Cleaning assembly, cleaning device and underwater cleaning robot

Abstract

The utility model relates to a cleaning assembly, a cleaning device and an underwater cleaning robot, which are used for solving the problem that the rotating speed, the cleaning effect and the like of the existing cleaning assembly are uncontrollable. The cleaning assembly comprises a spraying pipe, a cleaning assembly and a cleaning assembly, one end of the rotating shaft is configured to be at least in transmission connection with a driving assembly, and the other end of the rotating shaft is connected with a spraying pipe so that the rotating shaft can drive the spraying pipe to rotate synchronously; the rotating shaft is provided with a fluid channel, and the fluid channel communicates with the spraying pipe so that high-pressure fluid can be conveyed to the spraying pipe to be used for cleaning the surface to be cleaned. And the rotating power of the rotating shaft is jointly provided by the high-pressure fluid and the driving assembly.

Description

Technical Field

[0001] The utility model relates to the technical field of ship surface cleaning, in particular to a cleaning component, a cleaning device and an underwater cleaning robot. Background Art

[0002] In recent years, with the vigorous development of the global marine industry, the volume of water freight has continued to rise. Ships sail in the water for a long time, and algae, barnacles and other organisms in the water attach to the hull in a large area, causing serious adverse effects on ship transportation. Generally, due to the attachment of marine organisms, the speed of the ship decreases by 10% to 50%. The ship consumes more fuel to compensate for the decrease in speed, which greatly increases the operating cost. Therefore, it is necessary to clean the surface of the ship regularly.

[0003] At present, most of the domestic ship surface cleaning methods are manual handheld shovels or hydraulic scrapers, which are inefficient and easy to damage the ship paint. Some domestic manufacturers have produced high-pressure water-driven cavitation jet cleaning devices, but the rotation speed and state of the rotary joint are uncontrollable, and the cleaning effect is difficult to guarantee. Utility Model Content

[0004] In view of the above analysis, the utility model aims to provide a cleaning component, a cleaning device and an underwater cleaning robot to solve the uncontrollable problems of the rotation speed and cleaning effect of the existing cleaning components.

[0005] The purpose of this utility model is mainly achieved through the following technical solutions:

[0006] The utility model provides a cleaning component, comprising:

[0007] Nozzle;

[0008] A rotating shaft, one end of which is configured to be at least capable of being transmission-connected to a driving assembly, and the other end of which is connected to a nozzle, so that the rotating shaft drives the nozzle to rotate synchronously; the rotating shaft is provided with a fluid channel, and the fluid channel is connected to the nozzle, so that a high-pressure fluid is delivered to the nozzle for cleaning a surface to be cleaned;

[0009] The rotational power of the rotating shaft is provided by the high-pressure fluid and the driving assembly.

[0010] Furthermore, the cleaning assembly also includes a cleaning disc and a connecting cylinder;

[0011] The cleaning disc cover is arranged on the spray pipe;

[0012] The connecting cylinder is detachably connected to the cleaning plate;

[0013] The rotating shaft is at least partially located in the connecting cylinder body, and the rotating shaft is rotatably connected to the connecting cylinder body; one end of the rotating shaft is transmission-connected to the driving assembly, and the other end of the rotating shaft extends into the cleaning disk and is connected to the spray pipe.

[0014] Further, the connecting cylinder body is provided with a first cavity and an inlet connected to the first cavity, and the inlet is configured to be able to introduce the high-pressure fluid into the first cavity;

[0015] The rotating shaft is provided with at least one fluid inlet, and the fluid inlet is communicated with the first cavity and the fluid channel;

[0016] Preferably, the position of the flow inlet corresponds to the position where the rotating shaft is provided with a fluid inlet;

[0017] Preferably, the first cavity is provided with a first connection port and a second connection port for the two ends of the rotating shaft to pass through, and the side walls of the rotating shaft are dynamically sealedly connected to the first connection port and the second connection port respectively.

[0018] Further, the cleaning assembly includes a plurality of spray pipes;

[0019] The rotating shaft is provided with a plurality of fluid outlets, the number of the fluid outlets is the same as the number of the nozzles, and the nozzles correspond to the fluid outlets one by one.

[0020] Further, the rotating shaft comprises a first rotating part and a second rotating part which are detachably connected, the first rotating part and the second rotating part jointly define the fluid channel, the fluid inlet is provided on a side wall of the first rotating part, and the fluid outlet is provided on a side wall of the second rotating part;

[0021] The first rotating part is detachably disposed in the first cavity, one end of the first rotating part passes through the first connecting port and is transmission-connected to the driving assembly, and the other end of the first rotating part passes through the second connecting port and extends into the cleaning disk and is detachably connected to the second rotating part;

[0022] The second rotating part is located in the cleaning disk, the top end of the second rotating part is detachably connected to the first rotating part, and the fluid outlet is opened on the side wall of the second rotating part;

[0023] Preferably, the first rotating part is provided with an assembly hole which penetrates the fluid channel, and the diameter of the assembly hole is larger than the diameter of the fluid channel; a first connecting protrusion is provided at a position of the side wall of the first rotating part corresponding to the assembly hole;

[0024] The top end of the second rotating part matches with the assembly hole, and the top end of the second rotating part can be inserted into the assembly hole; the side wall of the second rotating part is provided with a second connecting protrusion matching with the first connecting protrusion;

[0025] The second rotating portion is inserted into the assembly hole, and the first connecting protrusion is fitted with the second connecting protrusion and is detachably connected.

[0026] The utility model also provides a cleaning device, which comprises N groups of the above-mentioned cleaning components, where N≥1.

[0027] Furthermore, the cleaning device also includes:

[0028] A fluid supply component, connected to the fluid channel, so as to provide the cleaning component with a high-pressure fluid for cleaning;

[0029] N groups of driving components are arranged in one-to-one correspondence with the cleaning components, and the driving components are configured to at least provide partial driving force for the rotating shaft and control the rotation speed of the rotating shaft.

[0030] Further, the flow supply assembly includes an inlet pipe and N connecting pipes, one end of the connecting pipe is connected to the inlet pipe, and the other end of the connecting pipe is connected to the fluid inlet of the cleaning assembly;

[0031] The connecting pipes correspond to the cleaning components one by one;

[0032] Preferably, the inlet pipe is connected to N connecting pipes via a flow divider;

[0033] The flow divider comprises a main inlet and N branch outlets connected to the main inlet;

[0034] One end of the inlet pipe is connected to a mechanism for supplying high-pressure fluid, and the other end of the inlet pipe is connected to the main inlet;

[0035] One end of the connecting pipe is connected to the branch outlet, and the other end of the connecting pipe is connected to the fluid inlet of the cleaning assembly;

[0036] The connecting pipes correspond to the branch outlets one by one.

