously, the second swing seat drives the magnetic suction component to swing, ensuring that the magnetic normal direction of the magnetic suction component always passes through the center of the shell. This ensures that the contact point between the shell and the pipe wall and the magnetic normal direction of the magnetic suction component are the same, reducing sudden changes in adsorption force at the intersection line and the variable diameter pipe column area, preventing the robot from overturning, falling off, or jamming at the junction. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the underwater cleaning robot of the present invention; Figure 2yes Figure 1 A schematic diagram of the underwater cleaning robot after omitting the floating material; Figure 3 yes Figure 2 A schematic diagram of the adsorption wheel with part of the outer shell omitted; Figure 4 yes Figure 3 An explosive schematic diagram of the oscillating mechanism of the adsorption wheel; Figure 5 yes Figure 2 A schematic diagram of the cleaning mechanism of an underwater cleaning robot; Figure 6 yes Figure 5 Front view of the cleaning mechanism; Figure 7 yes Figure 2 A schematic diagram of the water inlet assembly of an underwater cleaning robot; Figure 8 This is a schematic diagram of the state of the magnetic suction component of the underwater cleaning robot of the present invention after it swings.

[0018] In the diagram, 1. Robot body, 11. Frame, 12. Floating material, 13. Electrical compartment, 2. Adsorption wheel, 21. Support, 22. Shell, 221. Assembly cavity, 23. Magnetic attachment, 24. Swinging mechanism, 241. Drive assembly, 2411. Swinging motor, 2412. Central shaft, 242. First swing seat, 2421. Rotating shaft, 243. Second swing seat, 2431. Yoke frame, 2432. Fixed frame, 25. Walking motor, 3. Swing bearing, 4. Support bearing, 5. Horizontal thruster, 6. Vertical thruster, 7. Cleaning mechanism, 71. Connecting shaft, 72. Connecting frame, 73. Universal joint, 74. Cleaning disc, 741. Cleaning brush, 742. Water inlet, 743. Spray pipe, 8. Water inlet assembly, 81. Water inlet pipe, 82. Water interface, 83. Selective valve, X. First direction, Y. Second direction, Z. Third direction. Detailed Implementation

[0019] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0020] A preferred embodiment of the underwater cleaning robot of the present invention, such as... Figures 1 to 8 As shown, the underwater cleaning robot includes a robot body 1 and an adsorption wheel 2. The adsorption wheel 2 is connected to the robot body 1. The robot body 1 is the core carrier of the underwater cleaning robot, and the adsorption wheel 2 is the walking mechanism of the underwater cleaning robot, which is used to support the underwater cleaning robot to move on the structure to be cleaned.

[0021] like Figure 2As shown, the robot body 1 is also equipped with an electrical compartment 13, which contains a controller for controlling the overall movement of the underwater cleaning robot. The controller can be an existing microcontroller, etc., which will not be described in detail. There are multiple adsorption wheels 2, which are evenly distributed around the outer periphery of the robot body 1. In this embodiment, there are four adsorption wheels 2, which are arranged in a rectangular array. The structures of each adsorption wheel 2 are the same. Here, only one adsorption wheel 2 is used as an example for explanation.

[0022] like Figures 2 to 4 As shown, the adsorption wheel 2 includes a support 21, a housing 22, a magnetic suction element 23, and a swing mechanism 24. The support 21 serves as the overall supporting foundation for the adsorption wheel 2, and the adsorption wheel 2 is structurally connected to the robot body 1 through the support 21. In this embodiment, the support 21 is a U-shaped frame, and the housing 22 is rotatably mounted on the support 21 around a first direction X. The housing 22 is used to contact the pipe wall or other structures to be cleaned, so as to move on the pipe wall. In this embodiment, the first direction X is the left-right direction of the underwater cleaning robot.

[0023] The outer shell 22 is a spherical part. When the spherical outer shell 22 contacts the pipe wall to be cleaned, it is a point contact, which greatly reduces the turning resistance torque and ensures that the normal of the contact point passes through the spherical shape of the outer shell 22. This makes it convenient for the robot to move in different directions and flexibly pass through nodes such as intersection lines and pipe column intersections.

