CN105080872B - Under-water body cleaning robot - Google Patents

Under-water body cleaning robot Download PDF

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Publication number
CN105080872B
CN105080872B CN201510593564.5A CN201510593564A CN105080872B CN 105080872 B CN105080872 B CN 105080872B CN 201510593564 A CN201510593564 A CN 201510593564A CN 105080872 B CN105080872 B CN 105080872B
Authority
CN
China
Prior art keywords
cleaning
mounting seat
arm
robot
rotating shaft
Prior art date
Application number
CN201510593564.5A
Other languages
Chinese (zh)
Other versions
CN105080872A (en
Inventor
罗天洪
王晴
陈才
Original Assignee
重庆交通大学
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Filing date
Publication date
Application filed by 重庆交通大学 filed Critical 重庆交通大学
Priority to CN201510593564.5A priority Critical patent/CN105080872B/en
Publication of CN105080872A publication Critical patent/CN105080872A/en
Application granted granted Critical
Publication of CN105080872B publication Critical patent/CN105080872B/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B08CLEANING
    • B08BCLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00Cleaning by methods involving the use of tools, brushes, or analogous members
    • B08B1/04Cleaning by methods involving the use of tools, brushes, or analogous members using rotary operative members
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B08CLEANING
    • B08BCLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B13/00Accessories or details of general applicability for machines or apparatus for cleaning

Abstract

The invention discloses a kind of under-water body cleaning robot, including robot carrier and the cleaning device and supporting control system that are installed on robot carrier, the robot carrier is provided with absorption type wheel and water suction loop;The excircle of the absorption type wheel is evenly arranged with multiple suckers and by sucker and the break-make control realization robot carrier in water suction loop in underwater work, the under-water body cleaning robot of the present invention, hull surface can be adsorbed in, and hull outer surface is cleaned;The underwater cleaning work of hull is completed, mitigates the workload of personnel, reduces cost, improve operating efficiency.

