Underwater robot maintenance device

Abstract

This utility model relates to the field of underwater mechanical equipment, specifically an underwater robot maintenance device, including a base and a robot docking frame. The robot docking frame is equipped with a control system and a docking charging mechanism. The robot docking frame is connected to the base via a lifting mechanism. The robot docking frame has at least one docking charging position, which is equipped with a charging limiting mechanism and a cleaning mechanism. The base is equipped with a slide rail obstacle removal mechanism, which includes a slide rail body and a removal component. The slide rail body is located on the side of the base and is fixedly connected to the base. The slide rail body is equipped with a removal component for removing obstacles from its surface. This utility model provides robot docking with limiting and fixing, stable docking, rapid removal of obstacles attached to the slide rail, smooth lifting, and wide applicability.

Description

Technical Field

[0001] This utility model relates to the field of underwater mechanical equipment, specifically to an underwater robot maintenance device. Background Technology

[0002] In recent years, with the continuous rise of intelligent technology, the application of robots has become increasingly widespread. Robots require regular charging. On December 23, 2021, the applicant applied for a utility model patent with publication number CN217195441U, entitled "Underwater Robot Liftable Maintenance Device." This patent discloses an underwater robot liftable maintenance device, including a fixed frame with a control system. The device is characterized by a liftable maintenance mechanism on the fixed frame, comprising a lifting platform, a maintenance compartment, and a cleaning mechanism. The lifting platform is located on one side of the fixed frame and is fixedly connected to it. At least one maintenance compartment is located on the lifting platform. A lifting drive mechanism is provided between the maintenance cabin and the platform, which drives the maintenance cabin to move up and down within the platform. One side of the maintenance cabin has a robot entrance / exit, and the middle of the maintenance cabin has a robot accommodating space. A cleaning mechanism is installed inside the maintenance cabin, comprising a fixed base, a rack, a mounting frame, a moving motor, a robotic arm, a cleaning nozzle, and a water pump. Fixed bases are located on both sides of the top of the maintenance cabin, and robotic arms are positioned opposite each other on the top sides of the maintenance cabin. The upper end of each fixed base is fixedly connected to the maintenance cabin, and the lower end is fixedly equipped with a rack. Mounting frame slides are fixedly installed on both sides of the fixed base, and a mounting frame is mounted on the fixed base. The upper end of the mounting frame is slidably connected to the fixed base, and a moving motor is mounted on the mounting frame. The moving motor and the robotic arm... Driven by a control system, the mobile motor is fixed to a mounting frame, and a gear is fixedly mounted on the output shaft of the mobile motor. The gear meshes with a rack. One end of the robotic arm is fixedly connected to the mounting frame, and the other end of the robotic arm is equipped with a cleaning nozzle, which is hinged to the robotic arm. The cleaning nozzle is connected to a water pump via a water pipe. The water pump is fixed to a maintenance cabin or lifting platform and is driven by the control system. The maintenance cabin is equipped with a docking and charging mechanism, which includes a charging connector, a charging docking seat, a charging head lifting assembly, and a charging head. The top of the maintenance cabin has a charging connector, the upper end of which is fixedly connected to the maintenance cabin, and the lower end of which has a charging docking seat. The maintenance cabin is equipped with a charging head lifting assembly. One end of the charging head lifting assembly is connected to a charging connector, and the other end is connected to a charging docking seat. The charging head lifting assembly is driven by a control system. A charging head is fixedly mounted on the lower end of the charging docking seat. The lifting drive mechanism includes a power cable trolley, a pulley assembly, and a slide rail. A hoisting frame is fixedly mounted on the upper end of the maintenance cabin. Pulley assemblies are fixedly mounted on both ends of the maintenance cabin. Slide rails are fixedly mounted on both sides of the lifting platform. The pulley assemblies cooperate with the slide rails, and the maintenance cabin is slidably connected to the lifting platform. A power cable trolley is mounted on the upper end of the lifting platform. The power cable trolley is controlled by the control system and is fixedly mounted on the lifting platform. The cable of the power cable trolley passes downward through the lifting platform and is fixedly connected to the hoisting frame. The shortcomings of the aforementioned patents are as follows: First, during the docking and charging process, the robot may sway due to strong winds and waves at sea, making it difficult for the charging head to dock accurately and quickly. Multiple adjustments to the robot's position may be necessary to achieve docking. Even after successful docking, swaying during charging can cause unstable docking, potentially requiring re-docking and extending the charging time. Second, part of the slide in the aforementioned patent is submerged, making it susceptible to the accumulation of obstacles such as shells and algae, causing resistance and uneven movement during the maintenance cabin's ascent and descent. The lack of a track cleaning device necessitates manual cleaning, making operation inconvenient. Third, the closed upper part of the maintenance cabin limits the size of the underwater robot that can enter. For large vessels, this may prevent access for charging, limiting the applicability of the maintenance cabin. Summary of the Invention

[0003] The purpose of this invention is to address the shortcomings of existing technologies and provide an underwater robot maintenance device with an ingenious structure, limited positioning and fixation for robot docking, stable docking, rapid removal of obstacles attached to the slide rail, smooth lifting and lowering, and wide applicability.

