CN211391643U - Self-propelled underwater cleaner - Google Patents

Abstract

The utility model disclosed by the utility model belongs to the technical field of research and development of robotic equipment, in particular to a self-propelled underwater cleaner, comprising a self-propelled part, a cleaner part, a submersible or ascending control part and a control unit part, wherein the self-propelled part includes a dual A propeller drive shaft, a differential gear, a second motor and a battery, the cleaner part is composed of a rotating shaft, a balance wing, a cleaning disc and a retractable bracket, and the deep dive or ascent control part includes a first motor, a first The floating box, the second floating box, the balance water pipe, the air pump and the gas pipe, the control unit is partly composed of the LED light tube board, the program chip, the distance sensor, the underwater camera and the wireless signal receiver, which solves the problem of people in the small water area. The problem of cleaning the outer walls of underwater objects, etc., eases the difficulty of underwater deep diving cleaning operations that are mainly manpower, saves manpower, and reduces the labor cost of underwater operations. Self-propelled underwater cleaners can easily deal with underwater dangers and problems. difficulty, etc.

Description

A self-propelled underwater cleaner

technical field

The utility model relates to the technical field of research and development of robotic equipment, in particular to a self-propelled underwater cleaner.

Background technique

In our daily life, intelligent robot technology is used more and more widely. One type of robot mainly undertakes cleaning tasks instead of humans. For example, the floor cleaner that enters thousands of households is one type of this type of intelligent robot. The application of intelligent robots to our daily cleaning is partly to make it take on heavy labor tasks, and partly to solve more difficult cleaning tasks, such as high-altitude cleaners designed for cleaning glass, such as cleaning glass walls in aquariums Or cleaning the inside of a swimming pool, etc.

However, underwater cleaning in deeper waters can only be done by human labor at present, and there are many places involving underwater plot tasks in deeper waters. It is difficult and dangerous to perform cleaning operations by manpower deep diving. Be prepared for the dangers that come from underwater. The underwater environment with low visibility hides dangers, and dangerous creatures can pose a personal threat to divers.

Utility model content

(1) Technical problems solved

The purpose of this section is to outline some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this part and the abstract of the specification and the title of the utility model of this application to avoid obscuring the purpose of this part, the abstract of the specification and the title of the utility model, and such simplification or omission cannot be used to limit the utility model range.

In view of the fact that underwater cleaning in deeper waters is currently only done by human labor, which is more difficult and dangerous, divers need to be prepared from underwater dangers from time to time. The underwater environment with low visibility has hidden dangers. The present utility model is proposed to solve the problem that dangerous creatures will pose a personal threat to divers.

Therefore, the purpose of the present utility model is to provide a self-propelled underwater cleaner, which solves the problems of people cleaning the outer wall of underwater objects in a small water area, alleviates the difficulty of underwater deep diving cleaning operations mainly based on manpower, and saves Manpower, reducing the labor cost of underwater operations, and the self-propelled underwater cleaner can easily deal with problems such as underwater danger and difficulty.

(2) Technical solutions

In order to achieve the above purpose, the present utility model is realized through the following technical solutions: a self-propelled underwater cleaner, comprising a self-propelled part, a cleaner part, a deep dive or a floating control part and a control unit part, and the self-propelled part includes a self-propelled part. A double-propeller drive shaft, a differential, a second motor and a battery, the inner front end of the self-propelled part is provided with a double-propeller drive shaft, and the rear of the double-propeller drive shaft is provided with a differential, the differential There is a second motor at the rear of the device, the top of the second motor is electrically connected with a battery, the cleaner part is installed at the bottom of the device body, and the cleaner part consists of a rotating shaft, a balance wing, a cleaning disc and a retractable The top of the rotating shaft is provided with a telescopic rod, the top of the telescopic rod is connected with a telescopic support through a universal shaft, and the end of the telescopic support is provided with a cleaning disk. There is a small motor inside, the outer end of the small motor is connected with a brush, the front part of the cleaner part is provided with a balance wing, and the deep diving or floating control part includes a first motor, a first floating box, A second floating tank, a balance water pipe, an air pump and an air pipe, a balance water pipe is provided in the middle of the first floating tank and the second floating tank, an air pump is provided at the bottom of the deep diving or floating control part, and the top of the air pump is electrically powered. A first motor is sexually connected, an air pipe is connected to the top of the second floating box, and the control unit is partially composed of an LED light tube board, a program chip, a distance sensor, an underwater camera and a wireless signal receiver. The top of the unit part is provided with an LED light tube board, the bottom of the LED light tube board is provided with a program chip and a wireless signal receiver, and the side end of the LED light tube board is provided with a distance sensor and an underwater camera.

