CN107140151A - Hull cleans climbing robot - Google Patents
Hull cleans climbing robot Download PDFInfo
- Publication number
- CN107140151A CN107140151A CN201710326197.1A CN201710326197A CN107140151A CN 107140151 A CN107140151 A CN 107140151A CN 201710326197 A CN201710326197 A CN 201710326197A CN 107140151 A CN107140151 A CN 107140151A
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- Prior art keywords
- wheel
- magnet
- auxiliary
- driven
- bearing
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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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
- B63B2059/065—Cleaning devices for hulls mounted on land-borne vehicles, e.g. travelling on the bottom of a dry-dock
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Transportation (AREA)
- Motorcycle And Bicycle Frame (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to climbing robot technical field, more particularly to a kind of hull cleaning climbing robot, including drive mechanism, wiper mechanism and absorption walking mechanism；Drive mechanism includes motor housing, the first power transmission shaft and second driving shaft, and the relative both sides of motor housing are respectively equipped with the first output end and the second output end, and the first power transmission shaft is connected with first output end, and second driving shaft is connected with second output end；Adsorbing walking mechanism includes active magnetic wheel assembly, driven magnet-wheel component and auxiliary magnet-wheel component；Aid in magnet-wheel component to include auxiliary floating shelf and at least two auxiliary magnet-wheels, aid in the two ends of floating shelf to be rotated respectively with the first power transmission shaft and second driving shaft and be connected, each auxiliary magnet-wheel is rotatably installed on auxiliary floating shelf and positioned at the front of active magnetic wheel assembly.The obstacle climbing ability and load of the present invention can be greatly improved, and hull adaptive capability on wall surface enhancing, wiper mechanism can realize efficient operation.
Description
Technical field
The invention belongs to climbing robot technical field, more particularly to a kind of hull cleaning climbing robot.
Background technology
At present, the washing and cleaning operation of domestic hull surface is mostly to carry out carrying cleaning device in dock or by diver
To complete, the mode of comparative maturity is that operating personnel's hand-held pneumatic or hydraulic pressure washer are dived beneath the water, by applying external force and turning
The negative pressure that brush is produced is allowed to be close to hull, and promotes it to travel forward, and marine organisms cleaning is carried out to hull surface.It is this artificial
Cleaning way efficiency is low, cycle length, operation intensity high, and workman's body and mind quality is all had higher requirements.Using wall-climbing device under water
People carry cleaning device operation, by Cleaning by High Pressure Water Jet, real-time monitoring system detection, climbing robot creep operation three knot
Altogether, while controlling climbing robot traveling by Remote, wiper mechanism performs cleaning action, and by monitor and detection
Mechanism is detected in real time to cleaning wall and environment, it is ensured that smooth and cleaning the effect of cleaning.The program is realized,
Key technology is climbing robot.
Chinese patent (application number：200410016429.6) disclose a kind of magnetic roller adsorption type wall climbing robot, the program
Flexible, the high advantage of accuracy of detection with motion, but effective adsorption area of magnet-wheel is small, load capacity is poor.Chinese patent
(application number：201510027910.3) a kind of climbing robot is disclosed, although what the program was combined with magnetic gap formula and magnet-wheel
Suction type enhances the load capacity of robot, but its obstacle climbing ability is not lifted, runs into the barrier of small thickness just
Absorption magnetic patch can be blocked, the traveling of robot is hindered.Chinese patent (application number：201610554277.8) disclose a kind of magnet-wheel
Formula climbing robot, the program allows it to ascend the wall vertically joined by special rack construction and magnet-wheel structure, but
Its simple thin frame also determines that its load capacity is weaker, and obstacle climbing ability is also limited.
For current climbing robot because load capacity and obstacle climbing ability difference lead to not realize high efficiency washing operation
Problem there is provided it is a kind of have that load is big, wall adaptive faculty is strong, turn to flexible the features such as climbing robot turned into realize it is high
Efficiency cleans the technical problem of hull operation urgent need to resolve.
The content of the invention
Climbing robot is cleaned it is an object of the invention to provide a kind of hull, it is intended to solve of the prior art to climb wall machine
The technical problem of device people load capacity and obstacle climbing ability difference.