[0024] In this embodiment, the outer shell 22 is formed by two hemispherical shells interlocking together. The outer shell 22 is made of stainless steel with low magnetic permeability or high-strength polymer material. Its outer surface is covered with EVA (Ethylene Vinyl Acetate) or special rubber friction layer with moderate hardness to increase the friction between the outer shell 22 and the pipe wall.

[0025] like Figure 3 As shown, the housing 22 has an assembly cavity 221 inside, and the magnetic suction component 23 is disposed in the assembly cavity 221. The magnetic suction component 23 can be magnetically attracted and fixed to the pipe wall to be cleaned through the housing 22. By arranging the magnetic suction component 23 in the assembly cavity 221 of the housing 22, the housing 22 is a closed structure, which completely isolates it from the corrosion of high-salinity seawater and the impact of marine debris, providing full-cycle protection for the magnetic suction component 23 and significantly extending the service life of the equipment.

[0026] like Figure 3 and Figure 4As shown, the swing mechanism 24 includes a drive assembly 241, a first swing seat 242, and a second swing seat 243. The drive assembly 241 is connected to the housing 22 and is also drively connected to the first swing seat 242. The drive assembly 241 can drive the first swing seat 242 to swing around the first direction X. The swing center of the first swing seat 242 is the same as the rotation center of the housing 22. When the housing 22 rotates and moves around the first direction X to the intersection line or the intersection point of the tube column space, the contact position between the housing 22 and the tube wall is not directly below the housing 22. The drive assembly 241 can drive the swing seat to rotate around the first direction X, causing the second swing seat 243 to rotate synchronously, thus changing the angle of the magnetic suction member 23.

[0027] like Figure 3 and Figure 4 As shown, the magnetic suction element 23 is connected to the second swing seat 243. In this embodiment, the magnetic suction element 23 is a permanent magnet. The second swing seat 243 is rotatably mounted on the first swing seat 242 around the second direction Y. The first direction X and the second direction Y are perpendicular to each other. The combination of the first swing seat 242 and the second swing seat 243 realizes adaptive angle adjustment in three-dimensional space. In this embodiment, the second direction Y is the forward and backward direction of the underwater cleaning robot.

[0028] The swing axis of the first swing seat 242 and the swing axis of the second swing seat 243 pass through the center of the sphere of the outer shell 22, so that when the first swing seat 242 and the second swing seat 243 swing, the magnetic attractor 23 always swings around the center of the sphere of the outer shell 22, ensuring that the magnetic attraction force of the magnetic attractor 23 on the tube wall passes through the sphere of the outer shell 22, that is, the magnetic force normal is aligned with the tube wall normal direction.

[0029] When the first swing seat 242 swings around the first direction X, it can drive the second swing seat 243 to rotate synchronously around the first direction X. The second swing seat 243 can drive the magnetic suction component 23 to rotate synchronously. At the same time, the second swing seat 243 can also rotate around the second direction Y, thereby realizing the angle adjustment of the magnetic suction component 23 around the first direction X and the second direction Y. When the adsorption wheel 2 rotates, the magnetic suction component 23 can automatically seek optimal adsorption in the normal direction on any curved wall surface, fundamentally eliminating the risk of falling off at complex positions such as intersection nodes.

[0030] The outer shell 22 of the suction wheel 2 of this underwater cleaning robot is a spherical part. When the underwater cleaning robot moves to the intersection line or the pipe column's turning point position, the outer shell 22 can always remain aligned with the normal direction of the pipe wall to be cleaned. At the same time, the outer shell 22 has point contact with the pipe wall, which can reduce the turning resistance of the suction wheel 2, prevent the suction wheel 2 from getting stuck, and improve the adaptability of the suction wheel 2 in different environments. The magnetic suction component 23 in the assembly cavity 221 of the outer shell 22 is connected to the second swing seat 243 of the swing mechanism 24. Since the swing direction of the first swing seat 242 is consistent with the rotation direction of the suction wheel 2, and the second... The swing direction of the swing seat 243 is perpendicular to the swing direction of the first swing seat 242, and the swing axes of the two pass through the center of the sphere of the outer shell 22. When the adsorption wheel 2 moves, the drive component 241 of the swing mechanism 24 can drive the first swing seat 242 to rotate synchronously. At the same time, the second swing seat 243 drives the magnetic suction component 23 to swing, ensuring that the magnetic force normal of the magnetic suction component 23 always passes through the center of the sphere of the outer shell 22. This ensures that the contact point between the outer shell 22 and the pipe wall and the magnetic force normal of the magnetic suction component 23 are the same, reducing the sudden change in adsorption force at the intersection line and the variable diameter pipe column area, and preventing the robot from overturning, falling off or getting stuck at the node.