As a preferred solution of the present invention, wherein: the telescopic support is formed by nesting hollow cylinders, and the inner wall of the hollow cylinder has a helical structure.

As a preferred solution of the present invention, wherein: the cleaning disc is a suction cup structure, the cleaning disc is a rotatable disc structure, and the cleaning disc is stored inside the cleaner part by a retractable bracket.

As a preferred solution of the present invention, wherein: there are 4 balance wings in total, which are symmetrically distributed on both sides of the device, and the balance wings are composed of wing plates and springs.

As a preferred solution of the present utility model, wherein: the telescopic rod is composed of 7-section sub-rod nesting, and an integrated transmission line is arranged inside the telescopic rod, which is connected with the universal shaft and the cleaning disc.

(3) Beneficial effects

The utility model provides a self-propelled underwater cleaner. Has the following beneficial effects:

The self-propelled underwater cleaner solves the problems of people cleaning the outer walls of underwater objects in a small water area, eases the difficulty of manpower-based underwater deep diving cleaning operations, saves manpower, and reduces the labor cost of underwater operations , The self-propelled underwater cleaner can easily deal with the problems of the diver's defense against the dangers from underwater, the underwater environment with low visibility, the dangerous creatures that will pose a personal threat to the diver, the integrity of the diving equipment and the oxygen content.

Description of drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and detailed embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort. in:

Fig. 1 is the overall appearance structure schematic diagram of a kind of self-propelled underwater cleaner of the present utility model;

2 is a schematic diagram of a device exploded structure of a self-propelled underwater cleaner of the present invention;

3 is a schematic diagram of the exploded structure of the power part of a self-propelled underwater cleaner of the present invention;

FIG. 4 is a schematic diagram of the exploded structure of the submersible/floating part of a self-propelled underwater cleaner of the present invention.

In the picture: LED light tube board-1, program chip-2, distance sensor-3, first motor-4, battery-5, first floating box-6, second floating box-7, balance water pipe-8, Rotary shaft-9, air pump-10, balance wing-11, wing plate-12, self-propelled part-13, cleaner part-14, double propeller shaft-15, differential-16, second motor-17, air pipe -18, brush-20, small motor-21, cleaning disc-22, universal shaft-23, retractable bracket-25, telescopic rod-26, underwater camera-27, wireless signal receiver-28.

Detailed ways

The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the implementations. example. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

1-4, an embodiment of the present utility model provides a technical solution: a self-propelled underwater cleaner, comprising a self-propelled part 13, a cleaner part 14, a deep diving or surfacing control part and a control unit part;

The self-propelled part 13 includes a double-propeller drive shaft 15, a differential 16, a second motor 17 and a battery 5, and the inner front end of the self-propelled part 13 is provided with a double-propeller drive shaft 15. The double-propeller drive shaft The rear of the 15 is provided with a differential 16. The differential 16 controls the rotational speed of the double-propeller drive shaft 15. When the rotational speed of one of the propellers is lower than the rotational speed of the propeller on the other side, the turning action of the cleaner is realized. A second motor 17 is provided at the rear of the speeder 16, and the top of the second motor 17 is electrically connected with a battery 5, wherein the motor 17 is placed in the device, and the battery 5 is detachable and is placed at the rear of the device. The cleaner part 14 is installed at the bottom of the device body;

The cleaner part 14 is composed of a rotating shaft 9 , a balance wing 11 , a cleaning disc 22 and a telescopic bracket 25 . The top of the rotating shaft 9 is provided with a telescopic rod 26 , and the top of the telescopic rod 26 is connected by a universal shaft 23 . There is a retractable bracket 25, the end of the retractable bracket 25 is provided with a cleaning disk 22, the interior of the cleaning disk 22 is provided with a small motor 21, and the outer end of the small motor 21 is connected with a brush 20, The front part of the cleaner part 14 is provided with a balance wing 11;

