CN106647751B

CN106647751B - Path control and positioning device of ship underwater cleaning robot

Info

Publication number: CN106647751B
Application number: CN201611141778.XA
Authority: CN
Inventors: 武建国; 刘冬; 林兴华; 王晓鸣; 刘海涛
Original assignee: Hebei University of Technology
Current assignee: Hebei University of Technology
Priority date: 2016-12-12
Filing date: 2016-12-12
Publication date: 2020-07-31
Anticipated expiration: 2036-12-12
Also published as: CN106647751A

Abstract

The invention provides a path control and positioning device of an underwater cleaning robot, which belongs to the technical field of underwater robots and comprises a sealed cabin, a coupler, a roller wheel shaft, a driver, a motor, a potentiometer, a Hall sensor and magnetic steel, wherein the driver and the motor are arranged in the sealed cabin, an end shaft of the motor is connected with a worm through the coupler, the potentiometer is arranged on a fixed frame through a connecting frame, the worm is meshed and matched with a turbine at the end part of the wheel shaft, a male gear at the rear end of the turbine is meshed and matched with a female gear at the end part of the potentiometer, the Hall sensor is arranged at one end, close to the roller, of the wheel shaft, and the magnetic steel is arranged on the roller. The invention has the beneficial effects that: can guarantee that belt cleaning device laminates the washing wall all the time, have advantages such as rational in infrastructure, safe and reliable, can detect and fix a position belt cleaning device's displacement simultaneously, can detect the angle of gyro wheel through the angle potentiometer in addition, guarantee that belt cleaning device can remove according to planning the route.

Description

Path control and positioning device of ship underwater cleaning robot

Technical Field

The invention relates to the technical field of underwater cleaning devices, in particular to a path control and positioning device for an underwater cleaning robot.

Background

The underwater cleaning is an industry with great technical difficulty and great market potential, the cavitation jet technology is the most potential method emerging in the cleaning industry at present, but the underwater cleaning equipment has many problems, such as only the hand-held operation of divers, low cleaning efficiency, high labor cost and the like. The underwater robot is used for cleaning, and due to the fact that the underwater environment is complex, huge flow field disturbance can be generated during cleaning, the robot cannot operate according to a planned path, omission easily occurs in the cleaning process, and the control difficulty is too large.

Disclosure of Invention

The invention provides a path control and positioning device of an underwater cleaning robot, which can ensure that a cleaning device is always attached to a cleaning wall surface, has the advantages of reasonable structure, safety, reliability and the like, and can detect the moving distance of the cleaning device through a Hall sensor so as to position a cleaning position.

In order to solve the technical problem, the embodiment of the application provides a path control and positioning device for an underwater cleaning robot, which comprises an outer shell, a sealed cabin, a coupler, rollers and a wheel shaft and is characterized by further comprising a driver, a motor, a potentiometer, a hall sensor and magnetic steel, wherein the sealed cabin is located in a protective cover enclosed by the outer shell, the driver and the motor are located inside the sealed cabin, an end shaft of the motor is connected with a worm through the coupler, the other end of the worm is arranged on a bearing of a fixing frame, the fixing frame is further provided with the potentiometer through the coupler, the worm is meshed and matched with a turbine at the end part of the wheel shaft, the rear end of the turbine is further provided with a male gear which is meshed and matched with a female gear at the end part of the potentiometer, one end, close to the rollers, of the wheel shaft is provided with the hall sensor, the rollers are provided with.

As the preferred embodiment of this scheme, the motor be step motor, the rear end is equipped with the driver, and the driver passes through sealed connector and links to each other with external controller.

As the preferred embodiment of the scheme, O-shaped sealing rings are arranged at the end face of the sealed cabin and the position where the sealed cabin is contacted with the end shaft of the motor.

As the preferred embodiment of the scheme, the wheel shaft is in an L-shaped structure, wherein one section connected with the roller is in a hollow structure, and a detection electronic element of a Hall sensor is arranged in the wheel shaft.

As the preferred embodiment of this scheme, magnet steel be cylindrical structure, quantity is no less than three, the central point of hall sensor and magnet steel is in on same circumference, the radius of this circumference is the radius of gyro wheel half.

In a preferred embodiment of the present invention, the potentiometer is a rotation angle measuring sensor and is connected to the controller through a sealed connector.

One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

can guarantee that belt cleaning device laminates the washing wall all the time, have advantages such as rational in infrastructure, safe and reliable, detect belt cleaning device's removal distance through hall sensor simultaneously to fix a position the washing position, can detect the angle of gyro wheel through the angle potentiometer in addition, guarantee that belt cleaning device can remove according to planning the route.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a schematic cross-sectional structural view of an embodiment of the present application;

FIG. 2 is a schematic structural diagram of a transmission mechanism according to an embodiment of the present application;

FIG. 3 is a schematic structural diagram of an axle drive of an embodiment of the present application;

fig. 4 is a schematic structural diagram of a cleaning path according to an embodiment of the present application.

In fig. 1-4: 1. the device comprises an outer shell, 2, a driver, 3, a motor, 4, a sealed cabin, 5, a coupler, 6, a potentiometer, 7, a worm, 8, a roller, 9, a Hall sensor, 10, a wheel shaft, 11, a fixed frame, 12, a bearing, 13, a female gear, 14, a through hole, 15, magnetic steel, 16, a turbine, 17 and a male gear.