[0004] To achieve the above objectives, the technical solution adopted by this utility model is as follows: An underwater robot maintenance device includes a base and a robot docking frame. The robot docking frame is equipped with a control system and a docking charging mechanism. The robot docking frame is connected to the base via a lifting mechanism. The device is characterized in that: the robot docking frame has at least one docking charging position, and the docking charging position is equipped with a charging limiting mechanism to facilitate fixing the underwater robot through the charging limiting mechanism and prevent it from shaking during charging, which would lead to unstable charging.

[0005] The charging limiting mechanism of this utility model can be composed of a limiting plate, a limiting drive cylinder, a docking plug, and a plug drive cylinder. The docking charging position has at least one charging locking groove. A limiting plate is positioned opposite to the charging locking groove, and the limiting plates cooperate to form a limiting groove. The limiting plate is driven by the limiting drive cylinder, which is fixedly connected to the inner wall of the charging locking groove. A docking plug is provided on the outer wall of the underwater robot, and the docking plug is driven by the plug drive cylinder, which is fixed to the outer wall of the underwater robot. The plug is inserted into the limiting groove and locked, facilitating the docking plug to push open the limiting plates on both sides and extend into the limiting groove through the plug drive cylinder. The docking plug is limited by the limiting plate, fixing the underwater robot to the docking charging position and preventing the underwater robot from shaking during charging. The limiting drive cylinder is used to pull the limiting plate to release the limitation on the docking plug.

[0006] The present invention provides a docking socket between the limiting plates. The opposite sides of the limiting plates are inclined. The distance between the upper ends of the limiting plates is smaller than the distance between the lower ends of the limiting plates. An extension rod is provided at the lower end of the limiting plate. The upper end of the extension rod is fixedly connected to the limiting plate, and the lower end is fixedly connected to the bottom of the charging locking groove. The limiting plates and the extension rod are elastic. The distance between the lower ends of the limiting plates is smaller than the distance between the extension rods. The outer diameter of the upper end of the docking plug is larger than the outer diameter of the telescopic rod of the plug drive cylinder. The outer diameter of the upper end of the docking plug is larger than the outer diameter of the lower end of the docking plug. The docking plug is provided with an insertion hole. The docking plug and the docking socket are inserted into each other. The docking plug is placed between the two extension rods. The lower end of the limiting plate abuts against the upper surface of the docking plug, locking the docking plug to the charging locking groove. This allows the docking plug to be quickly inserted into place through the docking socket. The limiting plates are set in an inclined shape to facilitate the guidance of the docking plug into the groove.

[0007] The limiting drive cylinder of this utility model is fitted with a spring. The telescopic rod of the limiting drive cylinder is fixedly connected to the limiting plate. One end of the spring abuts against the inner wall of the charging locking groove, and the other end abuts against the limiting plate, so as to press the limiting plate with the elastic force of the spring to prevent the docking plug from coming off during charging.

[0008] The charging limiting mechanism described in this utility model can also be composed of clamping cylinders and clamping plates. Clamping cylinders are provided at intervals on both sides of the inner wall of the docking charging position along the direction of underwater robot entry and exit. One end of the clamping cylinder is fixedly connected to the inner wall of the docking charging position, and the other end is fixedly connected to the clamping plate, so as to facilitate the clamping plate to abut against the underwater robot by driving the clamping cylinder, thereby clamping the underwater robot and preventing it from shaking during charging.

[0009] The present invention provides a slide rail obstacle removal mechanism on the base, the slide rail obstacle removal mechanism including a slide rail body and a removal component. The slide rail body is located on the side of the base and is fixedly connected to the base. The slide rail body is provided with a removal component for removing obstacles from the surface of the slide rail body. The removal component includes a scraper. The scraper is provided on the slide rail body and is configured to cooperate with the outer surface of the slide rail body. The scraper is slidably connected to the slide rail body. The robot docking frame is slidably connected to the base via a slider, the slide rail body, and the base. The scraper is fixedly connected to the slider or the robot docking frame, so that during the up and down movement of the robot docking frame, the scraper removes the obstacles adhering to the slide rail body, making the lifting and lowering of the robot docking frame smoother.

[0010] The slide rail body of this utility model is T-shaped, and the scraper is wrapped around the outer wall of the slide rail body to achieve a thorough cleaning of the slide rail body by wrapping the slide rail body with the scraper.