The deep diving or buoyancy control part includes a first motor 4, a first floating tank 6, a second floating tank 7, a balance water pipe 8, an air pump 10 and an air pipe 18. The first floating tank 6 and the second floating tank 7 There is a balance water pipe 8 in the middle, and an air pump 10 is provided at the bottom of the deep diving or floating control part, the top of the air pump 10 is electrically connected with the first motor 4, and the top of the second floating tank 7 is connected with an air pipe 18. When the device is floating, the motor 4 provides power, and the air pump 10 injects air into the first floating box 6 and the second floating box 7 through the gas pipe 18, and the air fills all the water in the first floating box 6 and the second floating box 7. Or part of the discharge to realize the floating of the device; when the device is in the process of diving, the air pump 10 discharges air from the air pipe 18 to the first floating box 6 and the second floating box 7, and the first floating box 6 and the second floating box 7 start to enter water, Realize the dive of the device;

The control unit part is composed of an LED light tube board 1, a program chip 2, a distance sensor 3, an underwater camera 27 and a wireless signal receiver 28. The top of the control unit part is provided with an LED light tube board 1, and the The bottom of the LED light tube board 1 is provided with a program chip 2 and a wireless signal receiver 28, and the side end of the LED light tube board 1 is provided with a distance sensor 3 and an underwater camera 27. The LED light tube board 1 is used for underwater use. Lighting, the program chip 2 is used to control the heading state of the device, the action of the telescopic rod 26 and the cleaning action of the cleaning disc 22, and the distance sensor 3 is responsible for distance sensing to prevent the cleaner from colliding with sharp objects underwater, resulting in damage to the cleaner , the wireless signal receiver 28 can be connected with the remote control device to realize remote control, and the camera 27 can help the operator to observe the underwater state in real time.

The telescopic support 25 is composed of nested hollow cylinders, and the inner wall of the hollow cylinder has a helical structure, which can ensure that the two adjacent cylinders are connected. When the cylinder rotates, the telescopic rod 26 is automatically extended or retracted. .

The cleaning disc 22 is a suction cup structure, the cleaning disc 22 is a rotatable disc structure, and the cleaning disc 22 is stored in the interior of the cleaner part 14 through a retractable bracket 25. This implementation does not affect the overall device. Stability when diving and surfacing.

There are four balance wings 11 in total, which are symmetrically distributed on both sides of the device. The balance wing 11 is composed of a wing plate 12 and a spring. During the floating process of the device, the balance wing 11 swings freely, reducing the lateral shaking amplitude of the device and increasing the speed. to stabilization.

The telescopic rod 26 is composed of 7-section sub-rods nesting, which can be stretched and contracted with the rotation of the rotating shaft. An integrated transmission line is arranged inside the telescopic rod 26, which is connected with the universal shaft 23 and the cleaning disc 22 for the purpose of: Both provide electricity.

Combining diving equipment and cleaning equipment to solve the problem of deep underwater cleaning operations, scientifically configure the cleaning unit, diving unit, propulsion unit and control unit, so that the cleaner has a relatively simple appearance, and then reduces the size of the underwater travel. Resistance, reasonable placement and integration of each unit to ensure that the self-propelled underwater cleaner can perform difficult cleaning tasks under the water;

When the cleaner is about to float up, the control unit will shrink the cleaning support to the inside of the cleaner (below); when the cleaner is in a suspended state, the control unit will extend the cleaning support to the outside of the cleaner to start the cleaning operation. It can eliminate the influence of the cleaning bracket on the stability of the cleaner during the movement process, so as to realize the rapid ascending and descending actions of the cleaner;

The cleaning disc 22 is in the shape of a suction cup. In the underwater operation of the cleaner, there is no need to worry about the failure of the cleaning task due to the water flow. Once the cleaning disc 22 contacts the glass, the air in the suction cup is evacuated by squeezing, and the large underwater pressure can make the hair loose. The brush 20 is firmly attached to the glass wall to achieve the ideal cleaning effect. When the cleaning operation is over or the cleaner is about to leave, the holes of the suction cup are automatically opened, water flows into the suction cup, and the pressure inside the suction cup is the same as the underwater pressure. 22 is released from the glass wall.

