Robot for cleaning underwater facilities

Abstract

The utility model relates to a robot for cleaning underwater facilities, which comprises a main body frame, an electric control device arranged on the main body frame, a holding and grabbing assembly and a stepping motor, and the holding and grabbing assembly comprises an independent holding and grabbing mechanism, a first holding and grabbing mechanism, a second holding and grabbing mechanism and a third holding and grabbing mechanism. The independent holding and grabbing mechanism, the first holding and grabbing mechanism, the second holding and grabbing mechanism and the third holding and grabbing mechanism are movably installed on the lower end face of the main body rack through installation plates, the third holding and grabbing mechanism is electrically connected with the stepping motor through a supporting rod, and the first holding and grabbing mechanism is connected with the second holding and grabbing mechanism through a first pull rod. The second holding and grabbing mechanism and the third holding and grabbing mechanism are connected through a second pull rod. The robot has high flexibility, adaptability and autonomy, cleaning strategies and actions can be automatically adjusted according to different working environments and task requirements, underwater piles can be cleaned in an all-dimensional and high-precision mode, and operators can remotely and visually operate the robot through a remote controller.

Description

Technical Field

[0001] This utility model relates to the field of underwater cleaning technology, specifically to a robot for cleaning underwater facilities. Background Technology

[0002] With the rapid development of marine resource development, port construction, and water transportation, a large number of underwater infrastructure projects, such as bridge piers, wharf piles, and offshore wind turbine piles, are emerging. These underwater facilities operate in complex marine or freshwater environments, and their surfaces accumulate large amounts of algae, shellfish, and other marine organisms, which not only affect their appearance but also accelerate corrosion, reducing their structural strength and lifespan. Therefore, regular cleaning and maintenance are necessary to ensure their safe and stable operation. Currently, manual cleaning or conventional equipment cleaning is commonly used. However, manual cleaning is risky and inefficient, while conventional mechanical cleaning equipment has significant limitations and cannot effectively remove algae, shellfish, and other marine organisms from bridge piers, wharf piles, and offshore wind turbine piles. Summary of the Invention

[0003] In order to overcome the shortcomings and deficiencies of the existing technology, the purpose of this utility model is to provide a robot for cleaning underwater facilities. The robot has high flexibility, adaptability and autonomy, and can automatically adjust the cleaning strategy and actions according to different working environments and task requirements. At the same time, the robot can also be equipped with various advanced sensors and cleaning tools to achieve all-round and high-precision cleaning of underwater piles. Furthermore, the operator can remotely operate the robot visually through a remote control.

[0004] The objective of this utility model is achieved through the following technical solution: A robot for cleaning underwater facilities includes a main frame, an electronic control device installed within the main frame, and a gripping assembly and a stepper motor installed on the lower end face of the main frame. The gripping assembly includes an independent gripping mechanism, a first gripping mechanism, a second gripping mechanism, and a third gripping mechanism. All three gripping mechanisms are movably mounted on the lower end face of the main frame via a mounting plate. The independent gripping mechanism is located at the front end of the bottom surface of the mounting plate along the robot's forward direction. The first, second, and third gripping mechanisms are sequentially mounted along the robot's forward direction. Located on one side of the independent gripping mechanism, the first, second, and third gripping mechanisms are each provided in two sets. The stepper motor is located between the two second gripping mechanisms or the two third gripping mechanisms. Each third gripping mechanism is connected to the power rotation shaft of the stepper motor via a support rod. The first and second gripping mechanisms are connected by a first pull rod, and the second and third gripping mechanisms are connected by a second pull rod. The electronic control device is fixed on the mounting plate and located inside the main frame. The stepper motor, independent gripping mechanism, first gripping mechanism, second gripping mechanism, and third gripping mechanism are all electrically connected to the electronic control device.

[0005] Furthermore, the main frame is also equipped with several longitudinal thrusters and several horizontal thrusters. The longitudinal thrusters are used to drive the robot to adhere to the surface to be cleaned, and the horizontal thrusters are used to drive the robot to walk along the surface to be cleaned. Furthermore, there are four longitudinal thrusters and four horizontal thrusters. Each longitudinal thruster is evenly distributed on the top of the main frame, and each horizontal thruster is evenly distributed around the perimeter of the main frame. Both the longitudinal thrusters and the horizontal thrusters are equipped with rotating blades.

[0006] Furthermore, at least two stepper motors are provided, with each of the first gripping mechanism, the second gripping mechanism and the third gripping mechanism located on both sides of the stepper motor, and each of the first gripping mechanism, the second gripping mechanism and the third gripping mechanism being symmetrically arranged relative to the axis of the stepper motor.