[0011] The docking and charging mechanism of this utility model includes a charging transmitting coil and a charging receiving coil. The charging transmitting coil is arranged at intervals along the direction of entry and exit of the underwater robot in the docking and charging position. The charging transmitting coil is fixedly connected to the inner wall of the docking and charging position and is connected to the control system. The underwater robot is arranged on the docking and charging position. The charging receiving coil is fixedly arranged at the lower end of the underwater robot. The charging receiving coil and the charging transmitting coil are arranged in cooperation so that the underwater robot can be charged by the mutual attraction between the charging transmitting coil and the charging receiving coil after being energized. Wireless charging and convenient and fast docking are achieved.

[0012] The lifting mechanism of this utility model includes a lifting cylinder. The lower end of the robot docking frame is provided with a lifting cylinder. The cylinder seat of the lifting cylinder is hinged to the slide rail body or slide rail frame. The telescopic rod of the lifting cylinder is hinged to the robot docking frame so that the robot docking frame can be driven to slide up and down through the slider, slide rail body and base via the lifting cylinder.

[0013] The present invention provides a cleaning mechanism on the inner wall of the docking charging position to facilitate cleaning of the outer wall of the underwater robot.

[0014] The cleaning mechanism described in this utility model can be composed of a rinsing nozzle, connecting pipes, and a water pump. The upper sides of both sides of the inner wall of the docking charging position are provided with rinsing nozzles at intervals along the direction of the underwater robot's entry and exit. The inner wall of the docking charging position has pipe perforations. One end of the connecting pipe is fixedly connected to the rinsing nozzle, and the other end passes through the docking charging position and is connected to the water pump. The connecting pipe is fixedly connected to the inner wall of the docking charging position. The water pump is fixed on the robot docking frame. The water pump is controlled by the control system to facilitate the spraying of water through the rinsing nozzles to clean the underwater robot.

[0015] The cleaning mechanism described in this utility model can also consist of a cleaning robot, a cleaning slide, a slider seat, a rack, a gear, a drive motor, and a cleaning nozzle. The inner walls of the docking charging position are equipped with cleaning robots on both sides. Cleaning slides are fixedly installed on the upper part of both sides of the inner walls of the docking charging position along the underwater robot's entry and exit direction. A slider seat is installed inside the cleaning slide, and a rack is fixedly installed in the middle of the cleaning slide. The slider seat and the cleaning slide are slidably connected. A drive motor is installed on the slider seat and is fixedly connected to the slider seat. A gear is fixed to the output shaft of the drive motor, and the gear meshes with the rack. One end of the cleaning robot is fixedly connected to the slider seat, and the other end is equipped with a cleaning nozzle. The cleaning nozzle is connected to a water pump via a water pipe. The water pump is fixed to the robot docking frame and is controlled by a control system to facilitate the spraying of water through the cleaning nozzle to clean the underwater robot.

[0016] This utility model, due to the above-mentioned structure, has the advantages of ingenious structure, limited positioning and fixing for robot docking, stable docking, quick removal of obstacles attached to the slide rail, smooth lifting and lowering, and wide applicability. Attached Figure Description

[0017] Figure 1 This is a structural schematic diagram of the underwater robot maintenance device of this utility model from one angle.

[0018] Figure 2 This is a utility model Figure 1 Enlarged schematic diagram of the obstacle removal mechanism on the middle sliding rail.

[0019] Figure 3 This is a structural schematic diagram of the underwater robot maintenance device of this utility model from another angle.

[0020] Figure 4 This is a schematic diagram of a robot docking frame in this utility model.

[0021] Figure 5 This is a utility model Figure 4 Enlarged schematic diagram of the cleaning mechanism.

[0022] Figure 6 This is a utility model Figure 4 The main view.

[0023] Figure 7 This is a utility model Figure 4 Top view.

[0024] Figure 8 This is a utility model Figure 7 AA sectional view.

[0025] Figure 9 This is a utility model Figure 7 BB cross-sectional view.

[0026] Figure 10 This is another structural schematic diagram of the robot docking frame in this utility model.

[0027] Figure 11 This is a utility model Figure 10 A magnified view of a portion of the image.

[0028] Figure 12 This is a utility model Figure 10 The main view.

[0029] Figure 13 This is a utility model Figure 10 Top view.

[0030] Figure 14 This is a utility model Figure 13 CC section view.

[0031] Figure 15 This is a utility model Figure 9 Enlarged schematic diagram of the charging limit mechanism.

[0032] Figure 16 This is a schematic diagram of the present invention installed under the fan during use.