To achieve the above object, the technical solution adopted by the present invention is：A kind of hull cleans climbing robot, including driving
Mechanism, wiper mechanism and absorption walking mechanism；
The drive mechanism includes motor housing, the first power transmission shaft and second driving shaft, the relative both sides of the motor housing point
Not She You the first output end and the second output end, first power transmission shaft is connected with first output end, second transmission
Axle is connected with second output end；
The absorption walking mechanism includes active magnetic wheel assembly, driven magnet-wheel component and auxiliary magnet-wheel component, the cleaning
Mechanism is fixed on the top of the active magnetic wheel assembly or the top of the driven magnet-wheel component；
The active magnetic wheel assembly include the first active magnet-wheel and the second active magnet-wheel, the first active magnet-wheel with it is described
First power transmission shaft is connected, and the second active magnet-wheel is connected with the second driving shaft；
The driven magnet-wheel component includes driven floating shelf, link and driven magnet-wheel, the two ends of the driven floating shelf
Rotate and be connected with first power transmission shaft and the second driving shaft respectively, the link is fixed with the driven floating shelf to be connected
Connect and be extended along the rear of the active magnetic wheel assembly, the driven magnet-wheel is rotatably installed on the link；
The auxiliary magnet-wheel component includes auxiliary floating shelf and at least two auxiliary magnet-wheels, the two ends of the auxiliary floating shelf
Rotate and be connected with first power transmission shaft and the second driving shaft respectively, each auxiliary magnet-wheel is rotatably installed on described
Aid on floating shelf and positioned at the front of the active magnetic wheel assembly.
Preferably, the auxiliary floating shelf includes auxiliary vacuum line and is connected to the auxiliary vacuum line two ends simultaneously
The the first auxiliary side lever and the second auxiliary side lever extended towards the same side, end and the described first transmission of the first auxiliary side lever
Axle rotates connection, and the end of the second auxiliary side lever is rotated with the second driving shaft to be connected, on the auxiliary vacuum line
Quantity identical provided with quantity and the auxiliary magnet-wheel aids in magnet-wheel wheel carrier, and each auxiliary magnet-wheel correspondence is installed on each described
Aid on magnet-wheel wheel carrier.
Preferably, the drive mechanism also include clutch shaft bearing and second bearing, the inner ring of the clutch shaft bearing with it is described
First power transmission shaft is fixedly connected, and the end of the first auxiliary side lever is fixedly connected with the outer ring of the clutch shaft bearing, and described the
The inner ring of two bearings is fixedly connected with the second driving shaft, end and the second bearing of the second auxiliary side lever it is outer
Circle is fixedly connected.
Preferably, the end of the first auxiliary side lever is provided with the first auxiliary contiguous block, and described first aids on contiguous block
Provided with the first auxiliary connecting hole, the first auxiliary connecting hole is socketed on the outer ring of the clutch shaft bearing, second auxiliary
The end of side lever is provided with the second auxiliary contiguous block, and the second auxiliary contiguous block is provided with the second auxiliary connecting hole, described second
Auxiliary connecting hole is socketed on the outer ring of the second bearing.
Preferably, the driven floating shelf includes driven vacuum line and is connected to the driven vacuum line two ends simultaneously
The the first driven side lever and the second driven side lever extended towards the same side, the end of the first driven side lever and the described first transmission
Axle rotates connection, and the end of the second driven side lever rotates with the second driving shaft and is connected, the link and it is described from
Dynamic vacuum line is fixedly connected, and end of the link away from the driven vacuum line is provided with installing plate, the installing plate
Driven magnet-wheel wheel carrier is provided with, the driven magnet-wheel correspondence is installed on the driven magnet-wheel wheel carrier.
Preferably, the drive mechanism also include 3rd bearing and fourth bearing, the inner ring of the 3rd bearing with it is described
First power transmission shaft is fixedly connected, and the end of the first driven side lever is fixedly connected with the outer ring of the 3rd bearing, and described
The inner ring of four bearings is fixedly connected with the second driving shaft, and the end of the second driven side lever is outer with the fourth bearing
Circle is fixedly connected.
Preferably, the end of the described first driven side lever is provided with the first driven contiguous block, the first driven contiguous block
Provided with the first driven connecting hole, the first driven connecting hole is socketed on the outer ring of the 3rd bearing, and described second is driven
The end of side lever is provided with the second driven contiguous block, and the second driven contiguous block is provided with the second driven connecting hole, described second
Driven connecting hole is socketed on the outer ring of the fourth bearing.
Preferably, the wiper mechanism includes electric rotating machine, swing arm and hydro-peening disk, and the electric rotating machine is fixed on described
The top of active magnetic wheel assembly or the top of the driven magnet-wheel component, one end of the swing arm drive with the electric rotating machine
Connection, the hydro-peening disk is connected with the other end of the swing arm, and the hydro-peening disk is provided with nozzle.
Preferably, the auxiliary magnet-wheel is the universal auxiliary magnet-wheel of permanent magnetism.
