Cleaning device of underwater cleaning robot and underwater cleaning robot

Abstract

The utility model relates to the technical field of robots, and discloses a cleaning device of an underwater cleaning robot and the underwater cleaning robot, the cleaning device comprises a cavitation gun, a water inlet of the cavitation gun is used for being connected with a high-pressure water source of the underwater cleaning robot; the nozzle comprises a shell, a first cavity, a second cavity and a third cavity, the first cavity, the second cavity and the third cavity are formed in the shell and communicate with one another, the second cavity is located between the first cavity and the third cavity, the end, away from the second cavity, of the first cavity expands and extends, the end, away from the second cavity, of the third cavity expands and extends, and the first cavity is connected with an outlet of the cavitation gun. The mechanical arm mechanism is used for being connected with the underwater cleaning robot, the mechanical arm mechanism at least comprises two degrees of freedom, the mechanical arm mechanism is connected with the cavitation gun, and the mechanical arm mechanism is used for driving the cavitation gun to turn over by an angle. Meanwhile, narrow parts which are not easy to clean can be better cleaned.

Description

Technical Field

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

[0002] Underwater cleaning work has gone through the stage from the initial operation by divers into the water to the operation by large mechanical devices. With the development of mechatronics, underwater cleaning robots have become the mainstream of underwater work.

[0003] Underwater cleaning robots typically utilize cavitation water jet technology. Research on cavitation water jets primarily focuses on three nozzle configurations: shear, oscillation, and flow-around. By setting up various experimental environments, it's possible to improve the performance of cavitation nozzles not only through conventional observation of erosion effects but also through visualization using techniques like high-speed photography.

[0004] However, the existing cleaning devices for underwater cleaning robots still have the problem of low cleaning efficiency. Utility Model Content

[0005] The purpose of the utility model is to provide a cleaning device of an underwater cleaning robot and an underwater cleaning robot, aiming to solve or improve at least one of the above-mentioned technical problems.

[0006] To achieve the above-mentioned purpose, the present invention provides the following solution: The present invention provides a cleaning device for an underwater cleaning robot, comprising:

[0007] a cavitation gun, the water inlet of which is used to connect to the high-pressure water source of the underwater cleaning robot;

[0008] The nozzle comprises a housing and a first cavity, a second cavity, and a third cavity disposed within the housing and communicating with each other, wherein the second cavity is located between the first cavity and the third cavity, the first cavity expands and extends at one end facing away from the second cavity, the third cavity expands and extends at one end facing away from the second cavity, and the first cavity is connected to an outlet of the cavitation gun;

[0009] A robotic arm mechanism is used to connect to the underwater cleaning robot, the robotic arm mechanism includes at least two degrees of freedom, the robotic arm mechanism is connected to the cavitation gun, and the robotic arm mechanism is used to drive the flip angle of the cavitation gun.

[0010] Optionally, one end of the third cavity away from the second cavity is connected to an outlet of a nozzle.

[0011] Optionally, the expansion angle of the first cavity is 60°.

[0012] Optionally, the expansion angle 2 of the third cavity is 13.5°.

[0013] Optionally, the length of the first cavity is 4 times the diameter of the second cavity.

[0014] Optionally, the length of the second cavity is 3 times the diameter of the second cavity.

[0015] Optionally, the robotic arm mechanism includes a first servo and a second servo, the first servo is connected to the underwater cleaning robot, a first arm is provided on the first servo, the first arm is connected to the second servo, a second arm is provided on the second servo, and the cavitation gun is connected to the second arm.

[0016] The utility model also provides an underwater cleaning robot, comprising:

[0017] The cleaning device of the underwater cleaning robot;

[0018] a frame connected to the robotic arm mechanism;

[0019] a pair of vertical thrusters symmetrically arranged on both sides of the middle portion of the frame;

[0020] Four horizontal thrusters are symmetrically arranged on both sides of the two vertical thrusters in groups of two.

[0021] Optionally, an electromagnet module is provided at the bottom of the rack.

[0022] Optionally, a camera is provided on the rack.

