CN106184650A - A kind of flexible laminating cleans the crank connecting link clearing apparatus on surface - Google Patents
A kind of flexible laminating cleans the crank connecting link clearing apparatus on surface Download PDFInfo
- Publication number
- CN106184650A CN106184650A CN201610673265.7A CN201610673265A CN106184650A CN 106184650 A CN106184650 A CN 106184650A CN 201610673265 A CN201610673265 A CN 201610673265A CN 106184650 A CN106184650 A CN 106184650A
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- China
- Prior art keywords
- cleaning
- crankshaft
- frame
- crank
- connecting plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000010030 laminating Methods 0.000 title claims abstract 3
- 238000004140 cleaning Methods 0.000 claims abstract description 140
- 230000007246 mechanism Effects 0.000 claims abstract description 49
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 5
- 239000010959 steel Substances 0.000 claims abstract description 5
- 230000005540 biological transmission Effects 0.000 claims description 21
- 230000000694 effects Effects 0.000 abstract description 4
- 230000006835 compression Effects 0.000 abstract description 2
- 238000007906 compression Methods 0.000 abstract description 2
- 230000007547 defect Effects 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 abstract 1
- 238000010408 sweeping Methods 0.000 description 12
- 238000003466 welding Methods 0.000 description 8
- 230000008878 coupling Effects 0.000 description 6
- 238000010168 coupling process Methods 0.000 description 6
- 238000005859 coupling reaction Methods 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 6
- 241000238586 Cirripedia Species 0.000 description 5
- 238000012423 maintenance Methods 0.000 description 3
- 235000008733 Citrus aurantifolia Nutrition 0.000 description 2
- 241000195493 Cryptophyta Species 0.000 description 2
- 241001417527 Pempheridae Species 0.000 description 2
- 235000011941 Tilia x europaea Nutrition 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000446 fuel Substances 0.000 description 2
- 239000004571 lime Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 241000237502 Ostreidae Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000003344 environmental pollutant Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 235000020636 oyster Nutrition 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 231100000719 pollutant Toxicity 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 238000005201 scrubbing Methods 0.000 description 1
- 235000015170 shellfish Nutrition 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
- B63B59/06—Cleaning devices for hulls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
- B63B59/06—Cleaning devices for hulls
- B63B2059/065—Cleaning devices for hulls mounted on land-borne vehicles, e.g. travelling on the bottom of a dry-dock
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses a kind of flexible laminating and clean the crank connecting link clearing apparatus on surface, including frame, the disconnected cross sectional shape of described frame is the channel steel shape structure that Open Side Down, the cleaning agency being connected with frame top elasticity it is provided with in described frame, it is respectively arranged with track module on the wall of the frame left and right sides, being provided with the crank mechanism being connected with cleaning agency on rear side of frame, corresponding described crank mechanism one end is provided with the motor module being connected.Present configuration is simple, and low cost of manufacture cleans effective, overcomes the defect that existing cleaning agency exists.When floating cleaner embodies surface, when moving to the place of protrusion, cleaning brush is lifted, and stiffness spring produces compression, increases the cleaning dynamics of brush block, enhances cleaning effect.Owing to cleaning brush is flexible, its hardness is again less than the hardness of hull, so when protrusion is hull self protrusions such as weld seam, will not producing hull surface and damage.
Description
Technical Field
The invention relates to the technical field of underwater ship body cleaning robots, in particular to an adaptive technology capable of automatically adapting to the height of attachments and correspondingly changing the cleaning force and a parallel technology capable of improving the cleaning efficiency by increasing the number of sections of a crankshaft and the number of cleaning brushes.
Background
With the rapid development of the current productivity, the shipbuilding business is continuously improved, however, the better and bigger ships always face a common problem in the running process, namely, the ships soaked in water for a long time are easy to entangle on the surfaces of the ships by oyster, algae, shells and other things, and grow rapidly on the ship body, so that the running cost and efficiency of the ships are seriously influenced. For this problem, people have been trying to solve the problem for a long time.