Preferably, the first active magnet-wheel, the second active magnet-wheel and the driven magnet-wheel include steel metallic wheel body,
Some permanent magnetism cylinders and soft magnetism set, the steel metallic wheel body is close to the position of wheel rim provided with the uniform some cylinders of annular
Through hole, the axis parallel of each cylindrical hole and the steel metallic wheel body is set, and each permanent magnetism cylinder correspondence is pacified
Loaded in each cylindrical hole, the soft magnetism set is socketed on the outer ring of the steel metallic wheel body.
Beneficial effects of the present invention：The hull cleaning climbing robot of the present invention, in active magnetic wheel assembly, driven magnet-wheel group
Under the collective effect of part and auxiliary magnet-wheel component so that the steadily of centre of gravity of hull cleaning climbing robot in the first active magnet-wheel and
Between second active magnet-wheel, then with reference to the auxiliary magnet-wheel being located at respectively in front of the first active magnet-wheel and the second active magnet-wheel with after
The driven magnet-wheel of side can increase overturn-preventing torque, improve overturn-preventing ability；Meanwhile, in obstacle detouring, at least with first actively
Magnet-wheel and the second active magnet-wheel and driven magnet-wheel or auxiliary magnet-wheel and driven magnet-wheel or the first active magnet-wheel and the second master
Dynamic magnet-wheel and auxiliary magnet-wheel are adsorbed with hull, and obstacle climbing ability and load can be greatly improved, and hull wall is suitable
Should be able to power also accordingly strengthen, enable to wiper mechanism to realize efficient operation during retinue.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
In required for the accompanying drawing that uses be briefly described, it should be apparent that, drawings in the following description are only some of the present invention
Embodiment, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these
Accompanying drawing obtains other accompanying drawings.
Fig. 1 is the structural representation one that hull provided in an embodiment of the present invention cleans climbing robot.
Fig. 2 is the structural representation two that hull provided in an embodiment of the present invention cleans climbing robot.
Fig. 3 is the structural decomposition diagram that hull provided in an embodiment of the present invention cleans climbing robot.
Fig. 4 is the structural representation for the auxiliary floating shelf that hull provided in an embodiment of the present invention cleans climbing robot.
Fig. 5 is that hull provided in an embodiment of the present invention cleans the knot that the driven floating shelf of climbing robot is connected with link
Structure schematic diagram.
Fig. 6 is the first active magnet-wheel or the second active magnet-wheel that hull provided in an embodiment of the present invention cleans climbing robot
Or the structural decomposition diagram of driven magnet-wheel.
Fig. 7 is the structural representation for the wiper mechanism that hull provided in an embodiment of the present invention cleans climbing robot.
Fig. 8 is the structural representation for the drive mechanism that hull provided in an embodiment of the present invention cleans climbing robot.
Wherein, each reference in figure：
10-drive mechanism 11-the first, 12-second driving shaft of power transmission shaft
13-motor housing, 14-clutch shaft bearing, 15-second bearing
16-3rd bearing, 17-fourth bearing, 18-first shaft coupling
19-second shaft coupling, 20-wiper mechanism, 21-electric rotating machine
22-swing arm, 23-hydro-peening, 24-nozzle of disk
30-absorption, 31-active magnetic of walking mechanism wheel assembly 32-driven magnet-wheel component
33-auxiliary magnet-wheel component, 221-central vertical rod 222-swing cross bar
223-circumference montant 301-steel metallic wheel body 302-permanent magnetism cylinder
303-soft magnetism covers the active magnet-wheel of 304-cylindrical hole 311-the first
312-the second active magnet-wheel 321-driven 322-link of floating shelf
323-driven 324-installing plate of magnet-wheel 325-driven magnet-wheel wheel carrier
331-auxiliary floating shelf 332-auxiliary magnet-wheel 333-auxiliary magnet-wheel wheel carrier
The driven side lever of the 3211-driven driven side lever 3213-the second of vacuum line 3212-the first
3214-the first driven connecting hole of the driven driven contiguous block 3216-the first of contiguous block 3215-the second
3217-the second driven connecting hole 3311-auxiliary vacuum line 3312-the first auxiliary side lever
3313-the second auxiliary auxiliary auxiliary contiguous block of contiguous block 3315-the second of side lever 3314-the first
3316-the first auxiliary auxiliary connecting hole of connecting hole 3317-the second.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment that Fig. 1~8 are described is exemplary, it is intended to for explaining the present invention, and be not considered as limiting the invention.