Description

Under-water body cleaning robot
Technical field
The present invention relates to automated machine device, more particularly to a kind of under-water body cleaning robot.
Background technology
Manipulator is widely studied as critical equipment more main in important manufacturing equipment, is mainly used in vapour Car, ship, naval vessels, aircraft, satellite, rocket, spaceship, heavy duty machine tools, large-scale production line and equipment group and Ferrous Metallurgy Etc. industry, and Underwater resources exploration work, mostly by the underwater robot or diver that are equipped with manipulator are completed.
Ship after long-term navigation, can form thick layer dirt on the ship outer casing below its water line Layer, these dirty layers are made up of algae, shellfish attachment, need to determine to ensure the normal/cruise of ship and extend its service life Phase cleans to ship, at present, and the cleaning of hull is main by manually diving under water or dock cleaning is realized, because dirty layer is fine and close And area is big, the underwater cleaning work of hull is often complex, therefore cleaning relatively takes time and effort, high cost, efficiency It is low.
The content of the invention
In view of this, it is an object of the invention to provide a kind of under-water body cleaning robot, hull can be completed under water Cleaning, mitigates the workload of personnel, reduces cost, improves operating efficiency.
The under-water body cleaning robot of the present invention, including robot carrier and the cleaning dress for being installed on robot carrier Put and be provided with absorption type wheel and water suction loop with supporting control system, the robot carrier;The absorption type wheel it is cylindrical It is evenly arranged with multiple suckers week and by sucker and the break-make control realization robot carrier in water suction loop in underwater work.
Further, the absorption type wheel is multiple and symmetrical positioned at robot carrier both lateral sides.
Further, the sucker is made up of elastomeric material, and sucker is installed on absorption type along being radially inserted into for absorption type wheel Wheel is interior and protrudes from absorption type wheel excircle surface.
Further, the helical blade for the flow of fluid for being used for promoting it internal is provided with the water suction loop;The machine Motor for driving helical blade to rotate is installed on people's carrier.
Further, the cleaning device includes the first mounting seat, cleaning disk and the first blade;First mounting seat is case Body is simultaneously provided with inlet, and the cleaning disk is located at below the first mounting seat and is horizontally disposed with, and its own axis list is coiled in cleaning The free degree is rotationally connected with the first mounting seat;First blade in the first mounting seat and is entering the first peace by inlet Fill and rotated under the impetus of the fluid in seat, the first blade, which is connected to cleaning disk, to be used to drive cleaning disk to rotate.
Further, the upper end of the cleaning disk provided with first rotating shaft and is rotationally connected with the by first rotating shaft single-degree-of-freedom One mounting seat;The first rotating shaft is stretched into the first mounting seat, and first blade is fixed on the cylindrical of first rotating shaft.
Further, the bottom surface of the cleaning disk is provided with bristle;The first rotating shaft for hollow shaft make the inner chamber of cleaning disk with The inner chamber of first mounting seat is communicated;The bottom wall correspondence bristle gap uniformity for cleaning disk is provided with multiple first jets;First spray Provided with the first check valve for preventing that fluid countercurrent current from entering in cleaning disk in mouth.
Further, the cleaning device is installed on behind the longitudinal direction front side of robot carrier, the longitudinal direction of the robot carrier Side is also equipped with mechanical arm auxiliary cleaner;The mechanical arm auxiliary cleaner includes two mechanical arms and is installed on The clamping device of one mechanical arm and the cleaning head for being installed on another mechanical arm;The cleaning head include the second mounting seat, Clean roller and the second blade;Second mounting seat is casing and is provided with inlet, and the cleaning roller is around its own axis Single-degree-of-freedom is rotationally connected with the second mounting seat;Second blade in the second mounting seat and is entering second by inlet Rotated under the impetus of fluid in mounting seat, the second blade, which is connected to cleaning roller, to be used to drive cleaning roller to rotate.
Further, one end of the cleaning roller provided with the second rotating shaft and rotates connection by the second rotating shaft single-degree-of-freedom In the second mounting seat;Second rotating shaft is stretched into the second mounting seat, and second blade is fixed on the cylindrical of the second rotating shaft;Institute The end face for stating cleaning roller cylindrical and cleaning roller dorsad the second mounting seat is equipped with bristle;Second rotating shaft is sky Heart axle makes the inner chamber of cleaning roller be communicated with the inner chamber of the second mounting seat;The side wall correspondence bristle gap uniformity for cleaning roller is provided with Multiple second nozzles;Provided with the second check valve for preventing that fluid countercurrent current from entering in cleaning roller in the second nozzle;The folder Device is held for hydraulic clamp.