[0023] The utility model discloses the following technical effects: a cavitation gun is driven by a mechanical arm mechanism to perform at least two automatic flips, and a cavitation jet cleaning mode is formed by arranging a first cavity and a third cavity in an expansion structure in the nozzle and connecting them with the second cavity. In combination with the mechanical arm mechanism, the optimal cleaning distance and angle of cavitation cleaning can be ensured, the cleaning effect can be enhanced, and narrow parts that are difficult to clean can be better cleaned. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of this application. The exemplary embodiments and descriptions of this application are intended to explain this application and do not constitute an improper limitation on this application. In the accompanying drawings:

[0025] Figure 1 This is a schematic structural diagram of the cleaning device of the present utility model;

[0026] Figure 2 This is a schematic diagram of the internal structure of the nozzle of the utility model;

[0027] Figure 3 This is a schematic structural diagram of the underwater cleaning robot of the present invention.

[0028] In the figure: 1. Cavitation gun; 2. Water inlet; 3. Nozzle; 31. Shell; 32. First cavity; 33. Second cavity; 34. Third cavity; 35. Outlet; 4. First servo; 5. Second servo; 6. First arm; 7. Second arm; 8. Frame; 9. Vertical thruster; 10. Horizontal thruster; 11. Electromagnet module; 12. Camera; 13. Light; 14. Power supply compartment; 15. Expansion angle one; 16. Expansion angle two; 17. Buoyancy cover. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0030] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0031] Reference Figure 1-Figure 3 The utility model provides a cleaning device for an underwater cleaning robot, comprising:

[0032] The cavitation gun 1 has a water inlet 2 for connecting to the high-pressure water source of the underwater cleaning robot;

[0033] The nozzle 3 includes a housing 31 and a first cavity 32, a second cavity 33, and a third cavity 34 formed in and connected to the housing 31. The second cavity 33 is located between the first cavity 32 and the third cavity 34. The first cavity 32 expands and extends at one end away from the second cavity 33. The third cavity 34 expands and extends at one end away from the second cavity 33. The first cavity 32 is connected to the outlet of the cavitation gun 1.

[0034] The robotic arm mechanism is used to connect with the underwater cleaning robot. The robotic arm mechanism includes at least two degrees of freedom. The robotic arm mechanism is connected to the cavitation gun 1 and is used to drive the cavitation gun 1 to flip at an angle.

[0035] The cavitation gun 1 is driven by a robotic arm mechanism to perform at least two automatic flips, and by providing a first cavity 32 and a third cavity 34 in an expansion structure in the nozzle 3 and connecting them with the second cavity 33, a cavitation jet cleaning method is formed. Combined with the robotic arm mechanism, the optimal cleaning distance and angle of cavitation cleaning can be ensured, the cleaning effect can be enhanced, and narrow areas that are difficult to clean can be better cleaned.

[0036] Furthermore, a nozzle is provided on the side of the cavitation gun 1 away from the nozzle 3 to offset the recoil force.

[0037] In a further optimization, the end of the third cavity 34 away from the second cavity 33 is connected to a nozzle outlet 35. The expansion angle 15 of the first cavity 32 is 60°. The expansion angle 216 of the third cavity 34 is 13.5°. The length of the first cavity 32 is four times the diameter of the second cavity 33. The length of the second cavity 33 is three times the diameter of the second cavity 33.

[0038] With this arrangement, the axial steam volume fraction is highest in the middle of the length of the second cavity 33 , which optimizes the structures of the first cavity 32 , the second cavity 33 and the third cavity 34 in the nozzle 3 , and effectively enhances the cavitation erosion effect of the cavitation jet.

[0039] To further optimize the solution, the robotic arm mechanism includes a first servo 4 and a second servo 5. The first servo 4 is connected to the underwater cleaning robot. A first arm 6 is provided on the first servo 4. The first arm 6 is connected to the second servo 5. A second arm 7 is provided on the second servo 5. The cavitation gun 1 is connected to the second arm 7.

[0040] The first arm 6 is driven by the first steering gear 4 and the second arm 7 is driven by the second steering gear 5 to achieve adjustment of two degrees of freedom of the cavitation gun 1 .

[0041] The first arm 6 and the second arm 7 are made of aluminum alloy. Aluminum alloy is lightweight and corrosion-resistant, making it a good material for robotic arms. The first servo 4 and the second servo 5 are waterproof.