In the description of the invention, it is to be understood that term " length ", " width ", " on ", " under ", "front", "rear",
The orientation or position relationship of the instruction such as "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer " is based on accompanying drawing institutes
The orientation or position relationship shown, is for only for ease of the description present invention and simplifies description, rather than indicate or imply signified dress
Put or element there must be specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to the limit of the present invention
System.
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that indicating or implying relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or
Implicitly include one or more this feature.In the description of the invention, " multiple " are meant that two or more,
Unless otherwise specifically defined.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally；Can be that machinery connects
Connect or electrically connect；Can be joined directly together, can also be indirectly connected to by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements.For the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
As shown in Figures 1 to 3, a kind of hull cleaning climbing robot provided in an embodiment of the present invention, is adapted to big at deep-sea
Load stabilization ship carries out washing and cleaning operation.Wherein, hull cleaning climbing robot includes drive mechanism 10, wiper mechanism 20 and inhaled
Attached walking mechanism 30.That is, the hull cleaning climbing robot in the present embodiment is mainly formed by three big module assembleds, group
Dress is more prone to, and drive mechanism 10 primarily serves the effect for producing power, and wiper mechanism 20 then realizes cleaning water spray operation, and inhales
Attached walking mechanism 30 then realize hull wall it is up walk and realize the function of obstacle detouring.
Further, with reference to shown in Fig. 3 and Fig. 8, the drive mechanism 10 includes motor housing 13, the first power transmission shaft 11 and the
Two power transmission shafts 12, the relative both sides of the motor housing 13 are respectively equipped with the first output end and the second output end, first transmission
Axle 11 is connected with first output end, and the second driving shaft 12 is connected with second output end.Specifically, motor housing 13
Drive the first power transmission shaft 11 to rotate respectively by the first output end and the second output end of setting to rotate with second driving shaft 12.
Further, with reference to shown in Fig. 3, the absorption walking mechanism 30 includes active magnetic wheel assembly 31, driven magnet-wheel group
Part 32 and auxiliary magnet-wheel component 33, the wiper mechanism 20 is fixed on the top of the active magnetic wheel assembly 31 or the driven magnetic
The top of wheel assembly 32.Specifically, wiper mechanism 20 is arranged on the top of active magnetic wheel assembly 31 or driven magnet-wheel component 32
Top may insure that wiper mechanism 20 is tried one's best and the center of climbing robot cleaned in hull, then coordinate driven magnet-wheel again
The overturn-preventing torque that hull cleans climbing robot can be increased under the collective effect of component 32 and auxiliary magnet-wheel component 33, and then
Improve the overturn-preventing ability that hull cleans climbing robot.
Further, with reference to shown in Fig. 3, the active magnetic wheel assembly 31 includes the first active magnet-wheel 311 and the second active
Magnet-wheel 312, the first active magnet-wheel 311 is connected with first power transmission shaft 11, the second active magnet-wheel 312 and described the
Two power transmission shafts 12 are connected.Specifically, the setting of the first active magnet-wheel 311 and the second active magnet-wheel 312 may insure that hull is cleaned
The left and right sides of climbing robot in the process of walking keeps balance and stability.
Further, with reference to shown in Fig. 3, the driven magnet-wheel component 32 includes driven floating shelf 321, the and of link 322
Driven magnet-wheel 323, the two ends of the driven floating shelf 321 respectively with 12 turns of first power transmission shaft 11 and the second driving shaft
Dynamic connection, the link 322 is fixedly connected with the driven floating shelf 321 and prolonged along the rear of the active magnetic wheel assembly 31
Setting is stretched, the driven magnet-wheel 323 is rotatably installed on the link 322.Specifically, the setting of driven magnet-wheel 323
The adsorption structure of triangle is cooperatively formed with the first active magnet-wheel 311 and the second active magnet-wheel 312, so that hull cleaning is climbed
The load capacity of wall robot is further lifted.
Further, with reference to shown in Fig. 3, it is auxiliary that the auxiliary magnet-wheel component 33 includes auxiliary floating shelf 331 and at least two
Magnetic assist wheel 332, the two ends of the auxiliary floating shelf 331 are rotated with first power transmission shaft 11 and the second driving shaft 12 respectively
Connection, each auxiliary magnet-wheel 332 is rotatably installed on the auxiliary floating shelf 331 and positioned at the active magnetic wheel assembly
31 front.Aid in magnet-wheel 332 setting then respectively with the first active magnet-wheel 311 and the second active magnet-wheel 312 and driven magnetic
Wheel 323, which coordinates, realizes obstacle detouring, it is to avoid hull cleaning climbing robot runs into barrier in the process of walking to be occurred stuck or incline
The phenomenon covered.