[0031] Optionally, a rotating shaft 2421 is fixedly connected to the first swing seat 242, the rotating shaft 2421 extends along the second direction Y, the second swing seat 243 is suspended and assembled on the rotating shaft 2421, and a swing bearing 3 is connected between the second swing seat 243 and the rotating shaft 2421.

[0032] like Figure 3 and Figure 4 As shown, a rotating shaft 2421 extending along the second direction Y is fixedly connected to the first swing seat 242. The second swing seat 243 is suspended and mounted on the rotating shaft 2421 through a swing bearing 3. The swing bearing 3 can reduce the resistance of the second swing seat 243 when swinging. The swing of the second swing seat 243 itself is adjusted by the gravity it receives and the magnetic attraction between the magnetic attractor 23 and the tube wall. The power source to drive the second swing seat 243 to rotate is omitted, which simplifies the overall structure of the swing mechanism 24 and realizes the rapid swing response of the second swing seat 243.

[0033] During the cleaning process, the second swing seat 243 rotates around the second direction Y. When the underwater cleaning robot tilts left or right, or when the contact point between the outer shell 22 and the pipe wall deviates from the center of the outer shell 22, the gravity and magnetic attraction force on the second swing seat 243 and the magnetic attraction component 23 deviate from the center of the ball in the left and right directions. Under the combined action of gravity and magnetic attraction force, the second swing seat 243 can swing itself towards the contact point between the outer shell 22 and the pipe wall to the contact point of the pipe wall, thereby obtaining a stable adsorption force.

[0034] Optionally, the second swing seat 243 includes a yoke frame 2431 and a fixed frame 2432. The magnetic attractor 23 is fixedly connected to the yoke frame 2431. The yoke frame 2431 and the fixed frame 2432 are connected. The swing bearing 3 is located between the fixed frame 2432 and the rotating shaft 2421.

[0035] like Figure 3 and Figure 4 As shown, the second swing seat 243 is formed by a yoke frame 2431 and a fixed frame 2432. After the yoke frame 2431 is connected to the magnetic attractor 23, a closed magnetic field is formed, which can reduce magnetic leakage and improve the utilization rate of magnetic energy. The yoke frame 2431 and the fixed frame 2432 are fixedly connected. The fixed frame 2432 is fitted on the rotating shaft 2421. The swing bearing 3 is set between the fixed frame 2432 and the rotating shaft 2421. The fixed frame 2432 can adopt a universal structure to connect with the rotating shaft 2421, which simplifies the connection form between the second swing seat 243 and the rotating shaft 2421.

[0036] In this embodiment, the fixing frame 2432 is formed by two interlocking retaining rings. One retaining ring is fixedly connected to the yoke frame 2431, and the two retaining rings are detachably connected by bolts, which simplifies the specific structure of the fixing frame 2432 and the connection structure between the fixing frame 2432 and the yoke frame 2431.

[0037] Optionally, the drive assembly 241 includes a swing motor 2411 and a central shaft 2412. The central shaft 2412 extends along the first direction X. Support bearings 4 are respectively connected between the two ends of the central shaft 2412 and the housing 22. The swing motor 2411 is fixedly connected to the bracket 21. The swing motor 2411 is driven by the central shaft 2412 to drive the central shaft 2412 to rotate. The first swing seat 242 is anti-rotationally engaged with the central shaft 2412.

[0038] like Figure 3 and Figure 4 As shown, the drive assembly 241 is formed by a swing motor 2411 and a central shaft 2412. The central shaft 2412 extends along the first direction X and passes through the spherical shape of the outer casing 22. After the first swing seat 242 is engaged with the central shaft 2412 to prevent rotation, the swing motor 2411 drives the central shaft 2412 to rotate. The central shaft 2412 can drive the first swing seat 242 to rotate synchronously, thereby driving the first swing seat 242 to rotate around the central shaft 2412 and adjusting the angle of the first swing seat 242. In this embodiment, the central shaft 2412 and the first swing seat 242 are connected by a key to achieve the anti-rotation engagement.