[0033] Reference numerals: 1. Slide rail body; 2. Cleaning component; 3. Shovel; 4. Slider; 5. Base; 6. Robot docking frame; 7. Docking and charging mechanism; 8. Lifting mechanism; 9. Docking and charging position; 10. Charging limit mechanism; 11. Limiting plate; 12. Limiting drive cylinder; 13. Docking plug; 14. Plug drive cylinder; 15. Charging locking groove; 16. Limiting groove; 17. Clamping cylinder; 18. Clamping plate; 19. Charging transmitting coil; 20. Lifting cylinder; 21. Cleaning mechanism; 23. Extension rod; 24. Spring; 25. Rinsing nozzle; 26. Cleaning robot; 27. Cleaning slide; 28. Slider seat; 29. ​​Rack; 30. Gear; 31. Drive motor; 32. Cleaning nozzle. Detailed Implementation

[0034] The specific embodiments of this utility model will be described in further detail below with reference to the accompanying drawings.

[0035] An underwater robot maintenance device includes a base 5 and a robot docking frame 6. The robot docking frame 6 is equipped with a control system and a docking charging mechanism 7. The robot docking frame 6 is connected to the base 5 via a lifting mechanism 8. The device is characterized in that: the robot docking frame 6 has at least one docking charging position 9, and the docking charging position 9 is equipped with a charging limiting mechanism 10 to fix the underwater robot and prevent it from shaking during charging, which would lead to unstable charging.

[0036] The charging limiting mechanism 10 of this utility model can be composed of a limiting plate 11, a limiting drive cylinder 12, a docking plug 13, and a plug drive cylinder 14. The docking charging position 9 has at least one charging locking groove 15, and the limiting plate 11 is disposed opposite to it within the charging locking groove 15. The limiting plates 11 cooperate to form a limiting groove 16. The limiting plate 11 is driven by the limiting drive cylinder 12, which is fixedly connected to the inner wall of the charging locking groove 15. The docking plug 13 is provided on the outer wall of the underwater robot. The docking plug 13 is a plug-in... The head drive cylinder 14 is driven by the plug drive cylinder 14, which is fixed on the outer wall of the underwater robot. The plug is inserted into the limiting groove 16 and locked. The limiting drive cylinder 12 and the plug drive cylinder 14 are respectively connected to the control system so that the plug drive cylinder 14 can drive the docking plug 13 to push open the limiting plates 11 on both sides and extend into the limiting groove 16. The docking plug 13 is limited by the limiting plates 11, which fixes the underwater robot to the docking charging position 9 and prevents the underwater robot from shaking during charging. The limiting drive cylinder is used to pull the limiting plates 11 to release the limitation on the docking plug 13.

[0037] The present invention provides a mating socket between the limiting plates 11. The opposing sides of the limiting plates 11 are inclined. The distance between the upper ends of the limiting plates 11 is smaller than the distance between the lower ends of the limiting plates 11. An extension rod 23 is provided at the lower end of each limiting plate 11. The upper end of the extension rod 23 is fixedly connected to the limiting plate 11, and the lower end is fixedly connected to the bottom of the charging locking groove 15. The limiting plates 11 and the extension rod 23 are elastic. The distance between the lower ends of the limiting plates 11 is smaller than the distance between the extension rods 23. The outer diameter of the upper end of the mating plug 13 is larger than that of the plug. The outer diameter of the telescopic rod of the drive cylinder 14 is greater than the outer diameter of the upper end of the docking plug 13. The docking plug 13 is provided with an insertion hole. The docking plug 13 is inserted into the docking socket. The docking plug 13 is placed between the two extension rods 23. The lower end of the limiting plate 11 abuts against the upper end face of the docking plug 13, locking the docking plug 13 to the charging locking groove 15. This allows the docking plug 13 to be quickly inserted into place through the docking socket. The limiting plate 11 is set in an inclined position to facilitate the entry of the docking plug 13.

[0038] The limiting drive cylinder 12 of this utility model is fitted with a spring 24. The telescopic rod of the limiting drive cylinder 12 is fixedly connected to the limiting plate 11. One end of the spring 24 abuts against the inner wall of the charging locking groove 15, and the other end abuts against the limiting plate 11, so as to press the limiting plate 11 with the elastic force of the spring 24 to prevent the docking plug 13 from coming off during charging.

[0039] The charging limiting mechanism 10 of this utility model can also be composed of clamping cylinders 17 and clamping plates 18. Clamping cylinders 17 are provided at intervals on both sides of the inner wall of the docking charging position 9 along the direction of underwater robot entry and exit. One end of the clamping cylinder 17 is fixedly connected to the inner wall of the docking charging position 9, and the other end is fixedly connected to the clamping plate 18. The clamping cylinder 17 is connected to the control system so as to facilitate the clamping plate 18 to abut against the underwater robot through the clamping cylinder 17, thereby clamping the underwater robot and preventing it from shaking during charging.