[0007] Furthermore, the independent gripping mechanism, the first gripping mechanism, the second gripping mechanism, and the third gripping mechanism are all mounted on the bottom surface of the mounting plate via a movable frame. The movable frame includes a fixed frame, a rotating shaft, and a flipping plate. One end of the fixed frame is fixed to the bottom surface of the mounting plate, the rotating shaft is sleeved on the other end of the fixed frame, and the flipping plate is movably hinged to the fixed frame via the rotating shaft. The independent gripping mechanism, the first gripping mechanism, the second gripping mechanism, and the third gripping mechanism are connected to the corresponding flipping plate, and each of the independent gripping mechanism, the first gripping mechanism, the second gripping mechanism, and the third gripping mechanism can rotate relative to the corresponding fixed frame.

[0008] Furthermore, the independent gripping mechanism, the first gripping mechanism, the second gripping mechanism, and the third gripping mechanism are all equipped with cleaning discs.

[0009] Furthermore, the independent gripping mechanism, the first gripping mechanism, the second gripping mechanism, and the third gripping mechanism all include a cavitation jet disk, as well as a high-pressure water spray connector and a cleaning disk disposed within the cavitation jet disk, wherein the high-pressure water spray connector is connected to the cleaning disk.

[0010] Furthermore, the mounting plate is also equipped with a camera and a lighting device at the front end along the robot's forward direction.

[0011] Furthermore, the rotation of the stepper motor can drive the fixed frame relative to the third gripping mechanism to rotate; the rotation of the third gripping mechanism relative to the fixed frame can drive the second gripping mechanism relative to the fixed frame to rotate via the second pull rod; the rotation of the second gripping mechanism relative to the fixed frame can drive the first gripping mechanism relative to the fixed frame to rotate via the first pull rod.

[0012] Furthermore, the main frame is provided with an upper housing at the top, and the upper housing is provided with a lifting ring at the top.

[0013] Furthermore, a gimbal is also provided at the front end of the main frame along the robot's forward direction.

[0014] The beneficial effects of this invention are as follows: When the robot performs underwater cleaning tasks, it first dives and crawls to the surface to be cleaned. It then attaches itself to the surface using a longitudinal thruster, allowing the gripping assembly to first flatten against the underwater infrastructure. Next, the stepper motor drives the support rod, which in turn drives each gripping mechanism, enabling the cleaning discs within each gripping mechanism to closely adhere to the curved surface of the underwater facility. Pressing the attitude hold button and using the horizontal thruster, the robot is driven to walk along the surface to be cleaned. While walking, the robot activates the cavitation jet plate's water flow switch, causing the nozzle inside the cavitation jet plate to rotate and generate negative pressure, which will attract the entire robot to the underwater infrastructure. This allows for better adhesion to different positions on the surface to be cleaned, thereby improving the cleaning efficiency and effect. Attached Figure Description

[0015] Figure 1 This is a three-dimensional view of the robot of this utility model;

[0016] Figure 2 yes Figure 1 Another structural diagram from a different perspective;

[0017] Figure 3 yes Figure 1 A structural diagram from another perspective;

[0018] Figure 4 This is a first exploded perspective view of the present invention;

[0019] Figure 5 This is a second exploded view of the present invention;

[0020] Figure 6 This is a third exploded view of the present invention;

[0021] Figure 7 This is an exploded view of the second gripping mechanism of this utility model.

[0022] The attached figures are labeled as follows: 1-Main frame, 11-Upper shell, 12-Lifting ring, 13-Gimbal, 2-Electrical control device, 31-Independent gripping mechanism, 32-First gripping mechanism, 33-Second gripping mechanism, 331-Cavitation jet disc, 332-High-pressure water jet connector, 34-Third gripping mechanism, 4-Stepper motor, 5-Mounting plate, 61-Support rod, 62-First tie rod, 63-Second tie rod, 71-Longitudinal thruster, 72-Horizontal thruster, 721-Rotating blade, 8-Movable frame, 81-Fixed frame, 82-Rotating shaft, 83-Tilting plate, 91-Cleaning disc, 92-Camera device, 93-Lighting device. Detailed Implementation

[0023] To facilitate understanding by those skilled in the art, the following description is provided in conjunction with embodiments and appendices. Figure 1-7 The present invention will be further described below. The content mentioned in the embodiments is not intended to limit the present invention.