Detailed Description

In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.

As shown in fig. 1-4, a path control and positioning device for an underwater cleaning robot comprises an outer shell 1, a sealed cabin 4, a coupler 5, a roller 8, a wheel shaft 10, a driver 2, a motor 5, a potentiometer 6, a hall sensor 9 and magnetic steel 15, wherein the sealed cabin 4 is arranged in a protective cover enclosed by the outer shell 1, the driver 2 and the motor 5 are arranged in the sealed cabin 4, an end shaft of the motor 5 is connected with a worm 7 through the coupler 5, the other end of the worm 7 is arranged on a bearing 12 of a fixed frame 11, the fixed frame 11 is also provided with the potentiometer 6 through a connecting frame, the worm 7 is meshed and matched with a turbine 16 at the end of the wheel shaft 10, the rear end of the turbine 16 is also provided with a male gear 17 meshed and matched with a female gear 13 at the end of the potentiometer 6, one end of the wheel shaft 10 close to the roller 8 is provided with the hall sensor 9, the roller 8 is provided with a plurality of through holes, and magnetic steel 15 is arranged between the adjacent through holes 14.

Wherein, in practical application, motor 5 be step motor, the rear end is equipped with driver 2, driver 2 links to each other with external controller through sealing connection head, through step motor 5's drive, the angular rotation of control gyro wheel 8 to realize the gesture transform of corner.

In practical application, the end face of the sealed cabin 4 and the position in contact with the end shaft of the motor 5 are provided with O-shaped sealing rings, so that the sealing effect is good, and accidents such as short circuit and the like caused by water leakage of the motor 5 and the driver 2 are prevented.

In practical application, the wheel shaft 10 is in an L-shaped structure, one section connected with the roller 5 is in a hollow structure, a detection electronic element of the hall sensor 9 is arranged in the hollow structure, the roller 8 needs to be always in contact with the wall surface in the cleaning process, and therefore effective work of the cleaning device is guaranteed, when the hall sensor 9 cannot detect a pulse signal, the roller 8 does not rotate, namely the roller 8 at the position leaves the cleaning wall surface, at the moment, the propulsion system is controlled through the controller, the posture of the whole cleaning device is adjusted, the roller 8 is enabled to be attached to the wall surface again, and operation is continued along the planned path.

Wherein, in practical application, magnet steel 15 be cylindrical structure, three is no less than in quantity, hall sensor 9 is in same circumference with the central point of magnet steel 15, the radius of this circumference is the half of gyro wheel 5 radius, can detect the number of turns of gyro wheel 8 through the pulse signal who produces between magnet steel 15 and the hall sensor 9, the number of turns multiplies the diameter of gyro wheel 8 and can obtain belt cleaning device's distance of marcing to fix a position belt cleaning device's position.

In practical application, the potentiometer 6 is a rotation angle measuring sensor and is connected with the controller through a sealed connector, the rolling direction of the roller 8 needs to be always consistent with the movement direction of the cleaning device, when the cleaning device reaches a cleaning edge, the roller 8 is driven to rotate for 90 degrees by the wheel shaft 10 driven by the motor 3, the rotated angle is measured through the potentiometer 6, and when the rotation angle reaches 90 degrees, the potentiometer 6 automatically sends a signal to control the motor 3 to stop rotating.

Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. The utility model provides a washing robot path control and positioner under water, includes shell body (1), sealed cabin (4), shaft coupling (5), gyro wheel (8) and shaft (10), a serial communication port, still include driver (2), motor (5), potentiometre (6), hall sensor (9) and magnet steel (15), sealed cabin (4) be located the safety cover that shell body (1) encloses, driver (2) and motor (5) are inside sealed cabin (4), the end shaft of motor (5) passes through shaft coupling (5) and links to each other with worm (7), the other end setting of worm (7) is on bearing (12) of mount (11), still be equipped with potentiometre (6) through the link on mount (11), worm (7) and shaft (10) tip turbine (16) interlock the matching mutually, the rear end of turbine (16) still is equipped with a common gear (17), and interlock the female gear (13) of potentiometre (6) tip with potentiometre) and match with wheel shaft (10) tip, shaft (10) and wheel shaft (10) tip turbine (16) the turbine wheel structure (9) the rear end still be equipped with a plurality of the rear end of wheel gear (17) and the wheel sensor (9) and the hall sensor (9) and the wheel structure (9) are equipped with the cylindrical through the operation of the control of the operation of the hall sensor (9) and the next half, the control of the hall sensor, the wheel structure, the operation of the hall sensor (9) is no longer describe for the operation, the operation of the three round roller (9) is not less than the operation of the one section of the operation, the operation of the one section of the control is carried out, the operation of the hall sensor, the operation of the hall sensor (.

2. The path control and positioning device of an underwater cleaning robot as claimed in claim 1, wherein the motor (5) is a stepping motor, the rear end of the motor is provided with a driver (2), and the driver (2) is connected with an external controller through a sealed connector.

3. An underwater cleaning robot path control and positioning device as claimed in claim 1, characterized in that O-rings are provided at the end face of the capsule (4) and at the position where it contacts the shaft at the end of the motor (5).

4. An underwater cleaning robot path control and positioning device as claimed in claim 1, characterized in that the potentiometer (6) is a rotation angle measuring sensor and is connected to the controller by a sealed joint.