The utility model LED lamp board 1, program chip 2, distance sensor 3, first motor 4, battery 5, first floating box 6, second floating box 7, balance water pipe 8, rotating shaft 9, air pump 10, balance Wing 11, wing plate 12, self-propelled part 13, cleaner part 14, double propeller drive shaft 15, differential 16, second motor 17, air pipe 18, brush 20, small motor 21, cleaning disc 22, universal The shaft 23, the retractable bracket 25, the telescopic rod 26, the underwater camera 27, and the wireless signal receiver 28 are all common standard parts or parts known to those skilled in the art, and their structures and principles are all accessible to those skilled in the art. Knowing from the technical manual or through the conventional experimental method, the problem solved by the utility model is that the underwater cleaning in deeper waters can only be done by manual labor at present, which has great difficulty and danger, and divers have to be prepared from time to time Due to the dangers under water, the underwater environment with low visibility hides dangers, and dangerous creatures will cause personal threats to divers. The utility model solves the problem of people cleaning water in small water areas through the combination of the above components. The problem of the outer wall of the lower object eases the difficulty of underwater deep diving cleaning operations that are mainly manpower, saves manpower, and reduces the labor cost of underwater operations. , Underwater environment with low visibility, dangerous creatures will pose a personal threat to divers, problems such as the integrity of diving equipment and oxygen content.

The basic principles and main features of the present invention and the advantages of the present invention are shown and described above. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above-mentioned exemplary embodiments, and does not deviate from the present invention. The present invention can be implemented in other specific forms under the condition of the spirit or basic features. Therefore, the embodiments are to be considered in all respects as exemplary and not restrictive, and the scope of the present invention is defined by the appended claims rather than the foregoing description, and it is therefore intended that the All changes within the meaning and range of the required equivalents are embraced within the present invention. Any reference signs in the claims shall not be construed as limiting the involved claim.

In addition, it should be understood that although this specification is described in terms of embodiments, not each embodiment only includes an independent technical solution, and this description in the specification is only for the sake of clarity, and those skilled in the art should take the specification as a whole , the technical solutions in each embodiment can also be appropriately combined to form other implementations that can be understood by those skilled in the art.

Claims (5)

1. A self-propelled underwater cleaner, characterized by: including propelling part (13), cleaner part (14), deep diving or come-up control part and the control unit part by oneself, propelling part (13) by oneself is including two propeller drive shafts (15), differential mechanism (16), second motor (17) and storage battery (5), the inside front end of propelling part (13) by oneself is equipped with two propeller drive shafts (15), the rear portion of two propeller drive shafts (15) is equipped with differential mechanism (16), the rear portion of differential mechanism (16) is equipped with second motor (17), the top electric connection of second motor (17) has storage battery (5), install in the bottom of device body cleaner part (14), cleaner part (14) comprise pivot (9), balance wing (11), cleaning disc (22) and retractable support (25), the top of pivot (9) is equipped with telescopic link (26), the top of the telescopic rod (26) is connected with a telescopic support (25) through a universal shaft (23), the end of the telescopic support (25) is provided with a cleaning disc (22), a small motor (21) is arranged inside the cleaning disc (22), the outer end of the small motor (21) is connected with a brush (20), the front part of the cleaner part (14) is provided with a balance wing (11), the deep submergence or floating control part comprises a first motor (4), a first buoyancy tank (6), a second buoyancy tank (7), a balance water pipe (8), an air pump (10) and an air pipe (18), the balance water pipe (8) is arranged between the first buoyancy tank (6) and the second buoyancy tank (7), the bottom of the deep submergence or floating control part is provided with the air pump (10), the top of the air pump (10) is electrically connected with the first motor (4), the top of the second buoyancy tank (7) is connected with the air pipe (18), the control unit part comprises an LED lamp tube plate (1), a program chip (2), a distance sensor (3), an underwater camera (27) and a wireless signal receiver (28), the LED lamp tube plate (1) is arranged at the top of the control unit part, the program chip (2) and the wireless signal receiver (28) are arranged at the bottom of the LED lamp tube plate (1), and the distance sensor (3) and the underwater camera (27) are arranged at the side end of the LED lamp tube plate (1).

2. A self-propelled underwater cleaner according to claim 1 and further comprising: the telescopic support (25) is formed by nesting hollow cylinders, and the inner walls of the hollow cylinders are provided with spiral thread structures.

3. A self-propelled underwater cleaner according to claim 1 and further comprising: the cleaning disc (22) is of a sucker structure, the cleaning disc (22) is of a rotatable disc structure, and the cleaning disc (22) is accommodated in the cleaner part (14) through a telescopic support (25).

4. A self-propelled underwater cleaner according to claim 1 and further comprising: the number of the balance wings (11) is 4, the balance wings are symmetrically distributed on two sides of the device, and the balance wings (11) are composed of wing plates (12) and springs.

5. A self-propelled underwater cleaner according to claim 1 and further comprising: the telescopic rod (26) is formed by nesting 7 sections of rods, and an integrated transmission line is arranged in the telescopic rod (26) and connected with the universal shaft (23) and the cleaning disc (22).

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