[0024] See Figure 1-7A robot for cleaning underwater facilities includes a main frame 1, an electronic control device 2 installed within the main frame 1, and a gripping assembly and a stepper motor 4 installed on the lower end face of the main frame 1. The gripping assembly includes an independent gripping mechanism 31, a first gripping mechanism 32, a second gripping mechanism 33, and a third gripping mechanism 34. All three mechanisms are movably mounted on the lower end face of the main frame 1 via a mounting plate 5. The independent gripping mechanism 31 is located at the front end of the bottom surface of the mounting plate 5 along the robot's forward direction. The first gripping mechanisms 32, 33, and 34 are sequentially arranged on one side of the independent gripping mechanism 31 along the robot's forward direction. Two sets of each of the first, second, and third gripping mechanisms are provided. The stepper motor 4 is located between the two second gripping mechanisms 33 or the two third gripping mechanisms 34. The third gripping mechanism 34 is connected to the power rotation shaft 82 of the stepper motor 4 via a support rod 61. The first gripping mechanism 32 and the second gripping mechanism 33 are connected via a first pull rod 62, and the second gripping mechanism 33 and the third gripping mechanism 34 are connected via a second pull rod 63. The electronic control device 2 is fixed on the mounting plate 5 and located inside the main frame 1. The stepper motor 4, the independent gripping mechanism 31, the first gripping mechanism 32, the second gripping mechanism 33, and the third gripping mechanism 34 are all electrically connected to the electronic control device 2. The main frame 1 has an upper housing 11 at the top, and a lifting ring 12 is provided at the top of the upper housing 11. A gimbal 13 is also provided at the front end of the main frame 1 along the robot's forward direction. The main frame 1 also has several longitudinal thrusters 71 and several horizontal thrusters 72. The longitudinal thrusters 71 are used to drive the robot to adhere to the surface to be cleaned, and the horizontal thrusters 72 are used to drive the robot to walk along the surface to be cleaned.

[0025] In this embodiment, the independent gripping mechanism 31, the first gripping mechanism 32, the second gripping mechanism 33, and the third gripping mechanism 34 are all equipped with a cleaning disc 91; the independent gripping mechanism 31, the first gripping mechanism 32, the second gripping mechanism 33, and the third gripping mechanism 34 all include a cavitation jet disc 331, as well as a high-pressure water jet connector 332 and a cleaning disc 91 disposed in the cavitation jet disc 331, and the high-pressure water jet connector 332 is connected to the cleaning disc 91.

[0026] The underwater cleaning robot in this embodiment possesses high flexibility, adaptability, and autonomy, capable of automatically adjusting its cleaning strategy and actions according to different operating environments and task requirements. Simultaneously, the robot can be equipped with various advanced sensors and cleaning tools to achieve comprehensive, high-precision cleaning of underwater piles. Furthermore, operators can remotely control the robot visually via a remote controller. The underwater cleaning robot requires a shore-based water pump to supply water to the cavitation jet plate 331; the pump is connected to the robot via a water pipe. When launching the robot from the shore, it can be hoisted into the water by a crane on the mother ship. After the robot enters the water, the operator operates the remote controller to control the longitudinal thruster 71 to descend. Using the image feedback from a camera (not shown) mounted on the gimbal 13, the operator controls the horizontal thruster 72 to perform forward and backward movements, allowing the robot to swim to the underwater infrastructure to be cleaned. After adjusting its position, the operator uses the pitch joystick on the remote controller to move the robot... The operator flips the robot upwards 90° and, in conjunction with the downward-sinking joystick, causes the gripping assembly to first flatten against the underwater infrastructure. Then, the stepper motor 4 drives the support rod 61, indirectly driving the independent gripping mechanisms 31, 32, 33, and 34. This allows the cleaning disc 91 within the gripping assembly to closely contact the curved surface of the underwater facility and eject high-pressure water jets to clean its surface. Pressing the hold button activates the cavitation jet disc 331's water flow switch, causing the nozzle within the cavitation jet disc 331 to rotate and generate negative pressure, which then pulls the entire robot onto the underwater infrastructure. Afterwards, the operator only needs to control the robot to complete the cleaning of the entire facility based on the image fed back by the gimbal 13.

[0027] In this embodiment, at least two stepper motors 4 are provided, and each of the first gripping mechanism 32, the second gripping mechanism 33 and the third gripping mechanism 34 is located on both sides of the stepper motor 4, and each of the first gripping mechanism 32, the second gripping mechanism 33 and the third gripping mechanism 34 is symmetrically arranged with respect to the axis of the stepper motor 4.