[0039] Support bearings 4 are connected between the two ends of the central shaft 2412 and the outer shell 22, so that the outer shell 22 supports the central shaft 2412. The rotation of the outer shell 22 and the central shaft 2412 are independent of each other. When the outer shell 22 rotates, it will not affect the rotation of the central shaft 2412. At the same time, when the drive assembly 241 drives the central shaft 2412 to rotate, it will not affect the rotation of the outer shell 22.

[0040] Since the first swing seat 242 rotates around the first direction X, which is the left and right direction of the underwater cleaning robot, when the underwater cleaning robot is in a forward tilting, backward tilting, or even when the underwater cleaning robot is cleaning the upper tube column, the contact point between the outer shell 22 and the tube wall will be deviated from the center of the ball on the front and back sides. At this time, the first swing seat 242 needs to overcome gravity to swing. The drive component 241 drives the first swing seat 242 to rotate through the central shaft 2412, so that the first swing seat 242 swings back and forth after overcoming gravity. It can also drive the second swing seat 243 and the magnetic suction member 23 to rotate to the upper side of the central shaft 2412 to ensure that the magnetic suction member 23 can attract and fix the tube column when cleaning the upper tube column.

[0041] Optionally, the adsorption wheel 2 also includes a walking motor 25, which is fixedly connected to the bracket 21 and is connected to the housing 22 in a transmission manner. The walking motor 25 can drive the housing 22 to rotate around the first direction X.

[0042] like Figure 2 and Figure 3 As shown, the walking motor 25 is fixedly connected to the bracket 21 and is also connected to the outer shell 22 via a transmission connection. The walking motor 25 drives the outer shell 22 to rotate around the first direction X, thereby moving the underwater cleaning robot back and forth. In this embodiment, the walking motor 25 and the outer shell 22 are connected via an input shaft. The walking motor 25 and the swing motor 2411 are located at both ends of the outer shell 22 to optimize the spatial layout of the adsorption wheel 2.

[0043] Optionally, the underwater cleaning robot also includes several horizontal thrusters 5 and several vertical thrusters 6. The horizontal thrusters 5 and vertical thrusters 6 are respectively connected to the robot body 1. The horizontal thrusters 5 are mounted on the robot body 1 in a third direction Z. The horizontal thrusters 5 can push the robot body 1 to move perpendicular to the third direction Z, and the vertical thrusters 6 can push the robot body 1 to move along the third direction Z. The horizontal thrusters 5 and vertical thrusters 6 work together to precisely control the robot's six-degree-of-freedom motion attitude underwater.

[0044] like Figure 1 and Figure 2As shown, the underwater cleaning robot's main body 1 is connected to multiple horizontal thrusters 5 and vertical thrusters 6. The horizontal thrusters 5 are used to propel the underwater cleaning robot laterally, changing the forward direction of the main body 1. The vertical thrusters 6 are used to propel the underwater cleaning robot along a third direction Z, causing the underwater cleaning robot to rise and fall in the water. In this embodiment, the third direction Z is the height direction of the underwater cleaning robot.

[0045] The horizontal thrusters 5 provide lateral thrust to the robot body 1. Since the horizontal thrusters 5 are mounted on the robot body 1 and rotate around the third direction Z, their thrust direction changes as they rotate around Z, thus changing the forward direction of the robot body 1. In this embodiment, there are four horizontal thrusters 5: two on each side of the robot body 1, and the two thrusters 5 on each side are spaced apart along the front-back direction. The four horizontal thrusters 5 cooperate to propel the underwater cleaning robot to quickly rotate and change direction around the third direction Z.

[0046] The vertical thruster 6 provides vertical thrust to the robot body 1. By changing the direction of the thrust of the vertical thruster 6, the underwater cleaning robot can rise or fall vertically. In this embodiment, there are two vertical thrusters 6, which are spaced apart along the second direction Y.