More specifically, the hull cleaning climbing robot of the embodiment of the present invention, when hull cleaning climbing robot is moving ahead
In when running into barrier, the auxiliary magnet-wheel 332 positioned at the front of active magnetic wheel assembly 31 touches barrier first, due to auxiliary magnetic
Wheel 332 is arranged on auxiliary floating shelf 331, and aids in the power transmission shaft 11 of floating shelf 331 and first and second driving shaft 12 to be rotations
Connection, then when hull cleaning climbing robot continues to move ahead, auxiliary magnet-wheel 332 can be by barrier jack-up, and aids in floating
Frame 331 is then rotated up around the first power transmission shaft 11 and second driving shaft 12, now, and hull cleans climbing robot mainly by actively
The the first active magnet-wheel 311 and the second active magnet-wheel 312 of magnet-wheel component 31 and positioned at the driven of the rear of active magnetic wheel assembly 31
The driven magnet-wheel 323 of magnet-wheel component 32 carries out hull absorption；After aiding in magnet-wheel 332 to clear the jumps, the first active magnet-wheel 311
Start obstacle detouring with the second active magnet-wheel 312, the first active magnet-wheel 311 and the second active magnet-wheel 312 are by barrier jack-up, and auxiliary is floating
Moving frame 331 and driven floating shelf 321 rotate to realize band dynamic auxiliary magnetic both with respect to the first power transmission shaft 11 and second driving shaft 12
Wheel 332 and driven magnet-wheel 323 rotate body absorption of navigating of going forward side by side, it is ensured that hull cleaning climbing robot is stably adsorbed in hull
On；And after active magnet-wheel clears the jumps, active magnet-wheel and auxiliary magnet-wheel 332 can also provide enough absorption affinity absorption and exist
On hull, and rotate to realize the driven magnetic of drive relative to the first power transmission shaft 11 and second driving shaft 12 in driven floating shelf 321
Wheel 323 clears the jumps.
The hull cleaning climbing robot of the embodiment of the present invention, in active magnetic wheel assembly 31, driven magnet-wheel component 32 and auxiliary
Under the collective effect of magnetic assist wheel assembly 33 so that the steadily of centre of gravity of hull cleaning climbing robot is in the He of the first active magnet-wheel 311
Between second active magnet-wheel 312, then with reference to auxiliary in front of the first active magnet-wheel 311 and the second active magnet-wheel 312 respectively
Magnetic assist wheel 332 and the driven magnet-wheel 323 at rear can increase overturn-preventing torque, improve overturn-preventing ability；Meanwhile, in obstacle detouring,
At least there is the first active magnet-wheel 311 and the second active magnet-wheel 312 and driven magnet-wheel 323 or auxiliary magnet-wheel 332 and driven
The active magnet-wheel 311 of magnet-wheel 323 or first and the second active magnet-wheel 312 and auxiliary magnet-wheel 332 are adsorbed with hull, obstacle climbing ability
Can it be greatly improved with load, and the adaptability of hull wall also accordingly strengthens, and enables to wiper mechanism 20 to exist
Efficient operation is realized during retinue.
Further, two motor (not shown) can be set in motor housing 13, and in the master of two motors
Harmonic speed reducer (not shown) is configured on axle, then the first output end and the second output end is used as using two harmonic speed reducers.
Further, with reference to shown in Fig. 3 and Fig. 8, drive mechanism 10 also includes the shaft coupling of first shaft coupling 18 and second
Device 19, first output end is connected by the first connecting shaft with the first power transmission shaft 11, and second output end passes through second
Axle device 19 is connected with second driving shaft 12, so i.e. can ensure that motor housing 13 power is delivered to respectively on the first power transmission shaft 11 and
On second driving shaft 12.
In the present embodiment, with reference to shown in Fig. 3~4, the auxiliary floating shelf 331 includes auxiliary vacuum line 3311 and connected
It is connected to the auxiliary two ends of vacuum line 3311 and the first auxiliary auxiliary side lever of side lever 3312 and second extended towards the same side
3313, the end of the first auxiliary side lever 3312 is rotated with first power transmission shaft 11 to be connected, the second auxiliary side lever
3313 end rotates with the second driving shaft 12 and is connected, and the auxiliary vacuum line 3311 is provided with quantity and the auxiliary
The quantity identical auxiliary magnet-wheel wheel carrier 333 of magnet-wheel 332, each auxiliary magnet-wheel 332 correspondence is installed on each auxiliary magnet-wheel
On wheel carrier 333.Specifically, due to the first auxiliary auxiliary of side lever 3312 and second side lever 3313 respectively with the first power transmission shaft 11 and the
Two power transmission shafts 12 rotate connection, then the auxiliary being connected between the first auxiliary side lever 3312 and the second auxiliary side lever 3313 is floated
Connecting rod 3311 can then be rotated relative to the first power transmission shaft 11 and second driving shaft 12.So, when aiding in 332 obstacle detouring of magnet-wheel,
Auxiliary magnet-wheel 332 as auxiliary vacuum line 3311 rotates raised position, that is, is aided in magnet-wheel 332 will not be with during barrier jack-up
Barrier front interference, auxiliary magnet-wheel 332 is cleared the jumps by way of floating, in this way, when hull cleans climbing robot
Barrier is run into walking process to be also not in stuck or topple.