[0028] In one specific embodiment, one independent gripping mechanism 31 is provided, and three each of the first gripping mechanism 32, second gripping mechanism 33, and third gripping mechanism 34 are provided. The seven gripping mechanisms are arranged in an isosceles triangular array at the bottom of the device body. The independent gripping mechanism 31 is located in front along the robot's forward direction, while the other two first gripping mechanisms 32, second gripping mechanism 33, and third gripping mechanism 34 are located behind along the robot's forward direction. Here, the seven gripping mechanisms can swing with different amplitudes depending on the contact position to better adhere to the surface to be cleaned. The cleaning discs 91 within the seven gripping mechanisms can cooperate to clean the surface, thereby reducing the possibility of missed areas and further improving cleaning efficiency and effect. In other embodiments, the gripping assembly has six gripping mechanisms, but the number can also be set to one, two, or four, etc., depending on actual needs.

[0029] In this embodiment, four longitudinal thrusters 71 and four horizontal thrusters 72 are provided. Each longitudinal thruster 71 is evenly distributed on the top of the main frame 1, driving the robot to adhere to the surface to be cleaned. Each horizontal thruster 72 is evenly distributed around the circumference of the main frame 1, driving the robot to walk along the surface to be cleaned, enabling full-pose movement. In other embodiments, two, six, or eight longitudinal thrusters 71 and four or six horizontal thrusters 72 may be provided. Both the longitudinal thrusters 71 and the horizontal thrusters 72 are equipped with rotating blades 721.

[0030] In this embodiment, when the robot performs underwater cleaning tasks, it first dives down and crawls to the surface to be cleaned. It then attaches itself to the surface using the longitudinal thruster 71 and is driven to walk along the surface using the horizontal thruster 72. While walking, the robot activates the cavitation jet disk 331 to spray high-pressure water to clean the deposits on the surface, so as to better adhere to the surface and thus improve the cleaning efficiency and cleaning effect.

[0031] In this embodiment, the independent gripping mechanism 31, the first gripping mechanism 32, the second gripping mechanism 33, and the third gripping mechanism 34 are all mounted on the bottom surface of the mounting plate 5 via a movable frame 8. The movable frame 8 includes a fixed frame 81, a rotating shaft 82, and a flipping plate 83. One end of the fixed frame 81 is fixed to the bottom surface of the mounting plate 5, and the rotating shaft 82 is sleeved on the other end of the fixed frame 81. The flipping plate 83 is movably hinged to the fixed frame 81 via the rotating shaft 82. The independent gripping mechanism 31, the first gripping mechanism 32, the second gripping mechanism 33, and the third gripping mechanism 34 are connected to the corresponding flipping plate 83. The independent gripping mechanism 31, the first gripping mechanism 32, the second gripping mechanism 33, and the third gripping mechanism 34 can all rotate relative to the corresponding fixed frame 81.

[0032] In this embodiment, the rotation of the stepper motor 4 can drive the fixed frame 81 relative to the third gripping mechanism 34 to rotate; the rotation of the third gripping mechanism 34 relative to the fixed frame 81 can drive the second gripping mechanism 33 relative to the fixed frame 81 to rotate through the second pull rod 63; the rotation of the second gripping mechanism 33 relative to the fixed frame 81 can drive the first gripping mechanism 32 relative to the fixed frame 81 to rotate through the first pull rod 62.

[0033] In this embodiment, the rotation of the stepper motor 4 can drive the fixed frame 81 relative to the third grabbing mechanism 34 to rotate (that is, adjust the grabbing mechanism to fit the curved surface of the underwater facility according to the curved surface of the underwater facility), so that the cleaning disc 91 in the grabbing assembly can fit well with the curved surface of the underwater facility. Press the hold posture button; similarly, the upright grabbing mechanism, the first grabbing mechanism 32, and the second grabbing mechanism 33 can also be adjusted according to the curved surface of the underwater facility to adapt to underwater infrastructures with different curved surfaces, such as bridge piers, dock piles, offshore wind turbine piles, etc.

[0034] Furthermore, the robot can dive to a greater depth, making it less likely to damage the surface to be cleaned and underwater organisms during cleaning, thus reducing the risk of death for underwater creatures. In addition, the robot has a long working time, which can reduce cleaning costs. Compared with manual cleaning, the robot also has high flexibility and environmental adaptability, enabling it to perform some complex and dangerous underwater tasks, thereby avoiding the risks of manual cleaning.

[0035] In this embodiment, a camera device 92 and a lighting device 93 are also provided on the front end of the mounting plate 5 along the robot's forward direction. Here, the camera device 92 and the lighting device 93 work together to monitor the robot's working environment in real time, thereby facilitating the operator to control the robot's working status and adjust the robot's walking path.