Further, the mechanical arm includes base, the first arm, the second arm, the first driving hydraulic cylinder and the second drive Hydrodynamic cylinder pressure;Floor installation is in robot carrier;The base, the first arm and the second arm are hinged successively;First driving liquid Cylinder pressure, which is connected between base and the first arm, is used to drive the first arm relative to base rotation, the connection of the second driving hydraulic cylinder It is used to drive the second arm to roll over relative to first between the first arm and the second arm;Clamping device and cleaning head point The second arm of corresponding mechanical arm is not installed on;Camera is installed with second arm of two mechanical arms.
The beneficial effects of the invention are as follows:The under-water body cleaning robot of the present invention, can be adsorbed in hull surface, and right Hull outer surface is cleaned;The underwater cleaning work of hull is completed, mitigates the workload of personnel, reduces cost, improve work Efficiency.
Brief description of the drawings
Fig. 1 is structural representation of the invention;
Fig. 2 is Fig. 1 top view;
Fig. 3 is zoomed-in view at Fig. 1 A.
Embodiment
Fig. 1 is structural representation of the invention;Fig. 2 is Fig. 1 top view, and Fig. 3 is zoomed-in view at Fig. 1 A, such as figure institute Show:The under-water body cleaning robot of the present embodiment, including robot carrier 1 and the cleaning dress for being installed on robot carrier 1 Put and be provided with absorption type wheel 3 and water suction loop 4 with supporting control system 2, the robot carrier 1;The absorption type wheel 3 Excircle is evenly arranged with multiple suckers 5 and by sucker 5 and the break-make control realization robot carrier 1 in water suction loop 4 in water Middle operation, as shown in figure 1, the side of robot carrier 1 and the inner face of absorption type wheel 3 fit, absorption type wheel 3 it is interior End face is provided with the discharge orifice for corresponding and connecting with the sucker 5 on the absorption type wheel 3, and the side of the robot carrier 1 is set Have with lowest part discharge orifice it is equal and with the inlet hole that communicates of water suction loop 4, therefore can be remained during vehicle wheel rotation minimum The sucker 5 at place is communicated with water suction loop 4, and absorption type wheel 3 can be driven by single drive mechanism and be rotated, also can be by that will suck The special-shaped pore structure that hole is set to variable area enables relative with one or more discharge orifices and controlled by supporting control system 2 Switched between one and multiple discharge orifices, realize that robot carrier 1 is walked and positioned along hull surface;Also it will can absorb water back Road 4 connects with each sucker 5 and valve is installed on individual channel, by the break-make of the supporting control valve of control system 2, realizes Absorption type wheel 3 is walked and positioned along hull surface.
In the present embodiment, the absorption type wheel 3 is multiple and symmetrical positioned at the both lateral sides of robot carrier 1, is protected Demonstrate,prove stability of the robot carrier 1 in walking and positioning.
In the present embodiment, the sucker 5 is made up of elastomeric material, and sucker 5 is installed on along being radially inserted into for absorption type wheel 3 Absorption type wheel 3 is interior and protrudes from the outer round surface of absorption type wheel 3, as shown in Fig. 2 absorption type wheel 3 is cylindrical provided with confession The mounting groove that sucker 5 is radially inserted into, elastic sucker 5 can absorb certain shock loading, while making suction after the adsorption compression of sucker 5 Attached formula wheel 3 is attached to hull surface.
In the present embodiment, the helical blade 6 for the flow of fluid for being used for promoting it internal is provided with the water suction loop 4;Institute The motor 7 being provided with robot carrier 1 for driving helical blade 6 to rotate is stated, water suction loop 4 includes total water route and is communicated in Branch road between total water route and the sucker 5 of each absorption type wheel 3, helical blade 6 is in total water route, and water suction loop 4 goes out The mouth of a river can be directly communicated to the extraneous cleaning device that is also communicated to and be supplied water for cleaning device.
In the present embodiment, the cleaning device includes the first mounting seat 8, the cleaning blade 9 of disk 10 and first;First peace Fill seat 8 to be casing and be provided with inlet, the cleaning disk 10 is located at the lower section of the first mounting seat 8 and is horizontally disposed with, and cleans disk 10 The first mounting seat 8 is rotationally connected with around its own axis single-degree-of-freedom;First blade 9 in the first mounting seat 8 and Rotated under the impetus for entering the fluid in the first mounting seat 8 by inlet, the first blade 9, which is connected to cleaning disk 10, is used for band Dynamic cleaning disk 10 is rotated, and cleaning device sets two along robot carrier 1 is transversely arranged, and the first mounting seat 8 is fixed on robot Carrier 1, can correspond to cleaning device configuration high pressure water feeder, high pressure water feeder is connected into entering for the first mounting seat 8 The inlet of first mounting seat 8, can also be directly connected in the delivery port in water suction loop 4, can realize the mesh of the present invention by liquid mouthful 's;Rotated using the first blade of fluid driven 9 and cleaning disk 10 that enter in the first mounting seat 8, using cleaning disk 10 to hull Smoother surface is cleaned, suitable for underwater operation, low cost.