[0042] The utility model also provides an underwater cleaning robot, comprising:

[0043] A cleaning device for an underwater cleaning robot;

[0044] Frame 8, connected to the robotic arm mechanism;

[0045] A pair of vertical thrusters 9 are symmetrically arranged on both sides of the middle of the frame 8, and the vertical thrusters 9 are responsible for the movement in the up and down directions in the water;

[0046] Four horizontal thrusters 10 are symmetrically arranged on both sides of the two vertical thrusters 9 in a group of two. The horizontal thrusters 10 are responsible for horizontal movement in the water.

[0047] To further optimize the solution, an electromagnet module 11 is provided at the bottom of the frame 8 .

[0048] To further optimize the solution, a camera 12 is provided on the frame 8. The camera 12 adopts a customized pan-tilt camera. The operator at the ground station determines the position of the underwater cleaning robot through the image transmitted by the camera 12.

[0049] Furthermore, lighting lamps 13 are provided on both sides of the camera 12. The lighting lamps 13 are LED lamps with high luminous efficiency. The brightness can be adjusted through PWM. The maximum brightness can reach 1500 lumens of luminous flux and the lighting angle is 120°. The housing of the lighting lamp 13 is made of aluminum alloy, the surface is oxidized black, and it uses a screw-free design. It can withstand pressure and waterproof at a depth of 100 meters. It is easy to use, reliable and has a long service life.

[0050] Furthermore, a power supply compartment 14 is also provided on the rack 8 .

[0051] Furthermore, a buoyancy cover 17 is provided on the frame 8 .

[0052] In the description of the present invention, it should be understood that the terms "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they should not be understood as limitations on the present invention.

[0053] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements to the technical solutions of the present invention made by ordinary technicians in this field should fall within the scope of protection determined by the claims of the present invention.

Claims

1. A cleaning device for an underwater cleaning robot, characterized in that: include: A cavitation gun (1), whose water inlet (2) is used to connect to a high-pressure water source of an underwater cleaning robot; The nozzle (3) comprises a shell (31) and a first cavity (32), a second cavity (33) and a third cavity (34) which are opened in the shell (31) and communicate with each other, the second cavity (33) being located between the first cavity (32) and the third cavity (34), the first cavity (32) expanding and extending at one end away from the second cavity (33), the third cavity (34) expanding and extending at one end away from the second cavity (33), and the first cavity (32) being connected to the outlet of the cavitation gun (1); A robotic arm mechanism is used to connect to an underwater cleaning robot, the robotic arm mechanism comprising at least two degrees of freedom, the robotic arm mechanism being connected to the cavitation gun (1), and the robotic arm mechanism being used to drive the cavitation gun (1) to flip at a certain angle.

2. The cleaning device of an underwater cleaning robot according to claim 1, characterized in that: One end of the third cavity (34) away from the second cavity (33) is connected to an outlet (35) of a nozzle.

3. The cleaning device of an underwater cleaning robot according to claim 1, characterized in that: The expansion angle (15) of the first cavity (32) is 60°.

4. The cleaning device of an underwater cleaning robot according to claim 1, characterized in that: The expansion angle 2 (16) of the third cavity (34) is 13.5°.

5. The cleaning device of an underwater cleaning robot according to claim 1, characterized in that: The length of the first cavity (32) is 4 times the diameter of the second cavity (33).

6. The cleaning device of an underwater cleaning robot according to claim 1, characterized in that: The length of the second cavity (33) is three times the diameter of the second cavity (33).

7. The cleaning device of an underwater cleaning robot according to claim 1, characterized in that: The mechanical arm mechanism comprises a first steering gear (4) and a second steering gear (5); the first steering gear (4) is connected to the underwater cleaning robot; a first arm (6) is provided on the first steering gear (4); the first arm (6) is connected to the second steering gear (5); a second arm (7) is provided on the second steering gear (5); and the cavitation gun (1) is connected to the second arm (7).

8. An underwater cleaning robot, characterized in that: include: A cleaning device for an underwater cleaning robot according to any one of claims 1 to 7; a frame (8) connected to the mechanical arm mechanism; A pair of vertical thrusters (9) are symmetrically arranged on both sides of the middle of the frame (8); Four horizontal thrusters (10) are symmetrically arranged on both sides of the two vertical thrusters (9) in a group of two.

9. The underwater cleaning robot according to claim 8, characterized in that: An electromagnet module (11) is provided at the bottom of the frame (8).

10. The underwater cleaning robot according to claim 8, characterized in that: A camera (12) is provided on the frame (8).

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