[0037] Further, the driving assembly includes a driving motor, a motor compartment, a transmission compartment and a driving shaft, the driving motor is located in the motor compartment, the driving shaft is located in the transmission compartment, and the transmission compartment is detachably connected to the motor compartment;

[0038] The output shaft of the driving motor passes through the motor compartment and extends into the transmission compartment to be detachably connected to the driving shaft; the output shaft is rotatably connected to the motor compartment;

[0039] One end of the drive shaft is connected to the output shaft, and the other end of the drive shaft passes through the transmission cabin and is connected to the rotating shaft; the drive shaft is connected to the transmission cabin for rotation;

[0040] Preferably, the drive motor is a servo motor, or the drive motor is provided with an encoder for speed feedback, so as to be able to feed back the speed of the output shaft of the drive motor to the controller and / or the host computer of the cleaning device.

[0041] Preferably, the cleaning device further comprises a connecting main beam, wherein the connecting main beam is configured to be able to assemble the flow supply assembly, N groups of cleaning assemblies and N groups of driving assemblies to a mechanism requiring the cleaning device;

[0042] The connecting main beam includes a central assembly part and N supporting assembly parts, wherein the supporting assembly parts are evenly arranged outside the central assembly part, and the distances between the N supporting assembly parts and the central assembly part are the same;

[0043] The flow supply assembly can be detachably mounted on the central assembly portion;

[0044] N groups of cleaning components and N groups of driving components are respectively arranged on both sides of the N supporting assembly parts in a relative manner;

[0045] Preferably, the central assembly part and the N supporting assembly parts are connected by a main beam frame;

[0046] Preferably, N=2, the main beam frame is in the shape of a linear frame, two support assembly parts are located at two ends of the main beam frame, and the central assembly part is located below the center of the main beam frame.

[0047] The utility model also provides an underwater cleaning robot, comprising the above-mentioned cleaning component, or comprising the above-mentioned cleaning device.

[0048] Compared with the prior art, the present invention can achieve at least one of the beneficial effects: it can accurately control the rotation speed of the rotating shaft (i.e., the nozzle) through the driving component, so as to avoid the damage to the cleaning surface (such as damaging the paint on the surface of the ship) caused by the nozzle rotating too fast due to the excessive pressure of the high-pressure fluid, and to avoid the poor cleaning effect caused by the nozzle rotating too slowly due to the low pressure of the high-pressure fluid, thereby ensuring the cleaning effect of the cleaning component.

[0049] In the present invention, the above-mentioned technical solutions can also be combined with each other to achieve more preferred combination solutions. Other features and advantages of the present invention will be described in the following content, and some advantages can be obvious from the description or understood by implementing the present invention. The purpose and other advantages of the present invention can be achieved and obtained through the contents specifically pointed out in the text and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The accompanying drawings are only used for the purpose of illustrating specific embodiments and are not to be considered as limiting the present invention. In the entire drawings, the same reference symbols represent the same components.

[0051] Figure 1 It is a structural schematic diagram of a cleaning component in a specific implementation manner (I);

[0052] Figure 2 It is a structural schematic diagram of the cleaning component in a specific implementation manner (II);

[0053] Figure 3 It is a structural schematic diagram of the cleaning component in a specific implementation manner (III);

[0054] Figure 4 is a cross-sectional view of a cleaning component in a specific embodiment;

[0055] Figure 5 It is a schematic diagram of the structure of the cleaning component after the cleaning plate is removed in a specific implementation manner (I);

[0056] Figure 6 It is a schematic diagram of the structure of the cleaning component after the cleaning plate is removed in a specific implementation manner (II);

[0057] Figure 7 is a structural schematic diagram of the first rotating part in a specific implementation manner (I);

[0058] Figure 8 is a structural schematic diagram of the first rotating part in a specific implementation manner (II);

[0059] Fig. 9 is a cross-sectional view of the first rotating part in a specific implementation manner;

[0060] Fig.10 It is a structural schematic diagram of the second rotating part in a specific implementation manner;

[0061] Fig.11 is a cross-sectional view of the second rotating part in a specific implementation manner;

[0062] Fig.12 It is a structural schematic diagram of the connection cylinder body in a specific implementation manner (I);

[0063] Fig.13 It is a structural schematic diagram of the connection cylinder body in a specific implementation manner (II);

[0064] Fig.14 is a cross-sectional view of a connecting cylinder body in a specific implementation manner;

[0065] Fig.15It is a structural schematic diagram of a cleaning device in a specific implementation manner (I);

[0066] Fig.16 It is a structural schematic diagram of a cleaning device in a specific implementation manner (II);

[0067] Fig.17 It is a structural schematic diagram of the cleaning device in a specific implementation manner (III);

[0068] Fig.18 is a cross-sectional view of a cleaning device in a specific embodiment;

[0069] Fig.19 It is a structural schematic diagram of a flow supply component in a specific implementation manner;

[0070] Fig. 20 It is a structural schematic diagram of a driving component in a specific implementation manner;

[0071] Fig.21 It is a structural schematic diagram of a driving shaft in a specific implementation manner;

[0072] Fig. 22 is a cross-sectional view of a drive shaft in a specific implementation manner;

[0073] Fig.23 It is a structural schematic diagram of connecting the main beam in a specific implementation manner (I);

[0074] Fig.24 It is a structural schematic diagram of connecting the main beam in a specific implementation method (II).

[0075] Reference numerals:

[0076] 1-flow supply assembly; 101-main inlet; 102-dividing outlet; 11-inlet pipe; 12-connecting pipe; 13-dividing member; 14-inspection cover: 2-cleaning assembly; 201-first cavity; 202-inlet; 203-first connecting port; 204-second connecting port; 21-rotating shaft; 21a-first rotating part; 21b-second rotating part; 211-fluid channel; 212-fluid inlet; 213-fluid outlet; 214-assembly hole; 215-first connecting protrusion; 216-second connecting protrusion ;217-slot;217a-cylindrical slot;217b-convex slot;22-spray pipe;23-cleaning disc;24-connecting cylinder body;3-driving assembly;31-driving shaft;311-slot part;312-plug-in part;312a-cylindrical part;312b-convex part;32-driving motor;321-output shaft;33-motor compartment;34-transmission compartment;4-connecting main beam;401-window;41-central assembly part;42-support assembly part;421-connecting protrusion;43-main beam frame;44-pad. DETAILED DESCRIPTION

[0077] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the present invention and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0078] In the description of the embodiments of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the term "connected" should be understood in a broad sense, for example, it can be a fixed connection, or a detachable connection, or an integral connection can be a mechanical connection, or an electrical connection can be a direct connection, or it can be indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0079] The terms "top", "bottom", "above", "lower", and "on" used throughout the description are relative to the relative positions of components of a device, such as the relative positions of the top and bottom substrates within a device. It is understood that devices are multifunctional regardless of their orientation in space.