In the present embodiment, the upper end of the cleaning disk 10 provided with first rotating shaft and rotates company by first rotating shaft single-degree-of-freedom It is connected to the first mounting seat 8;The first rotating shaft is stretched into the first mounting seat 8, and first blade 9 is fixed on the outer of first rotating shaft Circle;The installation connection between the cleaning mounting seat 8 of disk 10 and first is not only realized, and first rotating shaft also constitutes the first blade 9 installation foundation, simple in construction, easy to manufacture.
In the present embodiment, the bottom surface of the cleaning disk 10 is provided with bristle;The first rotating shaft makes cleaning disk 10 for hollow shaft Inner chamber communicated with the inner chamber of the first mounting seat 8;The bottom wall correspondence bristle gap uniformity for cleaning disk 10 is provided with multiple first jets; Provided with the first check valve for preventing that fluid countercurrent current from entering in cleaning disk 10 in the first jet, the fluid in the first mounting seat 8 It can enter in cleaning disk 10 and be sprayed by first jet, self-cleaning be carried out to the bristle on cleaning disk 10, it is ensured that scavenger The high efficiency of work, it is to avoid the program of disk 10 is replaced and cleaned in cleaning process, cost is relatively low, and economic serviceability is good.
In the present embodiment, the cleaning device is installed on the longitudinal direction front side of robot carrier 1, the robot carrier 1 Longitudinal direction rear side is also equipped with mechanical arm auxiliary cleaner;The mechanical arm auxiliary cleaner include two mechanical arms 11 with And be installed on the clamping device 12 of a mechanical arm 11 and be installed on the cleaning head of another mechanical arm 11;The cleaning head bag Include the second mounting seat 13, the cleaning blade 15 of roller 14 and second;Second mounting seat 13 is casing and is provided with inlet, described Cleaning roller 14 is rotationally connected with the second mounting seat 13 around its own axis single-degree-of-freedom;Second blade 15 is located at the second peace Fill in seat 13 and rotated under the impetus for entering the fluid in the second mounting seat 13 by inlet, the second blade 15 is connected to Cleaning roller 14 is used to drive cleaning roller 14 to rotate;The complex-curved cleaning such as propeller is compared during due to underwater cleaning Difficulty, and during propeller cleaning situations such as can run into rotation, Dual-Arm Coordination cleaning can effectively solve this problem, an arm Clamping, the mode of arm cleaning is realized;Cleaning head configuration high pressure water feeder can be corresponded to, by high pressure water feeder The inlet of the second mounting seat 13 is connected to, the inlet of the second mounting seat 13 can be also directly connected in going out for water suction loop 4 The mouth of a river, can realize the purpose of the present invention.
In the present embodiment, one end of the cleaning roller 14 is turned provided with the second rotating shaft and by the second rotating shaft single-degree-of-freedom It is dynamic to be connected to the second mounting seat 13;Second rotating shaft is stretched into the second mounting seat 13, and second blade 15 is fixed on second Rotating shaft it is cylindrical;The end face of cleaning roller 14 cylindrical and cleaning roller 14 dorsad the second mounting seat 13 is equipped with brush Hair;Second rotating shaft makes the inner chamber of cleaning roller 14 be communicated with the inner chamber of the second mounting seat 13 for hollow shaft;Clean roller 14 Side wall correspondence bristle gap uniformity be provided with multiple second nozzles;Being provided with the second nozzle prevents that fluid countercurrent current from entering cleaning The second check valve in roller 14;The clamping device 12 is hydraulic clamp, not only realizes cleaning roller 14 and second and installs Installation connection between seat 13, and the second rotating shaft also constitutes the installation foundation of the second blade 15, it is simple in construction, easily make Make;Cleaning head can effectively adapt to curved surface cleaning, and strong adaptability can be with self-cleaning, it is ensured that the high efficiency of cleaning, it is to avoid The program of roller 14 is replaced and cleaned in cleaning process, cost is relatively low, economic serviceability is good.
In the present embodiment, the mechanical arm 11 include base, the first arm, the second arm, the first driving hydraulic cylinder and Second driving hydraulic cylinder;Floor installation is in robot carrier 1;The base, the first arm and the second arm are hinged successively;First Driving hydraulic cylinder, which is connected between base and the first arm, is used to drive the first arm relative to base rotation, the second driving hydraulic pressure Cylinder, which is connected between the first arm and the second arm, to be used to drive the second arm to roll over relative to first;The He of clamping device 12 Cleaning head is respectively arranged in the second arm of corresponding mechanical arm 11;It is fixedly mounted on second arm of two mechanical arms 11 There is camera 16, the base of two mechanical arms 11 can be rotationally connected with robot carrier 1 around vertical axes, increase working area;Match somebody with somebody Set control system 2 includes the communication apparatus being connected with camera 16, realizes the control on the bank to robot, and two mechanical arms 11 are assisted Biconditional operation is to realize to complex surface, your cleaning of unstable surface.
Finally illustrate, the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although with reference to compared with The present invention is described in detail good embodiment, it will be understood by those within the art that, can be to skill of the invention Art scheme is modified or equivalent, and without departing from the objective and scope of technical solution of the present invention, it all should cover at this Among the right of invention.