[0040] The present invention provides a slide rail obstacle removal mechanism on the base 5, which includes a slide rail body 1 and a removal component 2. The slide rail body 1 is located on the side of the base 5 and is fixedly connected to the base 5 via a slide rail frame. The slide rail body 1 is provided with a removal component 2 for removing obstacles from its surface. The removal component 2 includes a scraper 3. The scraper 3 is provided on the slide rail body 1 and is fitted to the outer surface of the slide rail body 1. The scraper 3 is slidably connected to the slide rail body 1. The robot docking frame 6 is slidably connected to the base 5 via a slider 4, the slide rail body 1, and the base 5. The scraper 3 is fixedly connected to the slider 4 or the robot docking frame 6, so that during the up and down movement of the robot docking frame 6, the scraper 3 removes the obstacles adhering to the slide rail body 1, making the lifting and lowering of the robot docking frame 6 smoother.

[0041] The slide rail body 1 of this utility model is T-shaped, and the scraper 3 is wrapped around the outer wall of the slide rail body 1 so as to achieve a thorough cleaning of the slide rail body 1 by wrapping the slide rail body 1 with the scraper 3.

[0042] The docking and charging mechanism 7 of this utility model includes a charging transmitting coil 19 and a charging receiving coil. The charging transmitting coil 19 is arranged at intervals along the direction of entry and exit of the underwater robot in the docking and charging position 9. The charging transmitting coil 19 is fixedly connected to the inner wall of the docking and charging position 9 and is connected to the control system. The underwater robot is arranged on the docking and charging position 9. The charging receiving coil is fixedly arranged at the lower end of the underwater robot. The charging receiving coil and the charging transmitting coil 19 are arranged in cooperation so that the underwater robot can be charged by the mutual attraction between the charging transmitting coil 19 and the charging receiving coil after being energized. Wireless charging and convenient and fast docking are achieved.

[0043] The lifting mechanism 8 of this utility model includes a lifting cylinder 20. The lower end of the robot docking frame 6 is provided with a lifting cylinder 20. The cylinder seat of the lifting cylinder 20 is hinged to the slide rail body 1 or the slide rail frame. The telescopic rod of the lifting cylinder 20 is hinged to the robot docking frame 6. The lifting cylinder 20 is connected to the control system so as to drive the robot docking frame 6 to slide up and down through the slider 4, the slide rail body 1 and the base 5.

[0044] The docking charging position 9 of this utility model is provided with a cleaning mechanism 21 inside the inner wall, so as to facilitate the cleaning of the outer wall of the underwater robot through the cleaning mechanism 21.

[0045] The cleaning mechanism 21 of this utility model can be composed of a rinsing nozzle 25, a connecting pipe, and a water pump. The upper sides of the inner wall of the docking charging position 9 are provided with rinsing nozzles 25 at intervals along the direction of underwater robot entry and exit. The inner wall of the docking charging position 9 is provided with pipe perforations. One end of the connecting pipe is fixedly connected to the rinsing nozzle 25, and the other end passes through the docking charging position 9 and is connected to the water pump. The connecting pipe is fixedly connected to the inner wall of the docking charging position 9. The water pump is fixed on the robot docking frame 6. The water pump is controlled by the control system to facilitate the spraying of water through the rinsing nozzles 25 to clean the underwater robot.

[0046] The cleaning mechanism 21 described in this utility model can also consist of a cleaning robot 26, a cleaning slide 27, a slider seat 28, a rack 29, a gear 30, a drive motor 31, and a cleaning nozzle 32. The inner walls of the docking charging position 9 are equipped with cleaning robots 26 on both sides. Cleaning slides 27 are fixedly installed on the upper part of both sides of the inner wall of the docking charging position 9 along the underwater robot's entry and exit direction. A slider seat 28 is installed inside the cleaning slide 27, and a rack 29 is fixedly installed in the middle of the cleaning slide 27. The slider seat 28 and the cleaning slide 27 are slidably connected. A drive motor 31 is provided on the slider base 28 and is fixedly connected to the slider base 28. A gear 30 is fixed on the output shaft of the drive motor 31 and meshes with a rack 29. One end of the cleaning robot 26 is fixedly connected to the slider base 28, and the other end is provided with a cleaning nozzle 32. The cleaning nozzle 32 is connected to a water pump via a water pipe. The water pump is fixed on the robot docking frame 6. The water pump, the cleaning robot 26, and the drive motor 31 are all controlled by the control system to facilitate the cleaning of the underwater robot by spraying water through the cleaning nozzle 32.

[0047] The docking charging position 9 described in this invention is U-shaped to facilitate unmanned vessels entering the docking charging position.