The main attachments on the surface of the ship body are barnacles which are widely distributed, have a large number and are densely stacked, and the traces of barnacles can be found in the shallow water areas from intertidal zones to sub-tidal zones in almost any sea area; attached to the bridge pier and the ship body, and can not be washed away even if being blown by wind and waves. This is because a viscous gel secreted from barnacles contains many biochemical components and has a strong adhesive force, and it is almost impossible to remove it from the attachment by hand, and it must be knocked down by means of a chisel-like hard metal. According to statistics, the fouling of the bottom of a ship is 5% for over ten thousand tons of ocean-going ships, the fuel consumption is increased by 10%, and the annual economic loss exceeds 100 ten thousand dollars [1 ]; the barnacles are attached to the bottom of a ship, the navigation speed can be greatly reduced, the annual fuel consumption of the world needs to be increased by more than 26 percent and even reaches 40 percent, a large amount of manpower is needed to remove the barnacles every year of the world, frequent periodic maintenance is carried out, the cost is huge, and the annual maintenance reaches billions of dollars.
The hull surface cleaning in the current market is mainly divided into in-dock cleaning and underwater cleaning. The in-dock cleaning is a relatively clean and thorough method, but the ship needs to stop sailing and enter the dock for carrying out the in-dock cleaning, which directly causes huge economic loss after the ship stops working and waste of time for coming to and going to the dock. The underwater cleaning generally comprises manual cleaning and robot cleaning, the manual cleaning requires people to dive to the bottom of a ship for operation, is influenced by the underwater environment, has low efficiency and has potential safety hazards; on the other hand, the existing underwater cleaning mechanism can not clean stubborn shellfish and long algae which are difficult to clean well, and some underwater cleaning mechanisms can even damage the ship body. How to achieve the purposes of not affecting the normal work of the ship, effectively cleaning the ship and not damaging the surface of the ship becomes a problem to be solved urgently.
Disclosure of Invention
The invention aims to provide a crank connecting rod cleaning device flexibly attached to a cleaning surface of a ship body, aiming at overcoming the technical problems and the defects of the existing ship body cleaning mechanism, in particular to the problem that the cleaning mechanism can damage a welding seam on the surface of the ship body when the ship body is cleaned.
In order to achieve the purpose, the technical scheme adopted by the invention for solving the technical problems is as follows:
a crank connecting rod cleaning device capable of being flexibly attached to a cleaning surface comprises a rack, wherein the cross section of the rack is in a channel steel structure with a downward opening, a cleaning mechanism elastically connected with the top of the rack is arranged in the rack, crawler belt modules are arranged on the left side wall and the right side wall of the rack respectively, a crankshaft transmission mechanism connected with the cleaning mechanism is arranged on the rear side of the rack, and a motor module connected with the crankshaft transmission mechanism is arranged at one end corresponding to the crankshaft transmission mechanism; wherein,
the cleaning mechanism is composed of an upper base plate and a plurality of cleaning modules which are arranged at left and right sides at intervals and fixedly installed on the lower plane of the upper base plate, the cleaning modules are composed of linear guide rails, linear sliders, a cleaning brush connecting plate and a plurality of cleaning units which are connected in sequence, each cleaning unit is composed of an upper connecting plate, an upper shaft sleeve, a cleaning rod, a lower shaft sleeve, a lower connecting plate, a rigid spring, a base plate and a brush head which are connected in sequence, the cleaning units are arranged at front and back at intervals and fixedly connected to the lower plane of the cleaning brush connecting plate through the upper connecting plate, the upper plane of the cleaning brush connecting plate is connected with the linear sliders, the linear sliders are matched with and slidably connected with tracks arranged on the linear guide rails through track grooves, the linear guide rails are fixedly connected to the lower plane of the upper base plate, and one end;
the crankshaft transmission mechanism consists of a crankshaft shell, a crankshaft and a plurality of connecting rods, wherein the crankshaft is arranged in the crankshaft shell through a crankshaft bearing, a main shaft fixing ring and a fixing bolt;
the motor module includes: the motor is arranged in the motor shell and is connected with the motor through the key and one end of the coupler, and the other end of the coupler is connected with the connecting shaft end of the crankshaft to transmit power;
the crawler module comprises a driving wheel in transmission connection with the power source and a plurality of supporting wheels arranged on two sides of the frame, the driving wheel and the supporting wheels are in transmission connection through a crawler, and the frame is in contact with the surface to be cleaned through the crawler.
Furthermore, the number of the cleaning modules is 4, and the number of the cleaning units is 12.
Furthermore, the number of the connecting rods is 4.
Further, the cross-sectional shapes of the track of the linear guide rail and the track groove of the linear slider are dovetail or T-shaped.