[0047] Optionally, the underwater cleaning robot also includes a cleaning mechanism 7 connected to the robot body 1. There are multiple cleaning mechanisms 7, and the robot body 1 is provided with cleaning mechanisms 7 on both sides along the third direction Z. The underwater cleaning robot also includes a water inlet component 8, which is connected to each cleaning mechanism 7 respectively.

[0048] like Figure 1 and Figure 2 As shown, multiple cleaning mechanisms 7 are connected to the robot body 1. Each cleaning mechanism 7 can clean the structure to be cleaned, such as the bulkhead and pipe column. The water inlet assembly 8 is connected to each cleaning mechanism 7. The water inlet assembly 8 provides sufficient and controlled power water to the cleaning mechanism 7. Water can be supplied to one or more cleaning mechanisms 7 through the water inlet assembly 8 to adjust the working status of different cleaning mechanisms 7.

[0049] Cleaning mechanisms 7 are installed on both sides of the robot body 1 in the Z-direction. The cleaning mechanisms 7 on both sides can clean the structural components on the upper and lower sides of the robot body 1 respectively. Combining the omnidirectional rolling characteristics of the adsorption wheel 2, and the reversing and buoyancy adjustment of the horizontal thruster 5 and the vertical thruster 6, the robot body 1 can clean the underwater wall surface in different directions using the cleaning mechanisms 7 on the top or bottom without performing complex flipping actions. This greatly improves the operational coverage in complex geometric areas such as the jacket nodes of offshore platforms.

[0050] In this embodiment, there are six cleaning mechanisms 7 in total, with three cleaning mechanisms 7 located at the top and three at the bottom of the robot body 1, and the three cleaning mechanisms 7 are arranged in a triangular interval. The structures of each cleaning mechanism 7 are the same, and the structure is described here using only one cleaning mechanism 7 as an example.

[0051] Optionally, the cleaning mechanism 7 includes a connecting shaft 71, a connecting frame 72, a universal joint 73, and a cleaning tray 74. The connecting shaft 71 is connected to the robot body 1, the universal joint 73 is connected between the connecting shaft 71 and the connecting frame 72, and the cleaning tray 74 is connected to the connecting frame 72. The cleaning tray 74 is also provided with a cleaning brush 741, a water inlet 742, and multiple spray pipes 743 connected to the water inlet 742. The cleaning brush 741 is arranged in a ring, and each spray pipe 743 is located inside the cleaning brush 741. The water inlet 742 is connected to the water inlet assembly 8.

[0052] like Figure 5 and Figure 6 As shown, the connecting shaft 71 is located on top of the cleaning disc 74 and is used for the mechanical connection between the cleaning mechanism 7 and the robot body 1. A universal joint 73 is located between the connecting shaft 71 and the connecting frame 72, allowing the cleaning disc 74 to adjust its angle relative to the robot body 1. This ensures that the cleaning disc 74 remains in contact with the surface to be cleaned during robot operation on walls with different curvatures. The cleaning disc 74 is fixedly connected to the connecting frame 72, which serves as the supporting base for the cleaning disc 74 and connects it to the universal joint 73, thus achieving mechanical installation and fixation between the cleaning disc 74, the universal joint 73, and the robot body 1.

[0053] The cleaning disc 74 has a disc-shaped structure. Cleaning brushes 741 are connected to the bottom periphery of the cleaning disc 74 and are arranged in a ring. During robot movement, the cleaning brushes 741 maintain contact with the surface of the structure to be cleaned, assisting in removing residual deposits after the cavitation jet action. The water inlet 742 is connected to the water inlet assembly 8, which supplies high-pressure water to the inlet 742. The high-pressure water enters each jet pipe 743 through the inlet 742, where it is ejected at high speed, forming a high-speed rotating water flow that drives the cleaning disc 74 to rotate and simultaneously washes away deposits on the pipe walls.

[0054] In this embodiment, there are three spray pipes 743, which are radially distributed along the radial direction of the cleaning disc 74. A central vortex cavity can be provided between the water inlet 742 and the spray pipes 743 to allow high-pressure water to rotate and form a high-speed rotating water flow. The nozzles of the spray pipes 743 face the tangential direction of the cleaning disc 74 so that the high-pressure water can drive the cleaning disc 74 to rotate.