[0080] The common working surface of the utility model can be a plane or a curved surface, can be inclined, or can be horizontal. For the convenience of description, the embodiment of the utility model is placed on a horizontal plane and used on the horizontal plane, and "high and low" and "up and down" are defined in this way.

[0081] Embodiment 1

[0082] This embodiment provides a cleaning assembly that can at least be used to clean the surface of a ship. Figure 1 to Figure 14 As shown, the cleaning component 2 includes:

[0083] Nozzle 22;

[0084] A rotating shaft 21, one end of which is configured to be at least capable of being transmission-connected with a driving assembly 3, and the driving assembly 3 can not only provide a part of the driving force for the rotating shaft 21, but also can accurately control the rotation speed of the rotating shaft 21; the other end of the rotating shaft 21 is connected to a nozzle 22, so that the rotating shaft 21 drives the nozzle 23 to rotate synchronously; the rotating shaft 21 is provided with a fluid channel 211, and the fluid channel 211 is connected to the nozzle 22, so that a high-pressure fluid is delivered to the nozzle 21 for cleaning the surface to be cleaned;

[0085] The rotational power of the rotating shaft 21 is provided by the high-pressure fluid and the driving assembly.

[0086] The cleaning component of the utility model can accurately control the rotation speed of the rotating shaft (i.e., the nozzle) through the driving component, and can avoid damage to the cleaning surface (such as damage to the paint on the surface of a ship) caused by excessively high-pressure fluid pressure resulting in excessively fast nozzle rotation speed, and can also avoid poor cleaning effect caused by too low high-pressure fluid pressure resulting in too slow nozzle rotation speed, thereby ensuring the cleaning effect of the cleaning component.

[0087] The high-pressure fluid refers to a fluid with a pressure of more than 5 MPa, and the high-pressure fluid can drive the rotating shaft 21 to rotate the nozzle 22. Preferably, the pressure of the high-pressure fluid is 6-300 MPa.

[0088] The fluid may be water flow, cavitation liquid, etc., or may be a liquid doped with a cleaning agent to enhance the cleaning effect.

[0089] The cleaning assembly 2 further comprises a cleaning disc 23 and a connecting cylinder 24. The cleaning disc 23 is covered on the nozzle 22. The connecting cylinder 24 is detachably connected to the cleaning disc 23. The rotating shaft 21 is at least partially located in the connecting cylinder 24. The rotating shaft 21 is rotatably connected to the connecting cylinder 24, that is, the rotating shaft 21 can rotate relative to the connecting cylinder 24. One end of the rotating shaft 21 is transmission-connected to the driving assembly 3 so that the driving assembly 3 drives the rotating shaft 21 to rotate. The other end of the rotating shaft 21 extends into the cleaning disc 23 and is connected to the nozzle 22 so that the nozzle 22 rotates synchronously with the rotating shaft 21.

[0090] The cleaning disc 23 is provided with an assembly space for assembling the nozzle 22. The rotating shaft 21 drives the nozzle to rotate in the cleaning disc under the joint drive of the high-pressure fluid and the driving assembly 3, which can generate negative pressure to make the cleaning disc adsorbed on the surface to be cleaned.

[0091] Specifically, the connecting cylinder 24 is provided with a first cavity 201 and an inlet 202 communicating with the first cavity 201 , and the inlet 202 is communicated with the high-pressure fluid, that is, the high-pressure fluid enters the first cavity 201 through the inlet 202 .

[0092] The rotating shaft 21 is provided with at least one fluid inlet 212 to connect the first cavity 201 and the fluid channel 211, that is, the high-pressure fluid enters the fluid channel 211 from the first cavity 201 through the fluid inlet 212, that is, the fluid inlet 212 is connected with the first cavity 201 and the fluid channel 211 respectively. The fluid inlet 212 is located on the side wall of the rotating shaft 21 and is located in the first cavity 201. Preferably, the rotating shaft 21 is provided with a plurality of fluid inlets 212, and the plurality of fluid inlets 212 are evenly distributed at the same height of the side wall of the rotating shaft 21, so as to quickly introduce the high-pressure fluid in the first cavity 201 into the fluid channel 211. In this embodiment, four fluid inlets 212 are provided on the side wall of the rotating shaft 21.

[0093] To ensure that the high-pressure fluid quickly enters the fluid channel of the rotating shaft 21, the position of the inlet 202 corresponds to the position of the fluid inlet 212 provided on the rotating shaft 21, that is, the fluid inlet 212 is opened at a position opposite to the rotating shaft 21 and the inlet 202. On the one hand, it is convenient for the high-pressure fluid to quickly enter the fluid channel 211, and on the other hand, it is convenient for the high-pressure fluid to drive the rotation of the rotating shaft 21.

[0094] The first cavity 201 is provided with a first connection port 203 and a second connection port 204 for the two ends of the rotating shaft 21 to pass through. The side walls of the rotating shaft 21 are respectively connected to the first connection port 201 and the second connection port 202 in a dynamic sealing manner, so as to ensure the sealing of the first cavity 201 and prevent leakage of high-pressure fluid without affecting the rotation of the rotating shaft 21. One end (the head end) of the rotating shaft 21 is connected to the driving assembly 3 through the first connection port 203, and the other end (the tail end) of the rotating shaft 21 is connected to the nozzle 22 through the second connection port 204.

[0095] In order to improve the cleaning effect of the cleaning assembly 2, the cleaning assembly 2 includes a plurality of nozzles 22. The end of the rotating shaft 21 (i.e., the end of the rotating shaft 21 extending into the cleaning disc 23) is provided with a plurality of fluid outlets 213 on the side wall. The number of the fluid outlets 213 is the same as the number of the nozzles 22. The nozzles 22 are connected to the fluid channel 211 through the fluid outlets 213, i.e., the fluid outlets 213 are connected to the fluid channel 211. The nozzles 22 and the fluid outlets 213 are matched, and the two correspond one to one. The high-pressure fluid in the fluid channel 211 is introduced into the nozzles 22 through the fluid outlets 213. In this embodiment, the number of the nozzles 22 is three, and the three fluid outlets 213 are evenly arranged on the side wall of the end of the rotating shaft 21.