Further, the fixed connection is bolt and nut or welded connection.
The invention has the beneficial effects that:
1. the cleaning brush can automatically adapt to the height of attachments, the attachments on the surface of the ship body are lime and the like, and the projections of the ship body such as welding seams and the like are mostly steel, so when the material of the cleaning brush is selected, the hardness of the cleaning brush is between that of the lime and the steel, and the cleaning brush can clean the attachments and cannot damage the ship body. When the cleaning mechanism cleans, if an attachment is encountered, the spring connected with the cleaning brush is compressed, the flexible cleaning brush is attached to the surface of the attachment to increase the contact with the attachment, and the cleaning force can be increased under the action of the compression reaction force of the spring to strengthen the cleaning effect; when meeting welding seams and the like, the flexible cleaning brush can not damage the welding seams, and the surface of the ship body can be better protected. If the sweeping efficiency needs to be increased, the power and the efficiency can be improved by configuring crankshafts with more sections or increasing the number of sweeping brush modules in each group.
2. The cleaning brushes which are synchronously fixed form a cleaning brush group, so that a modular structure is formed among the cleaning brushes, and the cleaning brushes can move back and forth, and the cleaning of the cleaning surface at the same position can be repeatedly cleaned; the same group of cleaning brushes only need one output end of the reciprocating driving mechanism to output; compared with independent fixation, the fixing device has higher maintenance convenience, greatly improves the stability due to the integral fixation, reduces the number of output ends and simplifies the integral structure; the simplified structure is not easy to be blocked due to larger pollution.
3. Compared with a linear stepping motor and other output mode structures, the structure of the crankshaft drive is simpler, and the reciprocating movement operation of the whole cleaning brush structure can be realized by the unidirectional rotation drive of one power source; the structure is simplified, and the cost is reduced.
4. The brush group that cleans of this structure carries out the slip support through independent slide rail structure, and the structure that does not utilize increase drive shaft burden such as lead screw to carry out the slip support for clean brush group and slide rail structure can make, installation and adjustment in the complete set, and the slide rail of this structure is independent of the frame moreover, compares in directly to carry out the damage of fluting processing to the frame lower, and can realize the change repeatedly of slide rail to the frame.
5. The synchronous reciprocating scrubbing of the surface pollutant that is cleaned to same position can be realized to the reverse movement between two sets of adjacent cleaning brush groups, and synchronous reciprocating motion can drive the reciprocating motion of whole frame in the reciprocating motion of cleaning brush in addition, influences the normal removal of frame, and in addition when driving the frame and removing, the cleaning brush can be relatively static with the surface of being cleaned, the clear effect of reduction that can be serious.
6. The cleaning rod with different lengths, angles and elastic parameters can be flexibly replaced to flexibly adjust the relative position of the cleaning brush to the frame, meanwhile, the rigid spring at the end part of the cleaning brush is pre-pressed, and various structural parameters of the cleaning brush can be flexibly adjusted according to different cleaning surfaces.
Drawings
FIG. 1 is a perspective view of the overall construction of the present invention;
FIG. 2 is a perspective view of the sweeping mechanism of the present invention;
FIG. 3 is an exploded view of the overall construction of the present invention;
FIG. 4 is a perspective view of the crank drive mechanism of the present invention;
FIG. 5 is a perspective view of the crank drive mechanism (without the crankcase cover) of the present invention;
FIG. 6 is an exploded view of the crank drive mechanism (without the crankcase cover) of the present invention;
FIG. 7 is an exploded view of the connecting rod of the present invention;
FIG. 8 is an exploded view of the crankshaft housing of the present invention;
FIG. 9 is a perspective view of a crankshaft of the present invention;
FIG. 10 is a perspective view of the sweeping mechanism of the present invention;
FIG. 11 is a perspective view of a cleaning module of the present invention;
FIG. 12 is a perspective view of a motor module of the present invention;
figure 13 is an exploded view of the motor module of the present invention;
in the figure: 100. the crankshaft transmission mechanism comprises a crankshaft transmission mechanism, 110 connecting rods, 111 rods, 112 large shaft end covers, 113 small shaft fixing end shaft sleeves, 114 connecting rod bearings, 115 connecting rod bolts, 116 connecting rod nuts, 120 crankshaft shells, 121 crank cases, 122 connecting rod holes, 123 crankshaft bearings, 124 main shaft fixing rings, 125 fixing bolts, 126 crankshaft covers, 130 crankshafts, 131 connecting shaft ends, 132 balance blocks, 133 crankshaft pins and 134 main shafts;
200. the cleaning mechanism comprises a cleaning mechanism, 201, an upper bottom plate, 210, a cleaning module, 211, a linear guide rail, 212, a connecting rod, 213, a small shaft fixing end nut, 214, a small shaft fixing end bolt, 215, a linear sliding block, 216, a cleaning brush connecting plate, 217, an upper connecting plate, 218, a cleaning rod, 219, a shaft sleeve, 220, a lower connecting plate, 221, a rigid spring and 222, a cleaning brush;
300. a frame;
400. motor module, 401 motor shell, 402 motor, 403 key, 404 coupler;
500. a track module.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
In the present invention, directional terms such as "up", "down", "front", "back", "left", "right", "inside", "outside", "side", etc. refer to directions of the drawings only. Accordingly, the directional terminology is used for the purpose of illustration and understanding and is in no way limiting.