Further, auxiliary magnet-wheel 332 is with aiding in the installation of magnet-wheel wheel carrier 333 to connect by the way of shaft hole matching
Connect.
Preferably, auxiliary vacuum line 3311 is integrally formed with the first auxiliary auxiliary side lever 3313 of side lever 3312 and second and set
Meter.
It is highly preferred that with reference to shown in Fig. 1~2, the quantity of auxiliary magnet-wheel 332 is the two and two auxiliary magnet-wheels 332
Between the first active magnet-wheel 311 and the second active magnet-wheel 312, and the first active magnet-wheel 311 and the second active magnet-wheel 312
The left and right sides in the centre position of climbing robot is cleaned in whole hull.So when driven magnet-wheel 323 carries out obstacle detouring, two
Trapezium structure is formed between the auxiliary active magnet-wheel 311 of magnet-wheel 332 and first and the second active magnet-wheel 312, i.e., similar triangle knot
Structure, then the stability that whole hull cleans climbing robot can be strengthened.
In the present embodiment, with reference to shown in Fig. 3~4 and Fig. 8, the drive mechanism 10 also includes the axle of clutch shaft bearing 14 and second
15 are held, the inner ring of the clutch shaft bearing 14 is fixedly connected with first power transmission shaft 11, the end of the first auxiliary side lever 3312
Portion is fixedly connected with the outer ring of the clutch shaft bearing 14, and the inner ring of the second bearing 15 is fixed with the second driving shaft 12 to be connected
Connect, the end of the second auxiliary side lever 3313 is fixedly connected with the outer ring of the second bearing 15.Specifically, clutch shaft bearing 14
Setting play a part of support first aid in side lever 3312 rotate and reduction by first aid in floating connection bar in motion process
In coefficient of friction；Similarly, auxiliary side lever 3313 rotation of support second and drop are then played a part of in the setting of second bearing 15
Coefficient of friction of the low second auxiliary floating connection bar in motion process.So the secondary side of side lever 3312 and second is aided in first
Bar 3313 is guaranteed on the premise of being respectively relative to the first power transmission shaft 11 and the rotation of second driving shaft 12, aids in floating connection bar
Also achieve the rotation relative to the first power transmission shaft 11 and second driving shaft 12.
In the present embodiment, with reference to shown in Fig. 3~4, the end of the first auxiliary side lever 3312 is provided with the first auxiliary connection
Block 3314, the first auxiliary contiguous block 3314 is provided with the first auxiliary connecting hole 3316, the first auxiliary connecting hole 3316
On the outer ring for being socketed on the clutch shaft bearing 14, the end of the second auxiliary side lever 3313 is provided with the second auxiliary contiguous block
3315, the second auxiliary contiguous block 3315 is provided with the second auxiliary connecting hole 3317,3317 sets of the connecting hole of the second auxiliary
On the outer ring for being connected to the second bearing 15.Specifically, contiguous block 3314 is aided in may insure the first auxiliary by setting first
There is enough intensity to be connected with the first power transmission shaft 11 for the end of side lever 3312, and the setting of the first auxiliary connecting hole 3316 is then just
It is connected in being realized with clutch shaft bearing 14, ease of assembly.Similarly, contiguous block 3315 is aided in may insure that second is auxiliary by setting second
Helping the end of side lever 3313, there is enough intensity to be connected with second driving shaft 12, and the setting of the second auxiliary connecting hole 3317 is then
It is easy to realize with second bearing 15 and is connected, ease of assembly.