[0048] The docking charging position 9 of this invention is sleeve-shaped to facilitate the AUV's entry into the docking charging position.

[0049] As attached Figure 1-16 In this invention, the slider can be formed by fixing multiple small sliders onto a slider frame. Each small slider can be detachably connected to the slider frame for easy replacement. The slider can be made of existing wear-resistant materials, and a wear-resistant pad can be fixed inside the slider to improve its service life. In this invention, the robot docking frame 6 can be derived from a wind turbine generator, and the base is a wind turbine base from the prior art. Figure 16An electrical control cabinet is fixed inside the base, storing electrical energy generated by the wind turbine. The control system of the robot docking frame 6 is connected to the electrical control cabinet inside the base via a cable. After exiting the base, the cable is supported by a cable chain and connected to the robot docking frame 6, as shown in the attached diagram. Figure 3 The cable chain is located between the two slide bodies 1. One end of the cable chain is fixedly connected to the base, and the other end is fixed to the robot docking frame 6. The cable chain avoids cable tangling. A communication antenna can be fixedly installed on the upper end of the robot docking frame 6. The communication antenna is connected to the control system on the robot docking frame 6. The control system can be a PLC control system. The communication antenna is connected to the controller of the waterborne control platform where the operator is located through transmitting and receiving signals. The controller of the waterborne control platform can also be a PLC control system, allowing the operator to monitor the docking status of the base and the underwater robot at any time. The robot docking frame 6 includes an upper limit drive cylinder 12, a plug drive cylinder 14, a clamping cylinder 17, a lifting cylinder 20, a cleaning robot arm 26, a drive motor 31, and a water pump, all controlled by a control system on the robot docking frame 6. An electrical box, hydraulic system, camera, and other equipment can be fixedly installed on the robot docking frame 6. The electrical box, hydraulic system, and camera all utilize existing technology. In this utility model, robot docking frames 6 are respectively provided on both sides of the base 5. Lifting cylinders 20 are installed at the lower ends of both sides of the robot docking frame 6. Slider blocks 4 are installed on both sides of the robot docking frame. Shovels 3 are installed at the upper and lower ends of the sliders 4. The shovels can be fixed to the sliders 4 via shovel holders. The slide rail body 1 is T-shaped, as shown in the attached diagram. Figure 11 The scraper has five sides, covering the slide rail body 1. When the robot docking frame 6 rises, the scraper 3 at the upper end of the slider can clear obstacles on the surface of the slide rail body 1. When the robot docking frame 6 descends, the scraper 3 at the lower end of the slider can clear obstacles on the surface of the slide rail body 1. In this utility model, the docking charging position 9 on the robot docking frame 6 has various structures, as shown in the attached figure. Figure 4 Multiple docking charging positions 9 can be set on the robot docking frame 6 simultaneously. The docking charging positions 9 are U-shaped, as shown in the attached figure. Figure 4 and attached Figure 8 and appendix Figure 10 It can be used to dock with unmanned vessels, with... Figure 4 and attached Figure 10 The difference is, attached Figure 4 With only one inlet and the other closed, it is often used to dock smaller vessels. Figure 10 Both ends are open, as shown in the attached document. Figure 3 When installed on the base, it is mounted sideways, allowing the unmanned surface vessel (USV) to enter the docking charging position 9 from either end. Simultaneously, the USV can be quite large, with both ends exposed above the docking charging position 9. Therefore, [the following is an example / details]. Figure 10 Its structure can be used to dock large ships. When docking with an unmanned surface vessel (USV) or an autonomous underwater vehicle (AUV), the robot docking frame 6 can transmit signals via an antenna fixed to an antenna on the USV or AUV. This facilitates docking. The USV or AUV moves using its own propellers. During docking, the control system of the robot docking frame 6 retracts the lifting cylinder 20, moving the robot docking frame 6 downwards until the lower end of the inner wall of the docking charging position 9 is below the water surface. This allows the USV or AUV to propel itself into the docking charging position. The USV or AUV can then take photos using its own cameras and transmit them to its control system to identify the position of the docking charging position 9 on the robot docking frame 6. After the USV or AUV enters the docking charging position 9, sensors, such as proximity switches, can be installed on the inner wall of the docking charging position 9 to detect whether the USV or AUV has entered the correct position. Cameras can also be installed on the inner wall of the docking charging position 9 to take photos and transmit them to the control system of the robot docking frame 6, allowing the robot docking frame 6 to determine whether the USV or AUV has entered the correct position. Once the unmanned vessel has entered its designated position, as shown in the attached document... Figure 7 Appendix Figure 13 The robot docking frame control system activates clamping cylinder 17, which drives clamping plate 18 closer to the outer wall of the unmanned vessel until it contacts the outer wall. The unmanned vessel is then clamped and fixed in place by clamping plates 18 on both sides. The control system energizes charging transmitting coil 19, and the unmanned vessel's control system energizes the charging receiving coil at its lower end, thus charging the unmanned vessel. Once fully charged, the docking charging mechanism is disconnected, clamping cylinder 17 retracts with clamping plate 18, and clamping plate 18 no longer contacts the unmanned vessel. The unmanned vessel then propels itself out of docking charging position 9 using its own propulsion. During charging, if waves are encountered, lifting cylinder 20 can be extended to position docking charging position 9 above the sea surface, preventing damage from waves. Additionally, when the unmanned vessel needs cleaning, lifting cylinder 20 is extended to position it above the sea surface. (See attached diagram.) Figure 4-5 Appendix Figure 10-11 The control system of the robot docking frame 6 starts the drive motor 31 of the cleaning mechanism 21, the cleaning robot arm 26, and the water pump. The cleaning robot arm 26 adopts the existing robot arm technology. The drive motor 31 drives the cleaning robot arm 26 to reciprocate through the meshing of gear 3 and rack 29. The surface of the unmanned boat is cleaned through the cleaning nozzle 32. After cleaning, the lifting cylinder 20 is driven, and the robot docking frame 6 moves the unmanned boat downward. After reaching the sea surface, the unmanned boat drives out of the docking charging position 9 through its own propulsion. Once the AUV is in position, as shown in the attached document. Figure 9 and attached Figure 15The robot docking frame control system starts the plug drive cylinder 14 to drive the docking plug 13 to move downward. The docking plug 13 pushes open the limiting plate 11 and inserts into the limiting groove 16. The limiting plate 11 is reset under the action of the spring 24. The lower ends of the two limiting plates 11 are mounted on the docking plug 13 to prevent the docking plug 13 from sliding during charging. This fixes the AUV on the docking charging position 9. The control system energizes the charging transmitting coil 19. The unmanned vessel control system energizes the charging receiving coil set at its lower end, thereby charging the AUV. When the AUV is fully charged, the docking charging mechanism is disconnected. The limiting drive cylinder 12 retracts and pulls the limiting plate 11 against the spring 24 to move away from the docking plug 13. The plug drive cylinder 14 drives the docking plug 13 to move upward and away from the limiting groove 16. The AUV drives out of the docking charging position 9 by its own thruster. During charging, if waves are encountered, the lifting cylinder 20 can be extended to position the charging docking point 9 above the sea surface, preventing damage to the AUV from waves. The AUV can also be cleaned during charging. When cleaning is needed, the lifting cylinder 20 is extended to position the AUV above the sea surface, as shown in the attached diagram. Figure 6 and attached Figure 9 The docking charging position 9 of the AUV is sleeve-shaped. The inner wall and top of the docking charging position 9 can be equipped with rinsing nozzles 25. The rinsing nozzles 25 are spaced along the AUV's entry and exit direction. The control system of the robot docking frame 6 starts the water pump, which can draw water from the seawater and rinse the AUV through the rinsing nozzles 25. After rinsing, the lifting cylinder 20 is driven, and the robot docking frame 6 moves the AUV downward with it. After reaching the sea surface, the AUV drives out of the docking charging position 9 by its own propulsion.