[0096] To ensure smooth flow of high-pressure fluid, the fluid channel 211 is in the shape of a linear channel (preferably cylindrical), the opening directions of the fluid inlet 212 and the fluid outlet 213 are perpendicular to the center line of the fluid channel, and the fluid channel 211 coincides with the center line of the rotating shaft 21.

[0097] In order to facilitate the assembly, later maintenance and modular setting of the cleaning component 2, the rotating shaft 21 includes a first rotating part 21a and a second rotating part 21b that are detachably connected. The first rotating part 21a and the second rotating part 21b are provided with a channel for fluid to pass through, that is, the first rotating part 21a and the second rotating part 21b jointly limit the fluid channel 211, the fluid inlet 212 is opened on the side wall of the first rotating part 21a, and the fluid outlet 213 is opened on the side wall of the second rotating part 21b. The first rotating part 21a is located above the second rotating part 21b, that is, the lower end of the first rotating part 21a is detachably connected to the upper end of the second rotating part 21b, and the center lines of the two coincide, so as to ensure that the first rotating part 21a and the second rotating part 21b rotate synchronously.

[0098] The first rotating part 21a is detachably arranged in the first cavity 201, and the first rotating part 21a is rotatably connected to the first cavity 201. One end of the first rotating part 21a is transmission-connected to the driving assembly 3 through the first connecting port 203, and the side wall of the first rotating part 21a is provided with a fluid inlet 212 communicating with the first cavity, and the other end of the first rotating part 21a is extended into the cleaning disk 23 through the second connecting port 204 and is detachably connected to the second rotating part 21b, and the side wall of the first rotating part 21a is dynamically sealed with the first connecting port 203 and the second connecting port 204 respectively, and the driving assembly 3 and the high-pressure fluid jointly drive the first rotating part 21a to rotate.

[0099] The second rotating part 21b is located in the cleaning disk 23, and the top end of the second rotating part 21b is detachably connected to the first rotating part 21a so that the second rotating part 21b can rotate synchronously with the first rotating part 21a. The fluid outlet 213 is opened on the side wall of the second rotating part so as to be connected to the nozzle 22 so that the nozzle 22 can rotate synchronously with the second rotating part 21b.

[0100] The side wall of the first rotating part 21a is rotatably connected to the first connecting port 203 and the second connecting port 204 through a bearing to ensure that the first rotating part 21a rotates relative to the connecting cylinder 24. The bottom of the connecting cylinder 24 is detachably connected to the top wall of the cleaning plate 3 through a flange.

[0101] In order to improve the connection performance between the first rotating part 21a and the second rotating part 21b, the first rotating part 21a is provided with an assembly hole 214 that penetrates the fluid channel 211, and the diameter of the assembly hole 214 is larger than the diameter of the fluid channel 211. The side wall of the first rotating part 21a is provided with a first connection protrusion 215 at a position corresponding to the assembly hole 214. The top end of the second rotating part 21b matches with the assembly hole 214, and the top end of the second rotating part 21b can be inserted into the assembly hole 214. The side wall of the second rotating part 21b is provided with a second connection protrusion 216 that matches with the first connection protrusion 215. After the second rotating part 21b is inserted into the assembly hole 214, the first connection protrusion 215 and the second connection protrusion 216 are fitted together, and a detachable connection is performed.

[0102] The corresponding positions of the first connecting protrusion 215 and the second connecting protrusion 216 are provided with matching detachable connecting parts. For example, the first connecting protrusion 215 and the second connecting protrusion 216 are respectively provided with threaded holes, and the first connecting protrusion 215 and the second connecting protrusion 216 are detachably fixed by screws or bolts; or, one of the first connecting protrusion 215 and the second connecting protrusion 216 is provided with a clamping hole, and the other is provided with a buckle matching the clamping hole, and the through-hole buckle and the clamping hole detachably fix the first connecting protrusion 215 and the second connecting protrusion 216.

[0103] In practical applications, the first connecting protrusion 215 and the second connecting protrusion 216 can be any components as long as they can be detachably connected to each other, and are not limited to the above two connection methods.

[0104] The structure of the rotating shaft 21 is arranged in this way, so that the connecting cylinder body 24 and the first rotating part 21a are regarded as a module, the second rotating part 21b and the nozzle 22 are regarded as a module, and the upper (outer) and lower (inner) parts of the cleaning disc 23 are divided into two detachable modules, so as to facilitate the assembly, maintenance and parts replacement of the cleaning component 2.

[0105] The nozzle 22 can be detachably connected to the second rotating part 21b to facilitate later maintenance and replacement. The nozzle 22 can also be integrally formed with the second rotating part 21b to improve the connection strength between the two and ensure the cleaning strength of the cleaning component 2.

[0106] In order to ensure that the high-pressure fluid does not leak during the transportation process, the connections between any components where the high-pressure fluid is located are all sealed, for example, the connection between the inlet and the connecting pipe, the connection between the first rotating part and the connecting cylinder body, the connection between the first rotating part and the second rotating part, the connection between the nozzle and the second rotating part, etc. are all sealed, among which the connection between the first rotating part and the connecting cylinder body is a dynamic sealing connection to simultaneously ensure the smoothness of the rotation of the first rotating part.

[0107] In order to facilitate the driving assembly 3 to drive the rotating shaft 21, a slot 217 matching the driving shaft 31 of the driving assembly 3 is provided at the top of the rotating shaft 21, and the slot 217 is non-cylindrical in shape, that is, the cross section of the slot 217 is non-circular, so as to ensure that the driving shaft can drive the rotating shaft 21 to rotate synchronously. In this embodiment, the slot 217 includes a cylindrical slot 217a and a convex slot 217b penetrating the cylindrical slot 217a, that is, the convex slot 217b is provided on the side wall of the cylindrical slot 217a.

[0108] Embodiment 2

[0109] This embodiment provides a cleaning device, such as Figure 1 to Figure 24 As shown, it includes N groups of cleaning components 2 provided in embodiment 1, where N≥1.