[0055] Optionally, the water inlet assembly 8 includes a water inlet pipe 81, a water interface 82, and a selector valve 83. The water inlet pipe 81 is used to connect to an external water source. The selector valve 83 is connected between the water inlet pipe 81 and the water interface 82. There are multiple water interfaces 82, which are respectively connected to the water inlets 742 of multiple cleaning mechanisms 7.

[0056] like Figure 7 As shown, the water inlet pipe 81 of the water inlet assembly 8 is used to connect to an external high-pressure water source. A selector valve 83 is connected between the water inlet pipe 81 and the water interface 82. The selector valve 83 can adjust the on / off state of each water interface 82, allowing different water interfaces 82 to connect with the water inlet pipe 81, thereby providing high-pressure water flow to the inlets 742 of different cleaning mechanisms 7. In this embodiment, the selector valve 83 is specifically a solenoid valve.

[0057] In terms of branch control logic, the water inlet pipe 81 is connected to each water interface 82 through the selector valve 83. The water interfaces 82 are respectively connected to the water inlets 742 of each cleaning mechanism 7 on the robot body 1, forming an independent hydrodynamic network. The controller in the electrical compartment 13 controls the selector valve 83 to work according to the robot's current working status and preset operation instructions, so as to realize the independent on / off switching of the water circuits of different cleaning mechanisms 7.

[0058] When the top or bottom surface of the robot body 1 is attached to the pipe wall for operation, the selector valve 83 switches to the cleaning mechanism 7 on that side, causing that side's cleaning mechanism 7 to operate, while the cleaning mechanism 7 on the other side, which is not on the working surface, remains in a stopped state. This branch control method not only effectively saves total energy consumption but also significantly improves the impact pressure of cavitation cleaning on the working surface.

[0059] Optionally, the robot body 1 includes a frame 11 and a float 12 connected to the frame 11, the float 12 being configured to make the underwater cleaning robot in a zero-buoyancy state.

[0060] like Figure 1 and Figure 2 As shown, frame 11 is the core carrier of robot body 1, and adsorption wheel 2, horizontal thruster 5, vertical thruster 6, cleaning mechanism 7, etc. are connected to frame 11 respectively. Buoyancy material 12 is fixed on both the upper and lower sides of frame 11. By reasonably distributing the relative position of the buoyancy center and the center of gravity of the underwater cleaning robot, the underwater cleaning robot is in a zero-buoyancy state, ensuring that the robot maintains a stable neutral or slightly positive buoyancy state when performing adsorption operations on the front or back. Zero buoyancy means that the underwater cleaning robot's gravity and buoyancy are balanced and cancel each other out underwater. In this embodiment, the bracket 21 of adsorption wheel 2 is also covered with buoyancy material 12 to adjust the buoyancy of the underwater cleaning robot.

[0061] The working process of the cleaning robot of this invention is as follows: When the underwater cleaning robot is in a horizontal wall adsorption state, the second swing seat 243 swings around the rotating shaft 2421 to the lowest position under its own gravity. The magnetic suction component 23 is subjected to the magnetic attraction force of the outer shell 22 and the horizontal wall. The magnetic suction component 23 faces the horizontal wall and obtains a stable adsorption force. The controller of the electrical compartment 13 sends a control signal to the walking motor 25. The walking motor 25 drives the outer shell 22 of the adsorption wheel 2 to rotate and move on the horizontal wall. At the same time, the controller controls the selector valve 83 to connect with the corresponding water interface 82 to supply water to the cleaning mechanism 7 located at the bottom of the robot body. The high-pressure water jet is sprayed out through the spray pipe 743 and drives the cleaning disc 74 to rotate. The cleaning brush 741 cleans the debris on the wall.

[0062] When the underwater cleaning robot moves to inclined surfaces, curved transition areas, intersections, or the junctions of tubular spaces, such as Figure 8 As shown, due to the change in wall orientation, the swing mechanism 24 adjusts the posture of the magnetic suction component 23. The swing motor 2411 drives the central shaft 2412 to rotate, and the central shaft 2412 drives the first swing seat 242 to rotate around the central shaft 2412. The first swing seat 242 drives the second swing seat 243 to rotate synchronously around the central shaft 2412. At the same time, under the action of gravity and magnetic attraction, the second swing seat 243 swings around the rotating shaft 2421, thereby driving the magnetic suction component 23 to adjust its spatial position so that the magnetic suction component 23 is directly opposite the wall to maintain a small gap. The direction of the magnetic attraction is the same as the normal of the wall. The controller controls the horizontal thruster 5 and the vertical thruster 6 to work, adjusting the posture and orientation of the underwater cleaning robot so that the underwater cleaning robot is opposite the wall, and the cleaning mechanism 7 cleans the wall.