Claims (6)

1. a kind of under-water body cleaning robot, it is characterised in that:Including robot carrier and it is installed on robot carrier Cleaning device and supporting control system, the robot carrier is provided with absorption type wheel and water suction loop;The absorption type wheel Excircle be evenly arranged with multiple suckers and by sucker with water suction loop break-make control realization robot carrier in water Operation;The sucker is made up of elastomeric material, sucker along absorption type wheel be radially inserted into be installed in absorption type wheel and Protrude from absorption type wheel excircle surface;The cylindrical of absorption type wheel is provided with the mounting groove being radially inserted into for sucker;The cleaning Device includes the first mounting seat, cleaning disk and the first blade;First mounting seat is casing and is provided with inlet, the cleaning Disk is located at below the first mounting seat and is horizontally disposed with, and cleaning coils its own axis single-degree-of-freedom and is rotationally connected with the first installation Seat;First blade in the first mounting seat and is being entered under the impetus of the fluid in the first mounting seat by inlet Rotation, the first blade, which is connected to cleaning disk, to be used to drive cleaning disk to rotate;The upper end of the cleaning disk is provided with first rotating shaft and led to Cross first rotating shaft single-degree-of-freedom and be rotationally connected with the first mounting seat;The first rotating shaft is stretched into the first mounting seat, and described first Blade is fixed on the cylindrical of first rotating shaft;The bottom surface of the cleaning disk is provided with bristle;The first rotating shaft makes cleaning for hollow shaft The inner chamber of disk is communicated with the inner chamber of the first mounting seat;The bottom wall correspondence bristle gap uniformity for cleaning disk is provided with multiple first jets; Provided with the first check valve for preventing that fluid countercurrent current from entering in cleaning disk in the first jet.
2. under-water body cleaning robot according to claim 1, it is characterised in that:The absorption type wheel for it is multiple simultaneously It is symmetrical positioned at robot carrier both lateral sides.
3. under-water body cleaning robot according to claim 1, it is characterised in that:Being provided with the water suction loop is used for Promote the helical blade of its internal flow of fluid;Electricity for driving helical blade to rotate is installed on the robot carrier Machine.
4. under-water body cleaning robot according to claim 1, it is characterised in that:The cleaning device is installed on machine The longitudinal direction front side of people's carrier, the longitudinal direction rear side of the robot carrier is also equipped with mechanical arm auxiliary cleaner;The machinery Arm auxiliary cleaner includes two mechanical arms and is installed on the clamping device of a mechanical arm and is installed on another machine The cleaning head of tool arm;The cleaning head includes the second mounting seat, cleaning roller and the second blade;Second mounting seat is case Body is simultaneously provided with inlet, and the cleaning roller is rotationally connected with the second mounting seat around its own axis single-degree-of-freedom;Described second Blade rotates in the second mounting seat and under the impetus for entering the fluid in the second mounting seat by inlet, the second leaf Piece, which is connected to cleaning roller, to be used to drive cleaning roller to rotate.
5. under-water body cleaning robot according to claim 4, it is characterised in that:One end of the cleaning roller is provided with Second rotating shaft is simultaneously rotationally connected with the second mounting seat by the second rotating shaft single-degree-of-freedom;The second installation is stretched into second rotating shaft In seat, second blade is fixed on the cylindrical of the second rotating shaft;Cleaning roller cylindrical and cleaning roller dorsad second The end face of mounting seat is equipped with bristle;Second rotating shaft makes in inner chamber and the second mounting seat of cleaning roller for hollow shaft Chamber is communicated;The side wall correspondence bristle gap uniformity for cleaning roller is provided with multiple second nozzles;Being provided with the second nozzle prevents The second check valve that fluid countercurrent current enters in cleaning roller;The clamping device is hydraulic clamp.
6. under-water body cleaning robot according to claim 4, it is characterised in that:The mechanical arm include base, First arm, the second arm, the first driving hydraulic cylinder and the second driving hydraulic cylinder;Floor installation is in robot carrier;The bottom Seat, the first arm and the second arm are hinged successively;First driving hydraulic cylinder, which is connected between base and the first arm, to be used to drive First arm is relative to base rotation, and the second driving hydraulic cylinder, which is connected between the first arm and the second arm, to be used to drive second Arm is rolled over relative to first;Clamping device and cleaning head are respectively arranged in the second arm of corresponding mechanical arm;Two Camera is installed with second arm of mechanical arm.
CN201510593564.5A 2015-09-17 2015-09-17 Under-water body cleaning robot CN105080872B (en)

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Application Number Priority Date Filing Date Title
CN201510593564.5A CN105080872B (en) 2015-09-17 2015-09-17 Under-water body cleaning robot

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Application Number Priority Date Filing Date Title
CN201510593564.5A CN105080872B (en) 2015-09-17 2015-09-17 Under-water body cleaning robot

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CN105080872A CN105080872A (en) 2015-11-25
CN105080872B true CN105080872B (en) 2017-07-11

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Families Citing this family (4)

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Publication number Priority date Publication date Assignee Title
CN106426192A (en) * 2016-04-26 2017-02-22 金莉萍 Intelligent ship washing robot
CN107585274B (en) * 2017-07-20 2018-12-25 哈尔滨工程大学 High sea situation ship is sued and laboured robot
CN107855294A (en) * 2017-10-11 2018-03-30 深圳市雷凌广通技术研发有限公司 A kind of intelligent robot for being used to clear up marine biological polution based on Internet of Things
CN107985526B (en) * 2017-12-07 2019-11-05 浙江海洋大学 Remove the robot of under-water body attachment

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JPS52126897A (en) * 1976-04-14 1977-10-25 Komatsu Ltd Underwater walking device
JPH04104925U (en) * 1991-02-20 1992-09-09
CN1428226A (en) * 2001-12-28 2003-07-09 吴志明 Crawler multi-sucker wall-climbing robot and its implement method
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CN100509525C (en) * 2007-06-06 2009-07-08 哈尔滨工业大学 Mini micro-acoustic wall-climbing robot based on vacuum adsorption principle
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