[0110] The cleaning device also includes:

[0111] A fluid supply component 1 is communicated with the fluid channel 211 to provide the cleaning component 2 with a high-pressure fluid for cleaning;

[0112] N groups of driving components 3 are provided, each of the driving components 3 corresponds to the cleaning components 2 . The driving components 3 are configured to at least provide a partial driving force for the rotating shaft 21 and to control the rotation speed of the rotating shaft 21 .

[0113] The driving effect of the driving assembly 3 and the high-pressure fluid on the rotating shaft 21 includes two situations: one situation is that the driving force directions of the driving assembly 3 and the high-pressure fluid on the rotating shaft 21 are consistent, and the other situation is that the driving force directions of the driving assembly 3 and the high-pressure fluid on the rotating shaft 21 are opposite. Specifically, the rotation speed that can be achieved by driving the rotating shaft 21 with the high-pressure fluid alone is the fluid driving rotation speed. When the fluid driving rotation speed is greater than the preset rotation speed of the rotating shaft 21, the driving force directions of the driving assembly 3 and the high-pressure fluid on the rotating shaft 21 are opposite, that is, the driving effect generated by the driving assembly 3 should be reverse driving, that is, the driving of the driving assembly 3 and the high-pressure fluid on the rotating shaft 21 are opposite, so as to avoid the damage to the cleaning surface due to excessive high-pressure fluid pressure causing the nozzle speed to be too fast; when the fluid driving rotation speed is less than or equal to the preset rotation speed of the rotating shaft 21, the driving force directions of the driving assembly 3 and the high-pressure fluid on the rotating shaft 21 are consistent, that is, the driving effect generated by the driving assembly 3 should be forward driving, that is, the driving of the driving assembly 3 and the high-pressure fluid on the rotating shaft 21 are in the same direction, so as to ensure the cleaning effect of the cleaning assembly of the cleaning assembly 2.

[0114] The flow supply component 1 includes an inlet pipe 11 and N connecting pipes 12 connected to the inlet pipe 11, one end of the connecting pipe 12 is connected to the inlet pipe 11, and the other end of the connecting pipe 12 is connected to the fluid inlet 202 of the cleaning component 2. The high-pressure fluid is distributed to N cleaning components 2 (that is, the connecting pipes 12 and the cleaning components 2 have a one-to-one correspondence) through the inlet pipe 11 by the N connecting pipes 12. The high-pressure fluid enters the fluid channel 211, and the rotating shaft 21 is driven to rotate under the joint action of the high-pressure fluid and the driving component 3. The rotating shaft 21 drives the nozzle 22 to rotate synchronously, so that the rotation speed of the rotating shaft 21 can be accurately controlled, so that the cleaning effect of the cleaning component 2 can be controlled.

[0115] According to one embodiment of the utility model, the inlet pipe 11 is connected to N connecting pipes 12 through a diverter 13, so as to evenly distribute the high-pressure fluid to the N connecting pipes 12. That is, the flow supply component 1 includes a diverter 13, and the diverter 13 is an N+1-way connector (exemplarily, when N=2, the diverter 13 is a three-way connector), and the diverter 13 includes a main inlet 101 and N branch outlets 102 connected to the main inlet 101. One end of the inlet pipe 11 is connected to a mechanism for supplying high-pressure fluid, and the other end of the inlet pipe 11 is connected to the main inlet 101. One end of the connecting pipe 12 is connected to the branch outlet 102, and the other end of the connecting pipe 12 is connected to the fluid channel 211 of the cleaning component 2, so as to introduce the high-pressure fluid into the cleaning component 2.

[0116] It should be noted that, under ideal conditions, the high-pressure fluid entering from the main inlet of the diverter 13 is equally divided into N parts, and then respectively introduced into the cleaning component 2 through the connecting pipe 12 from the N branch outlets 102. However, in actual applications, due to the manufacturing process, the degree of component wear, connection differences, etc., the pressure difference of the high-pressure fluid in the connecting pipe 12 may be different.

[0117] The N branch outlets 102, the N connecting pipes 12, the N cleaning components 2, and the N driving components 3 are respectively adapted and connected one by one.

[0118] Preferably, the main inlet 101 is located on the top end surface of the diverter 13, and the branch outlet 102 is located on the side wall of the diverter 13. In this embodiment, N=2, that is, the number of the connecting pipe 12, the branch outlet 102, the cleaning component 2, and the driving component 3 is two. In order to make the structure of the flow supply component 1 more compact, the two branch outlets 102 are located on the same side wall, and the connecting pipe 12 transitions from the branch outlet 102 to the cleaning component 2 in a semicircular shape, that is, the shape of the connecting pipe 12 is a semicircular tube. The inlet pipe 11 transitions linearly from the main inlet 101 to the mechanism for supplying high-pressure fluid, that is, the shape of the inlet pipe 11 is a linear tube.

[0119] The diverter 13 is provided with a diverter cavity, and the main inlet 101 and the diverter outlet 102 are connected to the diverter cavity. After the high-pressure fluid enters the diverter cavity from the main inlet 101, it flows into the connecting pipe 12 from the N diverter outlets 102. The diverter cavity allows the high-pressure fluid to be diverted into the N connecting pipes 12 more quickly.

[0120] To facilitate maintenance of the flow supply component 1, the side wall of the diverter 13 is provided with an inspection port connected to the diverter cavity. The inspection port is detachably provided with an inspection cover 14, which is sealed and connected to the inspection port and is adapted to the shape of the inspection port.

[0121] Preferably, the inlet pipe 11 and the connecting pipe 12 are detachably connected to the flow divider 13, so as to facilitate later maintenance and replacement and to modularize the flow supply assembly 1. To prevent leakage of high-pressure fluid, the inlet pipe and the connecting pipe are sealedly connected to the flow divider.

[0122] The driving assembly 3 includes a driving motor 32, a motor compartment 33, a transmission compartment 34 and a driving shaft 31. The driving motor 32 is located in the motor compartment 33, the driving shaft 31 is located in the transmission compartment 34, and the transmission compartment 34 is detachably connected to the motor compartment 33. The output shaft 321 of the driving motor 32 passes through the motor compartment 33 and extends into the transmission compartment 34 to be detachably connected to the driving shaft 31. One end of the driving shaft 31 is transmission-connected to the output shaft 321 so that the driving motor 32 drives the driving shaft 31 to rotate through the output shaft 321. One end of the driving shaft 32 passes through the transmission compartment 34 and is transmission-connected to the rotating shaft 21 so that the rotating shaft 21 rotates synchronously with the driving shaft 32.