[0063] When the underwater cleaning robot needs to clean the wall on its top, the adsorption wheel 2 needs to be in the reverse adsorption state. At this time, the walking motor 25 drives the first swing seat 242 to rotate around the central axis 2412 to the upper side of the central axis 2412 through the central axis 2412. The magnetic suction component 23 is adjusted to the upper side of the center of the shell 22. Under the action of gravity and magnetic attraction, the second swing seat 243 swings around the rotating axis 2421, so that the magnetic suction component 23 remains close to the wall, ensuring that the robot still has stable adsorption capacity when adsorbing in the reverse direction. The controller controls the selector valve 83 to connect with the corresponding water interface 82 to supply water to the cleaning mechanism 7 located on the top of the robot body. The high-pressure water flow is sprayed out through the spray pipe 743 and drives the cleaning disc 74 to rotate. The cleaning brush 741 cleans the debris on the wall. At this time, the underwater cleaning robot can clean the underwater wall in different directions without performing complicated flipping actions.

[0064] When the underwater cleaning robot of this application is adsorbed and climbs the pipe wall, the geometric point contact characteristics of the spherical adsorption wheel 2 enable it to smoothly cross the diameter change area and weld seam of different pipe diameters. Since the cleaning mechanism 7 is symmetrically distributed and the water inlet component 8 has an intelligent switching function, when the underwater cleaning robot moves from the front to the back of the pipe column, or crosses from the longitudinal rod to the transverse brace at the spatial intersection, the operator only needs to drive the selection valve 83 through the control system to switch the corresponding cleaning mechanism 7, and cooperate with the thrust vector adjustment provided by the horizontal thruster 5 to achieve all-round cleaning coverage at complex nodes.

[0065] In summary, this invention provides an underwater cleaning robot with a spherical outer shell for its adsorption wheel. When the underwater cleaning robot moves to the intersection line or the junction point of the tube column, the outer shell can always remain aligned with the normal direction of the tube wall to be cleaned. Simultaneously, the point contact between the outer shell and the tube wall reduces the turning resistance of the adsorption wheel, prevents it from jamming, and improves its adaptability to different environments. The magnetic suction component inside the assembly cavity of the outer shell is connected to the second swing seat of the swing mechanism. Since the swing direction of the first swing seat is consistent with the rotation direction of the adsorption wheel, and the swing direction of the second swing seat is perpendicular to the swing direction of the first swing seat, and their swing axes pass through the center of the outer shell, the driving component of the swing mechanism can drive the first swing seat to rotate synchronously when the adsorption wheel moves. Simultaneously, the second swing seat drives the magnetic suction component to swing, ensuring that the magnetic force normal of the magnetic suction component always passes through the center of the outer shell. This ensures that the contact point between the outer shell and the tube wall, and the magnetic force normal of the magnetic suction component, are the same, reducing sudden changes in adsorption force at the intersection line and the variable diameter tube column area, and preventing the robot from overturning, falling off, or jamming at the junction.

[0066] The above description is only a preferred embodiment of the present invention. 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 the present invention, and these improvements and substitutions should also be considered within the scope of protection of the present invention.

Claims

1. An underwater cleaning robot, characterized in that, The robot body (1) includes an adsorption wheel (2) connected to the robot body (1). The adsorption wheel (2) includes a bracket (21), a shell (22), a magnetic suction element (23), and a swing mechanism (24). The bracket (21) is connected to the robot body (1). The shell (22) is rotatably mounted on the bracket (21) around a first direction (X). The shell (22) is a spherical part and has an assembly cavity (221). The magnetic suction element (23) is disposed in the assembly cavity (221). The swing mechanism (24) includes a drive assembly (241), a first swing seat (242), and a second swing seat (243). The drive assembly (241) is connected to the housing (22) and is connected to the first swing seat (242) in a transmission manner. The drive assembly (241) can drive the first swing seat (242) to swing around the first direction (X). The second swing seat (243) is rotatably mounted on the first swing seat (242) about the second direction (Y). The magnetic suction member (23) is connected to the second swing seat (243). The first direction (X) and the second direction (Y) are perpendicular to each other. The swing axis of the first swing seat (242) and the swing axis of the second swing seat (243) pass through the center of the sphere of the outer shell (22).

