Underwater cleaning robot

Abstract

The utility model belongs to the technical field of cleaning robots, and particularly relates to an underwater cleaning robot which comprises a supporting frame body, the supporting frame body comprises two side plates, a bottom plate fixedly connected to the bottoms of the two side plates and a supporting cross beam assembly fixedly installed between the two side plates, and crawler walking modules are installed on the tops of the two side plates. An electronic bin is installed in the middle of the bottom plate and detachably connected with a supporting cross beam assembly, a plurality of horizontal propellers, a plurality of side thrusters and a plurality of vertical propellers are correspondingly installed on the supporting cross beam assembly, and a plurality of cavitation jet cleaning discs are installed in the middle of the supporting cross beam assembly. A plurality of cameras and a plurality of illuminating lamps are further installed on the supporting cross beam assembly, the underwater automatic cleaning operation can be achieved, the cleaning efficiency is high, the labor cost is reduced, and potential safety hazards of workers can be effectively avoided.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of cleaning robot, concretely relates to underwater cleaning robot. BACKGROUND

[0002] Marine organisms long-term attachment on the surface of the ship will greatly increase the ship resistance, make the ship speed reduction about 10%, oil consumption increases maximum up to 40%, seriously delay the voyage, increase operating costs. China's large number of ship docks is insufficient, repair dock cycle is long, at present, cleaning the surface of the ship is the main means to realize the energy saving and emission reduction of the ship. The annual cleaning cost of global ship industry is close to 10 billion US dollars. The cleaning cost of large cargo ship in dry dock is as high as 300,000 yuan. As a temporary measure, many ship owners send divers to inspect the hull and remove biological fouling, these divers use scraper and scrubber to clean the hull manually, the characteristics of underwater cleaning operation is extremely harsh working environment. In addition, the physical endurance of the diver under water is limited, the operation time and range are also limited, which leads to low work efficiency, and the cleaning quality is difficult to guarantee, and once the antifouling paint is damaged, a large amount of toxic substances will be released, which makes the ship more susceptible to biological pollution. There are also disease and accident risks, time-consuming and laborious and high risk. Fuel consumption is not the only threat caused by biological pollution. Part of the marine organisms can fix themselves on the ship and go to other areas. Although sometimes harmless, it may cause species invasion. However, in the above prior art, the traditional manual cleaning has low cleaning efficiency, high cost and safety risk of divers. SUMMARY

[0003] In view of the above problems in the prior art, the underwater cleaning robot is provided to solve the above problems.

[0004] In order to solve the above technical problems, the utility model adopts the following technical scheme:

[0005] The underwater cleaning robot comprises a support frame body, the support frame body comprises two side plates, a bottom plate fixedly connected to the bottom of the two side plates and a support cross beam assembly fixedly installed between the two side plates, a crawler walking module is installed at the top of each of the two side plates, an electronic bin is installed in the middle of the bottom plate, the electronic bin is detachably connected with the support cross beam assembly, a plurality of horizontal thrusters, a plurality of side thrusters and a plurality of vertical thrusters are installed on the support cross beam assembly in correspondence, a plurality of cavitation jet cleaning discs are installed in the middle of the support cross beam assembly, a brush is installed on each of the cavitation jet cleaning discs, a plurality of cameras and a plurality of illuminating lamps are also installed on the support cross beam assembly.

[0006] Further, the support crossbeam assembly comprises a first crossbeam, a second crossbeam, a third crossbeam and a fourth crossbeam fixedly installed on the side plates, a camera and an illuminating lamp are installed on the first crossbeam, a horizontal propeller is correspondingly installed at the two ends of the first crossbeam, and a side propeller is installed on the middle of the first crossbeam.

[0007] Further, a vertical propeller is installed on the second crossbeam, a vertical propeller is installed on the third crossbeam, two vertical propeller wake ports are formed in one of the side plates and correspond to the two vertical propellers, and a lifting hook is installed on the side plate and located in the middle of the two vertical propeller wake ports.

[0008] Further, a side propeller is installed on the middle of the fourth crossbeam, and a camera and an illuminating lamp are installed on the first crossbeam.

[0009] Further, side propeller wake ports are formed in the bottom plate and correspond to the two side propellers.

[0010] Further, the two cavitation jet cleaning discs are detachably installed on the second crossbeam and the third crossbeam.

[0011] Further, the two side plates are made of a buoyant material.