In the present embodiment, with reference to shown in Fig. 3 and Fig. 5, the driven floating shelf 321 include driven vacuum line 3211 and
It is connected to the two ends of driven vacuum line 3211 and the first driven side lever of driven side lever 3212 and second extended towards the same side
3213, the end of the first driven side lever 3212 is rotated with first power transmission shaft 11 to be connected, the second driven side lever
3213 end is rotated with the second driving shaft 12 and is connected, and the link 322 is fixed with the driven vacuum line 3211
Connection, end of the link 322 away from the driven vacuum line 3211 is provided with installing plate 324, the installing plate 324
Provided with driven magnet-wheel wheel carrier 325, the driven correspondence of magnet-wheel 323 is installed on the driven magnet-wheel wheel carrier 325.Specifically, by
It is connected respectively with the 3rd power transmission shaft and the 4th drive axis in the first driven side lever 3213 of driven side lever 3212 and second, then
The driven vacuum line 3211 being connected between the first driven side lever 3213 of driven side lever 3212 and second then can be relative to
Three power transmission shafts and the 4th drive axis.So, when the first active magnet-wheel 311 and the second active 312 obstacle detouring of magnet-wheel, the first master
The dynamic active magnet-wheel 312 of magnet-wheel 311 and second by during barrier jack-up with auxiliary vacuum line 3311 and driven vacuum line
3211 rotate reduction raised position so that auxiliary magnet-wheel 332 and driven magnet-wheel 323 are adsorbed on hull, i.e. the first active magnet-wheel
311 and second active magnet-wheel 312 will not with barrier front interfere, the first active magnet-wheel 311 and the second active magnet-wheel 312 pass through
The mode of floating clears the jumps；And when driven 323 obstacle detouring of magnet-wheel, driven magnet-wheel 323 by during barrier jack-up with driven
Vacuum line 3211 rotates raised position, i.e., driven magnet-wheel 323 will not interfere with barrier front, and driven magnet-wheel 323 passes through floating
Dynamic mode clears the jumps, in this way, being also not in card when running into barrier in hull cleaning climbing robot walking process
It is dead or topple.
Further, the installation of driven magnet-wheel 323 and driven magnet-wheel wheel carrier 325 can be connected by the way of shaft hole matching
Connect.
In the present embodiment, with reference to shown in Fig. 3, Fig. 5 and Fig. 8, the drive mechanism 10 also includes 3rd bearing 16 and the 4th
Bearing 17, the inner ring of the 3rd bearing 16 is fixedly connected with first power transmission shaft 11, the first driven side lever 3212
End is fixedly connected with the outer ring of the 3rd bearing 16, and the inner ring of the fourth bearing 17 is fixed with the second driving shaft 12
Connection, the end of the second driven side lever 3213 is fixedly connected with the outer ring of the fourth bearing 17.Specifically, 3rd bearing
The driven rotation of side lever 3212 of support first is played a part of in 16 setting and the first driven floating connection bar of reduction is being moved through
Coefficient of friction in journey；Similarly, the setting of fourth bearing 17 then play a part of the driven side lever 3213 of support second rotate and
Reduce coefficient of friction of the second driven floating connection bar in motion process.It is so driven in the first driven side lever 3212 and second
Side lever 3213 is guaranteed on the premise of being respectively relative to the first power transmission shaft 11 and the rotation of second driving shaft 12, driven floating connection
Bar also achieves the rotation relative to the first power transmission shaft 11 and second driving shaft 12.
Further, because clutch shaft bearing 14 and 3rd bearing 16 are connected with the first power transmission shaft 11, then can increase
14 sets of (not shown) of a clutch shaft bearing are set to be socketed in simultaneously outside clutch shaft bearing 14 and 3rd bearing 16, so can be by first
The end of side lever 3312 and the end of the first driven side lever 3212 is aided in be connected for 14 sets with clutch shaft bearing.Similarly, due to the second axle
Hold 15 and fourth bearing 17 be connected with second driving shaft 12, then can increase setting one second bearing, 15 sets of (not shown)
It is socketed in simultaneously outside second bearing 15 and fourth bearing 17, so can be driven by the end of the second auxiliary side lever 3313 and second
The end of side lever 3213 is connected for 15 sets with second bearing.
In the present embodiment, with reference to shown in Fig. 3 and Fig. 5, the end of the first driven side lever 3212 is provided with the first driven company
Block 3214 is connect, the first driven contiguous block 3214 is provided with the first driven connecting hole 3216, the first driven connecting hole
3216 are socketed on the outer ring of the 3rd bearing 16, and the end of the second driven side lever 3213 is provided with the second driven contiguous block
3215, the second driven contiguous block 3215 is provided with the second driven connecting hole 3217, second driven 3217 sets of the connecting hole
On the outer ring for being connected to the fourth bearing 17.Specifically, by setting the first driven contiguous block 3214 to may insure that first is driven
There is enough intensity to be connected with the first power transmission shaft 11 for the end of side lever 3212, and the setting of the first driven connecting hole 3216 is then just
It is connected in being realized with clutch shaft bearing 14, ease of assembly.Similarly, by set the second driven contiguous block 3215 may insure second from
There is enough intensity to be connected with second driving shaft 12 for the end of dynamic side lever 3213, and the setting of the second driven connecting hole 3217 is then
It is easy to realize with second bearing 15 and is connected, ease of assembly.