[0050] Compared to existing technologies, this invention features a slide rail obstacle removal mechanism. A scraper 3 automatically removes obstacles adhering to the slide rail during the robot docking frame 6's ascent and descent, ensuring smooth movement of the docking frame 6 without manual cleaning and reducing slide rail maintenance costs. Furthermore, this invention includes a charging limit mechanism 10, preventing poor contact and unstable docking caused by shaking during the docking and charging process of unmanned surface vessels (USVs) or AUVs with the robot docking frame 6, thus improving underwater robot docking and charging efficiency. In addition, this invention can dock not only with AUVs but also with large or small USVs, offering a wide range of applications. Moreover, this invention can not only charge underwater robots but also clean them simultaneously, improving underwater robot maintenance efficiency.

[0051] This utility model, due to the above-mentioned structure, has the advantages of ingenious structure, limited positioning and fixing for robot docking, stable docking, quick removal of obstacles attached to the slide rail, smooth lifting and lowering, and wide applicability.

Claims

1. An underwater robot maintenance device, comprising a base (5) and a robot docking frame (6), wherein the robot docking frame (6) is provided with a control system and a docking charging mechanism (7), and the robot docking frame (6) is connected to the base (5) via a lifting mechanism (8), characterized in that: The robot docking frame (6) has at least one docking charging position (9), and the docking charging position (9) is provided with a charging limiting mechanism (10).