Referring to fig. 1, 2 and 3, the crank link cleaning device for flexibly adhering to a cleaning surface according to the present invention includes a crank transmission mechanism 100, a cleaning mechanism 200, two frames 300, a motor module 400, and two crawler modules 500. The two racks 300 are respectively distributed at the left side and the right side of the cleaning mechanism, the crankshaft transmission mechanism 100 is fixedly connected with the left rack 300 and the right rack 300 through a plurality of bolts at the left side and the right side of the crankshaft transmission mechanism 100 respectively, the cleaning mechanism 200 is fixedly connected with the left rack 300 and the right rack 300 through a plurality of bolts at the left side and the right side of the upper bottom plate 201 of the cleaning mechanism 200 respectively, the cleaning mechanism 200 is positioned right ahead of the crankshaft transmission mechanism 100, and the two are correspondingly hinged with the connecting rods 212 of the four groups of cleaning modules 210 in the cleaning mechanism 200 through the small shaft fixing ends of the four connecting rods 110 in the crankshaft transmission mechanism 100 respectively; the shaft of the motor 402 in the motor module 400 is coaxial with the crankshaft 130, the motor module 400 is fixedly connected with the right side frame 300 through a motor shell 401 by a plurality of bolts, and the shaft of the motor 402 is fixedly connected with the connecting shaft end 131 of the crankshaft 130 through a coupler 404, so that the motor 402 drives the crankshaft 130; the track module 500 is shown as a traveling mechanism, and is not a focus of this patent and will not be described in detail.
As shown in fig. 4 to 8, the crank mechanism 100 includes: four connecting rods 110, a crankshaft housing 120, a crankshaft 130, wherein the connecting rods 110 comprise: the connecting rod comprises a rod body 111, a large shaft end cover 112, a small shaft fixing end shaft sleeve 113, a connecting rod bearing 114, two connecting rod bolts 115 and two connecting rod nuts 116. The small shaft fixed end bushing 113 is coaxial with the small shaft fixed end of the shaft 111 and is inserted into the small shaft fixed end, the connecting rod bearing 114 is coaxial with the large shaft cap 112 and is inserted into the large shaft cap 112, the connecting rod bolt 115 passes through the large shaft cap 112 and the large shaft end of the shaft 111 and fastens the large shaft cap 112 and the shaft 111 with the connecting rod nut, the crank housing 120 includes: a crankcase 121, four connecting rod holes 122, five crankshaft bearings 123, five main shaft fixing rings 124, ten fixing bolts 125, and a crankshaft cover 126. The crankcase 121 is a hollow cube, and there are four connecting rod holes 122 uniformly distributed and of the same size on one side of the crankcase 121 for connecting the connecting rod 110 with the crankshaft 130 1, and there are three uniformly distributed bases inside the crankcase 121 for matching with the crankshaft 130. The crankshaft 130 includes: one connecting shaft end 131, eight counterweights 132, and four crankpins 133. Three spindles 134. A balance weight 132 is provided between a main shaft 134 and a crank pin 133, and the crankshaft 130 is coaxially juxtaposed with the crank bearing 123 into the base of the crankcase 121, and the crankshaft 130 and the crankcase 121 are fastened by a fixing bolt 125 through a main shaft fixing ring 124. Then the large shaft end of the shaft 111 passes through the connecting rod hole 122 and is connected with the corresponding crank pin 133, and the connecting rod 110 and the crank shaft 130 are fastened through the large shaft end cover 112 by the connecting rod bolt 115, and the circle center of the main shaft 134 in the crank shaft 130 and the circle center of the small shaft fixed end bolt 214 in the cleaning module 210 are positioned on the same horizontal line.