[0123] The output shaft 321 is rotationally connected to the motor compartment 33. The motor compartment 33 is provided with a first connecting port for the output shaft 321 to pass through. The side wall of the output shaft 321 is rotationally connected to the first connecting port. Exemplarily, the output shaft 321 is rotationally connected to the motor compartment 33 via a bearing.

[0124] The drive shaft 31 is rotatably connected to the transmission cabin 34. The transmission cabin 34 is provided with a second connecting port and a second connecting port for both ends of the drive shaft 31 to pass through. The side walls of the drive shaft 31 are rotatably connected to the first connecting port and the second connecting port respectively. Exemplarily, the drive shaft 31 is rotatably connected to the transmission cabin 34 via a plurality of bearings.

[0125] The motor compartment 33 is located above the transmission compartment 34, that is, the bottom end of the motor compartment 33 is detachably connected to the top end of the transmission compartment 34, and the two are detachably connected by a flange. The center lines of the output shaft 321, the first connecting port, the drive shaft 31, the second connecting port, and the third connecting port coincide.

[0126] One end of the drive shaft 31 is provided with a slot portion 311 matched with the output shaft 321, and the other end of the drive shaft 31 is provided with a plug-in portion 312 matched with the slot 217. The plug-in portion 312 includes a cylindrical portion 312a and a raised portion 312b, the raised portion 321b is located on the side wall of the cylindrical portion 312a, and the cylindrical portion 312a is matched with the cylindrical groove 217a, and the raised portion 312b is matched with the raised groove 217b, so that the plug-in portion 312 can be inserted into the slot 217, so that the drive shaft 31 can drive the rotating shaft 21 to rotate synchronously.

[0127] The shape of the slot portion 311 is the same as that of the slot 217 , and the shape of the portion of the output shaft 312 inserted into the slot portion 311 is the same as that of the plug-in portion 312 , which will not be described in detail herein.

[0128] The motor compartment 33 and the transmission compartment 34 are watertight compartments, that is, the output shaft and the motor compartment are connected by a dynamic seal, and the drive shaft and the transmission compartment are connected by a dynamic seal.

[0129] Exemplarily, the present invention uses an H-type oil seal or a Gly ring as a dynamic seal to ensure that the motor is effectively protected when working underwater and that high-pressure fluid does not leak out.

[0130] To ensure the airtightness of the motor cabin 33, an inflation valve is provided on the top of the motor cabin 33. The inflation valve is configured to at least be able to fill the motor cabin 33 with gas of a preset pressure. When the motor cabin is poorly sealed, the high-pressure gas in the cabin can reduce the entry of external seawater into the cabin to a certain extent.

[0131] Preferably, a temperature and humidity sensor is also provided in the motor compartment 33, and the temperature and humidity sensor is configured to detect the temperature and humidity in the motor compartment 33, and upload the detected temperature and humidity data to the controller of the cleaning device and / or the host computer of the cleaning device. The controller determines whether the motor compartment is leaking through the detected temperature and humidity data. When it is determined that the motor compartment is leaking, the controller promptly sends an alarm signal to remind the staff to stop the cleaning work of the cleaning device for maintenance.

[0132] Preferably, the drive motor 32 is a servo motor, or the drive motor 32 is provided with an encoder for speed feedback, which can feed back the speed of its output shaft to the controller and / or the host computer. When the feedback speed differs from the preset speed by more than a preset difference, it indicates that foreign matter or other abnormalities may have entered the cleaning disc, and the user needs to inspect and repair it in time to avoid normal cleaning operations.

[0133] In order to facilitate the assembly of the cleaning device to an underwater cleaning robot or other mechanism requiring the cleaning device, the cleaning device further comprises a connecting main beam 4, and the connecting main beam 4 is configured to be able to assemble the flow supply assembly 1, N groups of cleaning assemblies 2 and N groups of driving assemblies 3 to an underwater cleaning robot or other mechanism requiring the cleaning device. Specifically, the connecting main beam 4 comprises a central assembly portion 41 and N support assembly portions 42, the support assembly portions 42 are evenly arranged on the outside of the central assembly portion 41, and the distances between the N support assembly portions 42 and the central assembly portion 41 are the same.

[0134] The flow supply assembly 1 is detachably mounted on the central assembly portion 41. N groups of cleaning assemblies 2 and N groups of driving assemblies 3 are respectively arranged one by one on N support assemblies 42, that is, one group of cleaning assemblies 2 and one group of driving assemblies 3 are respectively installed on both sides of a support assembling portion 42, and the driving shaft 31 passes through the support assembling portion 42 and is transmission-connected with the rotating shaft 21, so the support assembling portion 42 is provided with a window 401 for transmission connection between the driving assembly 3 and the cleaning assembly 2.

[0135] Preferably, the flow diverter 13 of the flow supply component 1 is detachably arranged below the central assembly portion 41. The driving component 3 and the cleaning component 2 are arranged on the upper and lower sides of the support assembly portion 42, that is, the transmission cabin 34 of the driving component 3 is detachably arranged above the support assembly portion 42, and the connecting cylinder body 24 of the cleaning component 2 is detachably arranged below the support assembly portion 42. The plug-in portion 312 of the driving shaft 31 is inserted into the card slot 217 of the rotating shaft 21 through the window 401, so as to realize the driving of the cleaning component 2 by the driving component 3. Exemplarily, the bottom of the transmission cabin 34 and the top of the connecting cylinder body 24 are detachably connected to the support assembly portion 42 through flanges.

[0136] Preferably, the transmission cabin 34 , the connecting cylinder body 24 and the supporting assembly portion 42 are sealedly connected.

[0137] The central assembly part 41 and the N support assembly parts 42 are connected by a main beam frame 43 to make the structure of the cleaning device more stable. Exemplarily, when N=2, the shape of the main beam frame 43 is a linear frame, the two support assembly parts 42 are located at the two ends of the main beam frame 43, and the central assembly part 41 is located below the center of the main beam frame 43. When N=3, the outer contour of the main beam frame 43 is an equilateral triangle frame, the inner skeleton includes three reinforcing ribs, the reinforcing ribs connect the center and a corner of the equilateral triangle, that is, the inner skeleton extends from the center to the three corners to form the central assembly part 41 at the center point, and the support assembly parts 42 are located at the three corners. By analogy, the outer contour of the main beam frame 43 is a regular N-sided frame, the inner skeleton includes N reinforcing ribs, the reinforcing ribs connect the center and a corner, the central assembly part 41 is located at the center point, and the support assembly parts 42 are located at the N corners. Preferably, N=∈[2,4].