2. The underwater robot maintenance device according to claim 1, characterized in that: The charging limiting mechanism (10) consists of a limiting plate (11), a limiting drive cylinder (12), a docking plug (13), and a plug drive cylinder (14). The docking charging position (9) has at least one charging locking groove (15). The limiting plate (11) is provided in the charging locking groove (15) and the limiting plate (11) is provided in the opposite direction. The limiting plate (11) is matched with the limiting plate to form a limiting groove (16). The limiting plate (11) is driven by the limiting drive cylinder (12). The limiting drive cylinder (12) is fixedly connected to the inner wall of the charging locking groove (15). The docking plug (13) is provided on the outer wall of the underwater robot. The docking plug (13) is driven by the plug drive cylinder (14). The plug drive cylinder (14) is fixed on the outer wall of the underwater robot. The plug is inserted into the limiting groove (16) and locked.

3. The underwater robot maintenance device according to claim 2, characterized in that: A docking socket is provided between the limiting plates (11). The opposite sides of the limiting plates (11) are inclined. The distance between the upper ends of the limiting plates (11) is smaller than the distance between the lower ends of the limiting plates (11). An extension rod (23) is provided at the lower end of the limiting plates (11). The upper end of the extension rod (23) is fixedly connected to the limiting plate (11), and the lower end is fixedly connected to the bottom of the charging locking groove (15). The limiting plates (11) and the extension rod (23) are elastic. The distance between the lower ends of the limiting plates (11) is smaller than the distance between the extension rod (23). The spacing between them is such that the outer diameter of the upper end of the docking plug (13) is greater than the outer diameter of the telescopic rod of the plug drive cylinder (14), the outer diameter of the upper end of the docking plug (13) is greater than the outer diameter of the lower end of the docking plug (13), the docking plug (13) is provided with an insertion hole, the docking plug (13) is connected to the docking socket, the docking plug (13) is placed between the two extension rods (23), the lower end of the limiting plate (11) abuts against the upper end face of the docking plug (13), and the docking plug (13) is locked and connected to the charging locking groove (15).

4. An underwater robot maintenance device according to claim 2 or 3, characterized in that: A spring (24) is fitted on the limiting drive cylinder (12). The telescopic rod of the limiting drive cylinder (12) is fixedly connected to the limiting plate (11). One end of the spring (24) abuts against the inner wall of the charging locking groove (15), and the other end abuts against the limiting plate (11).

5. The underwater robot maintenance device according to claim 1, characterized in that: The charging limiting mechanism (10) consists of clamping cylinders (17) and clamping plates (18). The inner walls of the docking charging position (9) are provided with clamping cylinders (17) at intervals along the direction of underwater robot entry and exit. One end of the clamping cylinder (17) is fixedly connected to the inner wall of the docking charging position (9), and the other end is fixedly connected to the clamping plate (18).

6. An underwater robot maintenance device according to claim 1, 2, 3, or 5, characterized in that: The base (5) is provided with a slide rail obstacle removal mechanism, which includes a slide rail body (1) and a removal component (2). The slide rail body (1) is provided on the side of the base (5). The slide rail body (1) is fixedly connected to the base (5). The slide rail body (1) is provided with a removal component (2) for removing obstacles from the surface of the slide rail body (1). The robot docking frame (6) is slidably connected to the base (5) via a slider (4) and the slide rail body (1). The removal component (2) is fixedly connected to the slider (4) or the robot docking frame (6).

7. An underwater robot maintenance device according to claim 1, 2, 3, or 5, characterized in that: The docking charging mechanism (7) includes a charging transmitting coil (19) and a charging receiving coil. The charging transmitting coil (19) is spaced apart in the docking charging position (9) along the direction of the underwater robot's entry and exit. The charging transmitting coil (19) is fixedly connected to the inner wall of the docking charging position (9). The charging transmitting coil (19) is connected to the control system. An underwater robot is provided on the docking charging position (9). The charging receiving coil is fixedly provided at the lower end of the underwater robot. The charging receiving coil and the charging transmitting coil (19) are configured in cooperation.

8. An underwater robot maintenance device according to any one of claims 1-3 and 5, characterized in that: The lifting mechanism (8) includes a lifting cylinder (20). The lower end of the robot docking frame (6) is provided with a lifting cylinder (20). The cylinder seat of the lifting cylinder (20) is hinged to the slide rail body (1) or the slide rail frame. The telescopic rod of the lifting cylinder (20) is hinged to the robot docking frame (6).

9. An underwater robot maintenance device according to any one of claims 1-3 and 5, characterized in that: The inner wall of the docking charging position (9) is provided with a cleaning mechanism (21).

10. An underwater robot maintenance device according to any one of claims 1-3 and 5, characterized in that: The docking charging position (9) is U-shaped or sleeve-shaped.

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