As shown in fig. 10 and 11, the cleaning mechanism 200 includes: an upper base plate 201 and four cleaning modules 210. The cleaning module 210 includes: the cleaning brush comprises a linear guide rail 211, two connecting rods 212, two small shaft fixed end nuts 213, a small shaft fixed end bolt 214, three linear sliding blocks 215, a cleaning brush connecting plate 216, three upper connecting plates 217, three cleaning rods 218, six shaft sleeves 219, three lower connecting plates 220, three rigid springs 221 and three cleaning brushes 222, wherein one end of each connecting rod 212 is fixedly connected with the corresponding linear sliding block 215 in a welding mode, and the other end of each connecting rod is a round hole and is used for being connected with the corresponding small shaft fixed end bolt 214. The linear guide rail 211 is a rectangular structure, and has a long straight rail below for cooperating with the linear slider 215, and linear guide rail 211 upper portion has three evenly distributed's screw to be used for linking to each other with upper plate 201. The linear sliding block 215 is of a square structure, the upper portion of the linear sliding block is provided with a rail groove used for being matched with a rail of the linear guide rail 211, screw holes which are uniformly distributed are formed in the lower portion of the linear sliding block 215 and used for being connected with a cleaning brush connecting plate 216, the cleaning brush connecting plate 216 is a square plate and parallel to the linear guide rail 211 and located right below the linear guide rail, and six screw holes which are uniformly distributed in the cleaning brush connecting plate 216 are used for connecting an upper connecting plate 217 and the linear sliding block 215. The sweeping rod 218 is a long right circular cylinder with its axis perpendicular to the linear guide 211 and perpendicular to the upper connecting plate 217 and the lower connecting plate 220, and the sweeping rod 218 is used for connecting with a shaft sleeve 219 to connect with a sweeping brush 223. The shaft sleeve 219 is a stepped cylinder, the center of the shaft sleeve 219 is hollow, and the axis of the shaft sleeve 219 coincides with the axis of the sweeping rod 218, and is used for connecting the sweeping rod 218 with the upper connecting plate 217 and the lower connecting plate 220. The lower connecting plate 220 is a square plate, and has three screw holes on its upper surface, perpendicular to the axis of the sweeping rod 218, for fastening with the bushing 219. The sweeper brush 222 is a flexible square sweeper brush having a sawtooth pattern with sawtooth tooth slots perpendicular to the linear guide 211. Firstly, three linear sliders 215 are uniformly distributed on a linear guide rail 211, the three linear sliders 215 are movably connected with the linear guide rail 211, the linear sliders 215 can slide along the linear guide rail 211, a connecting rod 212 is welded on one linear slider 215 in a welding mode, the connecting rod 212 forms a certain angle with the horizontal direction, and then two connecting rods 212 are connected together through a small shaft fixing end bolt 214 and fastened through a small shaft fixing end nut 213. At the moment, the cleaning brush connecting plate 216 is arranged below the three linear sliding blocks 215, and the cleaning brush connecting plate 216 and the three linear sliding blocks 215 are fastened in a threaded connection mode. Six shaft sleeves 219 are respectively fixed at both ends of the three sweeping rods 218 in a threaded manner, and at this time, the six shaft sleeves 219 fixed at both ends of the sweeping rods 218 are respectively connected with the three upper connecting plates 217 and the three lower connecting plates 220 in a threaded manner. The three upper connecting plates 217 are respectively arranged under the three linear sliding blocks 215, the three upper connecting plates 217 are connected with the cleaning brush connecting plates 216 in a threaded connection mode, the three rigid springs 221 are fastened with the three lower connecting plates 220 in a welding connection mode, and then the three rigid springs 221 are fastened with the corresponding cleaning brushes 222 in a welding connection mode, so that the whole cleaning module 200 is connected together.