[0138] In this embodiment, the cleaning device is detachably mounted on an underwater cleaning robot or other mechanism requiring a cleaning device through a support assembly 42. Specifically, the support assembly 42 is detachably connected to the main frame of the underwater cleaning robot or other mechanism requiring a cleaning device. The support assembly 42 extends connecting protrusions 421 on both sides of the window 401, and is detachably connected to the main frame through the connecting protrusions 421. In order to control the distance between the cleaning disc 23 and the surface to be cleaned, at least one pad 44 is provided between the connecting protrusion 421 and the main frame. The pad 44 can be of the same thickness, and the distance between the cleaning disc 23 and the surface to be cleaned is adjusted by adjusting the number of pads 44 between the two; the pad 44 can also be of different thicknesses, and the distance between the cleaning disc 23 and the surface to be cleaned is adjusted by adjusting the number and / or thickness of the pads 44 between the two. In this embodiment, the pad 44 is provided with three thicknesses, namely 2mm, 5mm, and 10mm. Different heights can be obtained by combining different pads, thereby adjusting the cleaning target distance.

[0139] To facilitate the control of the cleaning effects of all cleaning components, the cleaning device also includes a controller, which is electrically connected to the motors of N cleaning components. The controller is configured to at least simultaneously control the rotation speeds of the motors of N cleaning components 2. Such a setting can make the nozzle rotation speeds of all cleaning components 2 the same, thereby ensuring that the adsorption and cleaning effects of all cleaning components 2 are the same.

[0140] The controller can be separately arranged on the connecting main beam 4, or the controller can be integrated into a mechanism requiring a cleaning device such as an underwater cleaning robot, so as to facilitate user operation.

[0141] Compared with a cleaning device driven solely by high-pressure water, the composite-driven cleaning device of the utility model has at least one of the following beneficial effects:

[0142] (1) If the nozzle is driven to rotate at a higher speed simply by high-pressure water, the nozzle diameter needs to be increased, thereby increasing the power and volume of the pump group. Increasing the nozzle diameter to increase the nozzle rotation speed will not only cause energy waste, but also increase the overall volume and weight of the equipment. The cleaning device of the utility model is small in size and light in weight, and can also save energy. High-pressure water is used as the main driving force to drive the nozzle to rotate, which is used to overcome the mechanical friction and water resistance during the rotation of the nozzle. A drive motor with speed feedback is used as an auxiliary driving force, which can make the nozzle have a higher rotation speed. The higher the nozzle rotation speed during the cleaning operation, the greater the adsorption force of the cavitation cleaning device, and the better the cleaning effect.

[0143] (2) If the spray rod is driven by high-pressure water alone, the water supply pressure and seal wear degree of the two cavitation cleaning components may be different, which will cause the rotation speed of the spray pipes in the cleaning components on both sides to be inconsistent, resulting in different adsorption forces and cleaning effects. In the cleaning device of the present invention, the driving force provided by the driving motor can balance the driving force of the spray pipes on both sides, making their rotation speeds relatively consistent, thereby ensuring consistent adsorption force and cleaning effect.

[0144] (3) The nozzle is driven to rotate by high-pressure water alone, and there is no feedback on the nozzle's underwater status. For example, foreign objects such as oysters are stuck between the nozzle and the cavitation disk on one side, causing the nozzle to be unable to rotate and affecting the cleaning effect. The cleaning device of the utility model can monitor the nozzle rotation speed in real time in combination with the host computer and / or the controller because the driving motor can feedback the rotation speed, and abnormal situations can be handled in a timely manner to avoid affecting the normal cleaning operation.

[0145] Embodiment 3

[0146] This embodiment provides an underwater cleaning robot, including the cleaning component provided in the first embodiment, or including the cleaning device provided in the second embodiment.

[0147] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0148] (1) The utility model can accurately control the rotation speed of the rotating shaft through the driving component, which can avoid the damage to the cleaning surface caused by the excessively high pressure fluid pressure causing the nozzle to rotate too fast, and can also avoid the poor cleaning effect caused by the nozzle rotating too slowly due to the low pressure of the high pressure fluid, thereby ensuring the cleaning effect of the cleaning device;

[0149] (2) The utility model drives the rotation of the rotating shaft by means of high-pressure fluid and a driving component, and reasonably utilizes the driving force generated by the high-pressure fluid on the nozzle, which not only saves energy and reduces emissions, but also is more environmentally friendly, and avoids the excessive size of the driving component, which increases the weight and volume of the cleaning device, and reduces the use range and flexibility of the cleaning device;

[0150] (3) By controlling the speed of the motor in the driving assembly, the nozzle speed is precisely controlled, thereby achieving a good adsorption and cleaning effect; in addition, the controller can ensure that the cleaning effect of all cleaning components is consistent, so that the cleaning device has a uniform cleaning effect;

[0151] (4) The utility model adopts a modular design, which is convenient for each module to be assembled and debugged separately, and is also convenient for repair and maintenance; when the drive component fails, the drive component can be completely disassembled and the cleaning device can be temporarily driven by high-pressure fluid to perform cleaning operations;

[0152] (5) The utility model can accurately control the rotation speed of the nozzle, which can enhance the cleaning effect of the cleaning component and improve the reliability of the cleaning disc adsorbing the hull;

[0153] (6) The cleaning component and the driving component are connected together by connecting the main beam. The driving component and the high-pressure water jointly drive the rotating shaft in the cleaning component to rotate, and the rotation status can be monitored by the controller and / or the host computer, so that the rotation speed can be rotated at a set speed, thereby adjusting the adsorption force between the cleaning component and the surface to be cleaned. At the same time, it can also overcome the disadvantage of inconsistent rotation speed of the rotating joints on both sides caused by the difference in water pressure of the high-pressure water supply and the inconsistent wear degree of the seals on both sides, thereby ensuring the consistent cleaning effect of all cleaning components;

[0154] (7) The utility model has a compact structure and a small size, and the nozzle speed and adsorption force are controllable, which can ensure a better cleaning effect.

[0155] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed in the present invention should be included in the protection scope of the present invention.

Claims

1. A cleaning component, characterized in that: include: Nozzle; A rotating shaft, one end of which is configured to be at least capable of being transmission-connected to a driving assembly, and the other end of which is connected to a nozzle, so that the rotating shaft drives the nozzle to rotate synchronously; the rotating shaft is provided with a fluid channel, and the fluid channel is connected to the nozzle, so that a high-pressure fluid is delivered to the nozzle for cleaning a surface to be cleaned; The rotational power of the rotating shaft is provided by the high-pressure fluid and the driving assembly.