[0012] Compared with the prior art, the underwater cleaning robot has the following beneficial effects:

[0013] 1. The underwater cleaning robot can realize automatic cleaning under water, the propeller thrust is attached and adsorbed on the surface of the object to be cleaned, the cleaning efficiency is high, the labor cost is reduced, and the safety hidden danger of manual operation can be effectively avoided.

[0014] 2. The underwater cleaning robot is provided with cavitation jet cleaning discs and brushes, can effectively clean hard contaminants, and prevent soft contaminants from being entangled.

[0015] 3. The underwater cleaning robot has a vertical layout, and complex posture operation is not needed during cleaning, so that the operation is more convenient. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 Fig. 1 is a perspective view of an embodiment of the underwater cleaning robot of the present application;

[0017] Figure 2 Fig. 2 is a bottom view of the underwater cleaning robot of the present application;

[0018] Figure 3 Fig. 3 is a front view of the underwater cleaning robot of the present application;

[0019] Figure 4 Fig. 4 is a rear view of the underwater cleaning robot of the present application;

[0020] The reference signs in the drawings of the specification comprise:

[0021] Side plate 1, bottom plate 2, track walking module 3, electronic bin 4, horizontal pusher 5, side pusher 6, vertical pusher 7, cavitation jet cleaning disc 8, brush 9, first cross beam 10, second cross beam 11, third cross beam 12, fourth cross beam 14, camera 15, illuminating lamp 16, vertical pusher tail flow port 17, lifting hook 18. DETAILED DESCRIPTION

[0022] In order for those skilled in the art to better understand the present application, the technical solutions of the present application will be further described below in combination with the drawings and examples.

[0023] Among them, the drawings are only used for illustrative explanation, and the representation is only a schematic diagram, not a physical diagram, and cannot be understood as a limitation on the patent; in order to better illustrate the embodiments of the present application, some components of the drawings will be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art, it is understandable that some known structures and their descriptions in the drawings can be omitted.

[0024] The same or similar reference numerals in the drawings of the embodiments of the present application correspond to the same or similar components; in the description of the present application, it is understood that if the terms "upper", "lower", "left", "right", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore the positional relationship described in the drawings is only used for illustrative explanation, and cannot be understood as a limitation on the patent, for those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0025] In the description of the present application, unless otherwise explicitly specified and limited, if the term "connection" and the like appear to indicate the connection relationship between components, the term should be broadly understood, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication or interaction relationship between two components. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0026] Embodiment:

[0027] As Figures 1-4As shown, the underwater cleaning robot of the utility model, including support frame body, support frame body includes two side plates 1, fixed connection is established in the bottom plate 2 of two side plates 1 and the support crossbeam assembly of fixed installation is established between two side plates 1, two side plates 1 top are all installed and are equipped with track walking module 3, bottom plate 2 middle part is installed and is equipped with electronic warehouse 4, and electronic warehouse 4 is detachably connected with support crossbeam assembly, and a plurality of horizontal propellers 5, a plurality of side push propellers 6 and a plurality of vertical propellers 7 are installed correspondingly on support crossbeam assembly, a plurality of cavitation jet cleaning discs 8 are installed in the middle part of support crossbeam assembly, and brush 9 is installed on cavitation jet cleaning disc 8, a plurality of cameras 15 and a plurality of lighting lamps 16 are also installed on support crossbeam assembly, and support crossbeam assembly includes first crossbeam 10, second crossbeam 11, third crossbeam 12 and fourth crossbeam 14 of fixed installation on side plate 1, a camera 15 and a lighting lamp 16 are installed on first crossbeam 10, a horizontal propeller 5 is installed on the both ends of first crossbeam 10, a side push propeller 6 is installed in the middle part of first crossbeam 10, a vertical propeller 7 is installed on second crossbeam 11, a vertical propeller 7 is installed on third crossbeam 12, wherein one side plate 1 is provided with two vertical propeller wake ports 17, and the two vertical propeller wake ports 17 are correspondingly arranged with two vertical propellers 7, a lifting hook 18 is installed on side plate 1 and located in the middle part of two vertical propeller wake ports 17, a side push propeller 6 is installed in the middle part of fourth crossbeam 14, a camera 15 and a lighting lamp 16 are installed on first crossbeam 10, two side push propeller wake ports are formed in the both ends of bottom plate 2, and the two side push propeller wake ports are correspondingly arranged with two side push propellers 6, the cavitation jet cleaning disc 8 is two, and can be detachably installed on second crossbeam 11 and third crossbeam 12, and two side plates 1 are made of buoyancy material.