[0036] The above embodiments are preferred implementations of this utility model. In addition, this utility model can also be implemented in other ways. Any obvious substitutions without departing from the concept of this utility model are within the protection scope of this utility model.

Claims

1. A robot for underwater facility cleaning comprising a main body frame, characterized in that: It also includes an electronic control device installed within the main frame, and a gripping assembly and a stepper motor installed on the lower end face of the main frame. The gripping assembly includes an independent gripping mechanism, a first gripping mechanism, a second gripping mechanism, and a third gripping mechanism. These three mechanisms are movably mounted on the lower end face of the main frame via a mounting plate. The independent gripping mechanism is located at the front end of the bottom surface of the mounting plate along the robot's forward direction. The first, second, and third gripping mechanisms are sequentially arranged on one side of the independent gripping mechanism along the robot's forward direction. Two sets of gripping mechanisms, a second gripping mechanism, and a third gripping mechanism are provided. The stepper motor is located between the two second gripping mechanisms or the two third gripping mechanisms. The third gripping mechanisms are all connected to the power rotation shaft of the stepper motor through support rods. The first gripping mechanism and the second gripping mechanism are all connected through a first tie rod, and the second gripping mechanism and the third gripping mechanism are all connected through a second tie rod. The electronic control device is fixed on the mounting plate and located inside the main frame. The stepper motor, the independent gripping mechanism, the first gripping mechanism, the second gripping mechanism, and the third gripping mechanism are all electrically connected to the electronic control device.

2. A robot for cleaning of underwater installations according to claim 1, characterized in that: The main frame is also equipped with several longitudinal thrusters and several horizontal thrusters. The longitudinal thrusters are used to drive the robot to attach to the surface to be cleaned, and the horizontal thrusters are used to drive the robot to walk along the surface to be cleaned.

3. A robot for cleaning underwater installations according to claim 1, characterized in that: At least two stepper motors are provided, with each of the first gripping mechanism, the second gripping mechanism and the third gripping mechanism located on both sides of the stepper motor, and each of the first gripping mechanism, the second gripping mechanism and the third gripping mechanism being symmetrically arranged with respect to the axis of the stepper motor.

4. A robot for cleaning underwater installations according to claim 1, characterized in that: The independent gripping mechanism, the first gripping mechanism, the second gripping mechanism, and the third gripping mechanism are all mounted on the bottom surface of the mounting plate via a movable frame. The movable frame includes a fixed frame, a rotating shaft, and a flipping plate. One end of the fixed frame is fixed to the bottom surface of the mounting plate, the rotating shaft is sleeved on the other end of the fixed frame, and the flipping plate is movably hinged to the fixed frame via the rotating shaft. The independent gripping mechanism, the first gripping mechanism, the second gripping mechanism, and the third gripping mechanism are connected to the corresponding flipping plate, and each of the independent gripping mechanism, the first gripping mechanism, the second gripping mechanism, and the third gripping mechanism can rotate relative to the corresponding fixed frame.

5. A robot for cleaning underwater installations according to claim 1, characterized in that: The independent gripping mechanism, the first gripping mechanism, the second gripping mechanism, and the third gripping mechanism are all equipped with cleaning discs.

6. A robot for cleaning of underwater installations according to claim 5, characterized in that: The independent gripping mechanism, the first gripping mechanism, the second gripping mechanism, and the third gripping mechanism all include a cavitation jet disk, as well as a high-pressure water spray connector and a cleaning disk disposed within the cavitation jet disk, and the high-pressure water spray connector is connected to the cleaning disk.

7. A robot for cleaning underwater installations according to claim 1, characterized in that: The mounting plate is also equipped with a camera and a lighting device at the front end along the robot's forward direction.

8. A robot for cleaning underwater installations according to claim 4, characterized in that: The rotation of the stepper motor can drive the fixed frame relative to the third gripping mechanism to rotate; the rotation of the third gripping mechanism relative to the fixed frame can drive the second gripping mechanism relative to the fixed frame to rotate via the second pull rod; the rotation of the second gripping mechanism relative to the fixed frame can drive the first gripping mechanism relative to the fixed frame to rotate via the first pull rod.

9. A robot for cleaning underwater installations according to claim 1, characterized in that: The main frame is provided with an upper shell at the top, and the upper shell is provided with a lifting ring at the top.

10. A robot for cleaning underwater installations according to claim 1, characterized in that: A gimbal is also provided at the front end of the main frame along the robot's forward direction.

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