2. The cleaning assembly according to claim 1, characterized in that: The cleaning assembly also includes a cleaning disc and a connecting cylinder; The cleaning disc cover is arranged on the spray pipe; The connecting cylinder is detachably connected to the cleaning plate; The rotating shaft is at least partially located in the connecting cylinder body, and the rotating shaft is rotatably connected to the connecting cylinder body; one end of the rotating shaft is transmission-connected to the driving assembly, and the other end of the rotating shaft extends into the cleaning disk and is connected to the spray pipe.

3. The cleaning assembly according to claim 2, characterized in that: The connecting cylinder body is provided with a first cavity and an inlet connected to the first cavity, wherein the inlet is configured to be able to introduce the high-pressure fluid into the first cavity; The rotating shaft is provided with at least one fluid inlet, and the fluid inlet is communicated with the first cavity and the fluid channel.

4. The cleaning assembly according to claim 3, characterized in that: The position of the flow inlet corresponds to the position where the rotating shaft is provided with a fluid inlet.

5. The cleaning assembly according to claim 3, characterized in that: The first cavity is provided with a first connection port and a second connection port for the two ends of the rotating shaft to pass through, and the side walls of the rotating shaft are respectively dynamically sealedly connected to the first connection port and the second connection port.

6. The cleaning assembly according to claim 5, characterized in that: The cleaning assembly includes a plurality of spray pipes; The rotating shaft is provided with a plurality of fluid outlets, the number of the fluid outlets is the same as the number of the nozzles, and the nozzles correspond to the fluid outlets one by one.

7. The cleaning assembly according to claim 6, characterized in that: The rotating shaft comprises a first rotating part and a second rotating part which are detachably connected, the first rotating part and the second rotating part jointly define the fluid channel, the fluid inlet is provided on the side wall of the first rotating part, and the fluid outlet is provided on the side wall of the second rotating part; The first rotating part is detachably disposed in the first cavity, one end of the first rotating part passes through the first connecting port and is transmission-connected to the driving assembly, and the other end of the first rotating part passes through the second connecting port and extends into the cleaning disk and is detachably connected to the second rotating part; The second rotating part is located in the cleaning disk, the top end of the second rotating part is detachably connected to the first rotating part, and the fluid outlet is opened on the side wall of the second rotating part.

8. The cleaning assembly according to claim 7, characterized in that: The first rotating part is provided with an assembly hole which penetrates the fluid channel, and the diameter of the assembly hole is larger than the diameter of the fluid channel; a first connecting protrusion is provided at a position of the side wall of the first rotating part corresponding to the assembly hole; The top end of the second rotating part matches with the assembly hole, and the top end of the second rotating part can be inserted into the assembly hole; the side wall of the second rotating part is provided with a second connecting protrusion matching with the first connecting protrusion; The second rotating portion is inserted into the assembly hole, and the first connecting protrusion is fitted with the second connecting protrusion and is detachably connected.

9. A cleaning device, characterized in that: include: N groups of cleaning components as described in any one of claims 1 to 8, N≥1.

10. The cleaning device according to claim 9, characterized in that: The cleaning device also includes: A fluid supply component, connected to the fluid channel, so as to provide the cleaning component with a high-pressure fluid for cleaning; N groups of driving components are arranged in one-to-one correspondence with the cleaning components, and the driving components are configured to at least provide partial driving force for the rotating shaft and control the rotation speed of the rotating shaft.

11. The cleaning device according to claim 10, characterized in that: The flow supply assembly includes an inlet pipe and N connecting pipes, one end of the connecting pipe is connected to the inlet pipe, and the other end of the connecting pipe is connected to the fluid inlet of the cleaning assembly; The connecting pipes correspond to the cleaning components one by one.

12. The cleaning device according to claim 11, characterized in that: The inlet pipe is connected to N connecting pipes through a flow divider; The flow divider comprises a main inlet and N branch outlets connected to the main inlet; One end of the inlet pipe is connected to a mechanism for supplying high-pressure fluid, and the other end of the inlet pipe is connected to the main inlet; One end of the connecting pipe is connected to the branch outlet, and the other end of the connecting pipe is connected to the fluid inlet of the cleaning assembly; The connecting pipes correspond to the branch outlets one by one.

13. The cleaning device according to claim 10, characterized in that: The driving assembly comprises a driving motor, a motor compartment, a transmission compartment and a driving shaft, wherein the driving motor is located in the motor compartment, the driving shaft is located in the transmission compartment, and the transmission compartment is detachably connected to the motor compartment; The output shaft of the driving motor passes through the motor compartment and extends into the transmission compartment to be detachably connected to the driving shaft; the output shaft is rotatably connected to the motor compartment; One end of the drive shaft is transmission-connected to the output shaft, and the other end of the drive shaft passes through the transmission cabin and is transmission-connected to the rotating shaft; the drive shaft is rotationally connected to the transmission cabin.

14. The cleaning device according to claim 13, characterized in that: The drive motor is a servo motor, or the drive motor is provided with an encoder for speed feedback, so as to be able to feed back the output shaft speed of the drive motor to the controller and / or the host computer of the cleaning device.

15. The cleaning device according to claim 13, characterized in that: The cleaning device further comprises a connecting main beam, wherein the connecting main beam is configured to be able to assemble the flow supply assembly, N groups of cleaning assemblies and N groups of driving assemblies to a mechanism requiring the cleaning device; The connecting main beam includes a central assembly part and N supporting assembly parts, wherein the supporting assembly parts are evenly arranged outside the central assembly part, and the distances between the N supporting assembly parts and the central assembly part are the same; The flow supply assembly can be detachably mounted on the central assembly portion; The N groups of cleaning components and the N groups of driving components are respectively arranged on both sides of the N supporting assemblies in a one-to-one relationship.

16. The cleaning device according to claim 15, characterized in that: The central assembly part and the N supporting assembly parts are connected through a main beam frame.

17. The cleaning device according to claim 16, characterized in that: N=2, the shape of the main beam frame is a linear frame, the two support assembly parts are located at both ends of the main beam frame, and the central assembly part is located below the center of the main beam frame.

18. An underwater cleaning robot, characterized in that: It comprises a cleaning component as described in any one of claims 1 to 8, or comprises a cleaning device as described in any one of claims 9 to 17.

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