As shown in fig. 12 and 13, the motor module 400 includes: the motor comprises a motor shell 401, a motor 402, a key 403 and a coupler 404, wherein the motor shell 401 is of a hollow square structure. 402 are first placed in the motor housing 401 and then the coupling 404 is keyed to the motor 402 by keying means with key 403. And coupling 404 is connected to connecting shaft end 131 on crankshaft 130 to transmit power.
When the whole assembly is carried out, firstly, the crawler belt modules 500 are arranged on two side surfaces of the frame 300 and connected, then the motor module 400 is connected with the frame 300, the connecting shaft end 131 in the crankshaft transmission moving mechanism 100 is coaxial with the shaft coupling 404, the shaft coupling 404 is fastened and connected with the connecting shaft end 131, the crankshaft transmission mechanism 100 is fastened with the frame 300 in a threaded connection mode, and the large shaft end of the connecting rod 110 penetrates through the connecting rod hole 122 to be connected with the crankshaft 130. And the large shaft cover 112 and the crankshaft 130 are fastened with the connecting rod bolt 115. Then, the round hole of the connecting rod 212 of the cleaning module 210 is coaxial with the small shaft fixing end shaft sleeve 113 of the connecting rod 110, and the small shaft fixing end bolt 214 passes through the round hole of the connecting rod 212 and the small shaft fixing end shaft sleeve 113 and is fastened by the small shaft fixing end nut 213. The lower bottom surface of the upper bottom plate 201 coincides with the upper surface of the linear guide rail 211, and is fastened by a screw connection, and then the upper bottom plate 201 and the rack 300 are connected by a bolt connection.
When the cleaning mechanism cleans, the motor 402 rotates, the power is transmitted to the coupling 404 through the key 403, the coupling 404 drives the crankshaft 130 to rotate, the crankshaft 130 rotates to drive the connecting rod 110 to move, the connecting rod 110 moves to drive the connecting rod 212 to move, due to the motion characteristic of the slider-crank mechanism, the linear slider 215 slides on the linear guide rail 211, the sliding of the linear slider 215 drives the cleaning brush connecting plate 216 to move together, the cleaning brush connecting plate 216 moves to drive the upper connecting plate 217 and the cleaning rod 218 to move, the cleaning rod 218 moves to drive the shaft sleeve 219 to move, the shaft sleeve 219 moves to drive the lower connecting plate 220 to move, the lower connecting plate 220 moves to drive the rigid spring 221 to move, since the rigid spring 221 is rigid, the cleaning brush 222 connected with the rigid spring 221 moves, so that the cleaning brush 222 cleans the surface of the hull, when the cleaning brush 222 encounters attachments during cleaning, the rigid spring 221 is compressed by the attachment, which increases the cleaning force of the cleaning brush 222 and improves the cleaning effect. When a weld joint is met, the cleaning brush 222 is flexible, so that the weld joint cannot be damaged, and the weld joint can be better protected.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (5)
1. The utility model provides a flexible laminating cleans crank connecting rod cleaning device on surface, includes the frame, characterized by: the cross section of the frame is in a channel steel structure with a downward opening, a cleaning mechanism elastically connected with the top of the frame is arranged in the frame, crawler belt modules are respectively arranged on the left side wall and the right side wall of the frame, a crankshaft transmission mechanism connected with the cleaning mechanism is arranged on the rear side of the frame, and a motor module connected with the crankshaft transmission mechanism is arranged at one end corresponding to the crankshaft transmission mechanism; wherein,
the cleaning mechanism is composed of an upper base plate and a plurality of cleaning modules which are arranged at left and right sides at intervals and fixedly installed on the lower plane of the upper base plate, the cleaning modules are composed of linear guide rails, linear sliders, a cleaning brush connecting plate and a plurality of cleaning units which are connected in sequence, each cleaning unit is composed of an upper connecting plate, an upper shaft sleeve, a cleaning rod, a lower shaft sleeve, a lower connecting plate, a rigid spring, a base plate and a brush head which are connected in sequence, the cleaning units are arranged at front and back at intervals and fixedly connected to the lower plane of the cleaning brush connecting plate through the upper connecting plate, the upper plane of the cleaning brush connecting plate is connected with the linear sliders, the linear sliders are matched with and slidably connected with tracks arranged on the linear guide rails through track grooves, the linear guide rails are fixedly connected to the lower plane of the upper base plate, and one end;
the crankshaft transmission mechanism consists of a crankshaft shell, a crankshaft and a plurality of connecting rods, wherein the crankshaft is arranged in the crankshaft shell through a crankshaft bearing, a main shaft fixing ring and a fixing bolt;
the motor module includes: the motor is arranged in the motor shell and is connected with the motor through the key and one end of the coupler, and the other end of the coupler is connected with the connecting shaft end of the crankshaft to transmit power;
the crawler module comprises a driving wheel in transmission connection with the power source and a plurality of supporting wheels arranged on two sides of the frame, the driving wheel and the supporting wheels are in transmission connection through a crawler, and the frame is in contact with the surface to be cleaned through the crawler.