2. The underwater cleaning robot according to claim 1, characterized in that, A rotating shaft (2421) is fixedly connected to the first swing seat (242), the rotating shaft (2421) extends along the second direction (Y), the second swing seat (243) is suspended and assembled on the rotating shaft (2421), and a swing bearing (3) is connected between the second swing seat (243) and the rotating shaft (2421).

3. The underwater cleaning robot according to claim 2, characterized in that, The second swing seat (243) includes a yoke frame (2431) and a fixed frame (2432). The magnetic suction element (23) is fixedly connected to the yoke frame (2431). The yoke frame (2431) and the fixed frame (2432) are connected. The swing bearing (3) is located between the fixed frame (2432) and the rotating shaft (2421).

4. The underwater cleaning robot according to any one of claims 1-3, characterized in that, The drive assembly (241) includes a swing motor (2411) and a central shaft (2412). The central shaft (2412) extends along the first direction (X). Support bearings (4) are respectively connected between the two ends of the central shaft (2412) and the outer shell (22). The swing motor (2411) is fixedly connected to the bracket (21). The swing motor (2411) is driven by the central shaft (2412) to drive the central shaft (2412) to rotate. The first swing seat (242) is anti-rotationally engaged with the central shaft (2412).

5. The underwater cleaning robot according to any one of claims 1-3, characterized in that, The adsorption wheel (2) also includes a walking motor (25), which is fixedly connected to the bracket (21) and is drivenly connected to the outer shell (22). The walking motor (25) can drive the outer shell (22) to rotate around the first direction (X).

6. The underwater cleaning robot according to any one of claims 1-3, characterized in that, The underwater cleaning robot also includes several horizontal thrusters (5) and several vertical thrusters (6). The horizontal thrusters (5) and the vertical thrusters (6) are respectively connected to the robot body (1). The horizontal thrusters (5) are mounted on the robot body (1) around a third direction (Z). The horizontal thrusters (5) can push the robot body (1) to move perpendicular to the third direction (Z). The vertical thrusters (6) can push the robot body (1) to move along the third direction (Z).

7. The underwater cleaning robot according to claim 6, characterized in that, The underwater cleaning robot also includes a cleaning mechanism (7) connected to the robot body (1). There are multiple cleaning mechanisms (7), and the robot body (1) is provided with cleaning mechanisms (7) on both sides along the third direction (Z). The underwater cleaning robot also includes a water inlet assembly (8), which is connected to each of the cleaning mechanisms (7).

8. The underwater cleaning robot according to claim 7, characterized in that, The cleaning mechanism (7) includes a connecting shaft (71), a connecting frame (72), a universal joint (73), and a cleaning tray (74). The connecting shaft (71) is connected to the robot body (1), the universal joint (73) is connected between the connecting shaft (71) and the connecting frame (72), and the cleaning tray (74) is connected to the connecting frame (72). The cleaning tray (74) is also provided with a cleaning brush (741), a water inlet (742) and a plurality of spray pipes (743) connected to the water inlet (742). The cleaning brush (741) is arranged in a ring, and each of the spray pipes (743) is located inside the cleaning brush (741). The water inlet (742) is connected to the water inlet assembly (8).

9. The underwater cleaning robot according to claim 8, characterized in that, The water inlet assembly (8) includes a water inlet pipe (81), a water interface (82), and a selector valve (83). The water inlet pipe (81) is used to connect to an external water source. The selector valve (83) is connected between the water inlet pipe (81) and the water interface (82). There are multiple water interfaces (82), and each water interface (82) is connected to the water inlet (742) of a plurality of cleaning mechanisms (7).

10. The underwater cleaning robot according to any one of claims 1-3, characterized in that, The robot body (1) includes a frame (11) and a float (12) connected to the frame (11), the float (12) being configured to make the underwater cleaning robot in a zero buoyancy state.

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