[0028] Specifically, when the underwater cleaning robot is used, the working principle is as follows:

[0029] The robot can realize side pushing, ascending and diving, advancing and retreating in water.

[0030] The robot is hung into the sea, two side push propellers 6 are used to make the robot adhere to the surface of the ship shell, the cavitation jet plunger pump is started, the high-speed rotation of the rotating joint is driven by the back force of water, the negative pressure vacuum cavity is formed in the cleaning disc, and the robot is adsorbed on the ship shell; the robot is moved by the track walking module, and the cleaning of pollutants is realized synchronously. The motor output speed of the two track walking modules 3 is controlled by combining the data of the attitude sensor and the water depth sensor, so that the linear walking of the robot is ensured.

[0031] The cleaning mode is as follows: 1. input a preset walking distance, for example, 200 m, after the moving distance is completed, the vertical pusher 7 is opened in a forward direction, and is moved downward by 0.8 m, and the vertical pusher 7 is closed; the robot is moved in a reverse direction by 200 m, the vertical pusher 7 is opened again, and is moved downward by 0.8 m, and the vertical pusher 7 is closed; the robot is moved in a forward direction by 200 m; the robot is moved in this way repeatedly, and the cleaning work is completed;

[0032] 2. input a preset walking distance, for example, 200 m, after the moving distance is completed, the robot is turned through the track walking module, and is continuously moved in a forward direction by 200 m, and the cleaning is completed in this way. The iron brush can realize cleaning of soft pollutants, and prevents the rotary joint from being wound.

[0033] The opening, closing and force adjustment of the side pusher 6 are realized by detecting the return data of the distance sensor, closed loop control is realized, and the robot is stably adsorbed on the surface of the ship shell.

[0034] The front and rear design cameras 15 transmit video images to the upper computer in real time and store the video images in the local hard disk set path.

[0035] The above is only an embodiment of the present application, and the specific structure and characteristics of the scheme and the like are not described in detail, the ordinary technical personnel in the art knows all the ordinary technical knowledge in the technical field of the present application before the application date or the priority date, can know all the prior art in the field, and has the ability to apply the conventional experimental means before the date, the ordinary technical personnel in the art can improve and implement the scheme under the inspiration of the present application, some typical known structures or known methods should not be an obstacle for the ordinary technical personnel to implement the present application. It should be pointed out that, for the technical personnel in the art, without departing from the structure of the present application, a number of modifications and improvements can be made, which should also be considered as the protection scope of the present application, and these will not affect the effect and practicality of the present application.

Claims

1. An underwater cleaning robot, characterized in that: The system includes a support frame, which comprises two side plates, a bottom plate fixedly connected to the bottom of the side plates, and a support beam assembly fixedly installed between the side plates. Tracked walking modules are installed on the top of each side plate. An electronic compartment is installed in the middle of the bottom plate and is detachably connected to the support beam assembly. Multiple horizontal thrusters, multiple side thrusters, and multiple vertical thrusters are correspondingly installed on the support beam assembly. Multiple cavitation jet cleaning discs are installed in the middle of the support beam assembly, and each cavitation jet cleaning disc is equipped with a brush. Multiple cameras and multiple lights are also installed on the support beam assembly.

2. The underwater cleaning robot as described in claim 1, characterized in that: The supporting crossbeam assembly includes a first crossbeam, a second crossbeam, a third crossbeam, and a fourth crossbeam fixedly installed on the side plates at both ends. A camera and a lighting lamp are installed on the first crossbeam. A horizontal pusher is installed at each end of the first crossbeam, and a side pusher is installed in the middle of the first crossbeam.

3. The underwater cleaning robot as described in claim 2, characterized in that: A vertical thruster is installed on the second crossbeam and a vertical thruster is installed on the third crossbeam. Two vertical thruster tail ports are opened on one of the side plates, corresponding one-to-one with the two vertical thrusters. A hook is installed on the side plate, located in the middle of the tail ports of the two vertical thrusters.

4. The underwater cleaning robot as described in claim 3, characterized in that: A side pusher is installed in the middle of the fourth crossbeam, and a camera and a light are installed on the first crossbeam.

5. The underwater cleaning robot as described in claim 4, characterized in that: The bottom plate has side thruster wake ports at both ends, corresponding to the two side thrusters.

6. The underwater cleaning robot as described in claim 5, characterized in that: There are two cavitation jet cleaning discs, both of which can be detachably installed on the second and third crossbeams.

7. The underwater cleaning robot as described in claim 6, characterized in that: The two side plates are made of buoyancy material.

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