2. The crank-link cleaning device according to claim 1, wherein the crank-link cleaning device comprises: the number of the cleaning modules is 4, and the number of the cleaning units is 12.
3. The crank-link cleaning device according to claim 1, wherein the crank-link cleaning device comprises: the number of the connecting rods is 4.
4. The crank-link cleaning device according to claim 1, wherein the crank-link cleaning device comprises: the cross sections of the track of the linear guide rail and the track groove of the linear sliding block are in a dovetail shape or a T shape.
5. The crank-link cleaning device according to claim 1, wherein the crank-link cleaning device comprises: the fixed connection is bolt and nut or welded connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610673265.7A CN106184650B (en) | 2016-08-16 | 2016-08-16 | A kind of flexible fitting cleans the crank connecting link clearing apparatus on surface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610673265.7A CN106184650B (en) | 2016-08-16 | 2016-08-16 | A kind of flexible fitting cleans the crank connecting link clearing apparatus on surface |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106184650A true CN106184650A (en) | 2016-12-07 |
| CN106184650B CN106184650B (en) | 2018-01-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610673265.7A Expired - Fee Related CN106184650B (en) | 2016-08-16 | 2016-08-16 | A kind of flexible fitting cleans the crank connecting link clearing apparatus on surface |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106184650B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106843242A (en) * | 2017-03-21 | 2017-06-13 | 天津海运职业学院 | A kind of multi-robots system of under-water body cleaning |
| CN110395368A (en) * | 2019-07-02 | 2019-11-01 | 山东科技大学 | A kind of bionic device and method for removing marine fouling organism using high-frequency vibration |
| CN110588917A (en) * | 2019-10-25 | 2019-12-20 | 金龙 | Underwater ship bottom cleaning device |
| CN114084305A (en) * | 2021-11-16 | 2022-02-25 | 南通迪斯船舶科技有限公司 | Safety processing device for ocean hull curved surface |
| CN114431043A (en) * | 2022-01-26 | 2022-05-06 | 辽宁省果树科学研究所 | A shed roof snow cleaning device for planting big-arch shelter in winter |
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| CN2868461Y (en) * | 2005-12-21 | 2007-02-14 | 哈尔滨工程大学 | Flexible rotating mechanism for ship surface cleaning robot cleaning device |
| EP2090506A1 (en) * | 2008-02-12 | 2009-08-19 | Vincenzo Rina | Mobile device for working hulls of marine vessels |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106843242A (en) * | 2017-03-21 | 2017-06-13 | 天津海运职业学院 | A kind of multi-robots system of under-water body cleaning |
| CN106843242B (en) * | 2017-03-21 | 2019-08-16 | 天津海运职业学院 | A kind of clean multi-robots system of under-water body |
| CN110395368A (en) * | 2019-07-02 | 2019-11-01 | 山东科技大学 | A kind of bionic device and method for removing marine fouling organism using high-frequency vibration |
| CN110395368B (en) * | 2019-07-02 | 2023-10-20 | 山东科技大学 | Bionic device and method for removing marine fouling organisms by using high-frequency vibration |
| CN110588917A (en) * | 2019-10-25 | 2019-12-20 | 金龙 | Underwater ship bottom cleaning device |
| CN114084305A (en) * | 2021-11-16 | 2022-02-25 | 南通迪斯船舶科技有限公司 | Safety processing device for ocean hull curved surface |
| CN114084305B (en) * | 2021-11-16 | 2024-04-16 | 南通迪赛船舶科技有限公司 | Safety treatment device for ocean hull curved surface |
| CN114431043A (en) * | 2022-01-26 | 2022-05-06 | 辽宁省果树科学研究所 | A shed roof snow cleaning device for planting big-arch shelter in winter |
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