With reference to shown in Fig. 1~2, the whole fuselage of the hull cleaning climbing robot of the present embodiment is designed as arch, that is, leads to
Auxiliary floating shelf 331, the design of controlling of driven floating shelf 321 and link 322 is crossed to form arch, and pass through rational structure chi
Very little design makes machine gravity centrally located.The structure of arch makes fuselage connect stress more rationally effectively, and up arching allows machine
Body will not be in contact with hull wall barrier, it is ensured that the obstacle climbing ability of complete machine.In the present embodiment, the wiper mechanism 20 is wrapped
Electric rotating machine 21, swing arm 22 and hydro-peening disk 23 are included, the electric rotating machine 21 is fixed on the top of the active magnetic wheel assembly 31
Or the top of the driven magnet-wheel component 32, one end of the swing arm 22 and the drive connection of electric rotating machine 21, the spray
Dishwashing 23 is connected with the other end of the swing arm 22, and the hydro-peening disk 23 is provided with nozzle 24.Specifically, electric rotating machine 21
It can be fixed in the middle part of the driven vacuum line 3211 of driven floating shelf 321 or motor housing 13, in a word, ensure as far as possible
The position of electric rotating machine 21 is in the middle part of complete machine.So drive swing arm 22 to rotate by the rotating shaft of electric rotating machine 21, swing
Arm 22 can realize 360 ° of rotation, so realize the rotation for driving hydro-peening disk 23 to realize 360 °, then so that hydro-peening disk 23
Nozzle 24 sprinkling clean range it is extremely wide.Meanwhile, the cleaning disk of the replacement conventional cumbersome of hydro-peening disk 23 is coordinated with swing arm 22, no
But obstacle detouring and adaptive capability on wall surface can be improved, and drives hydro-peening disk 23 to make circumferential rotation around the center of complete machine by swing arm 22
Transhipment is dynamic to cause clean range to realize no dead angle, and cleaning performance is splendid.
Further, with reference to shown in Fig. 1~3 and Fig. 7, swing arm 22 includes central vertical rod 221, swings cross bar 222 and week
To montant 223, central vertical rod 221 is connected with the main shaft drives of electric rotating machine 21 and in being vertically arranged, swings one end of cross bar 222
It is connected with central vertical rod 221, the other end is connected with circumferential montant 223, and swings cross bar 222 and is arranged in transverse horizontal, and it is circumferential
Montant 223 is in be vertically arranged and for being installed for hydro-peening disk 23.So when the main shaft of electric rotating machine 21 drives central vertical rod 221 to revolve
When turning, then swing cross bar 222 as central vertical rod 221 rotates, and circumferential montant 223 then followed by swing cross bar 222 and revolve
Turn, then realize and drive the 23360 ° of rotations of hydro-peening disk, so that the nozzle 24 installed on hydro-peening disk 23 can realize 360 °
The cleaning of scope.
Further, with reference to shown in Fig. 5, link 322 is preferably two and is arranged at intervals, and link 322 is arc
Structure, is so conducive to overall design arching shape and structure.
Wherein, central vertical rod 221, swing cross bar 222 and circumferential montant 223 use Telescopic rod structure, can so lead to
The height of the telescopic adjustment cleaning of central vertical rod 221 is crossed, by swinging the radius that the telescopic adjustment of cross bar 222 is cleaned, is led to
The angle of cleaning can be adjusted by crossing the flexible of circumferential montant 223.
Further, central vertical rod 221, swing connection between cross bar 222 and the circumferential three of montant 223 can be using can
The flexible connection of relative position is adjusted, it is so convenient that height is carried out to central vertical rod 221, swing cross bar 222 and circumferential montant 223
The regulation of the parameters such as degree, angle, it is ensured that the efficiency of cleaning.
In the present embodiment, it is preferable that the auxiliary magnet-wheel 332 is the universal auxiliary magnet-wheel of permanent magnetism.Specifically, magnet-wheel is aided in
332 external diameter is smaller than the first active magnet-wheel 311, the second active magnet-wheel 312 and driven magnet-wheel 323.So auxiliary magnet-wheel 332 is whole
Body structure is smaller, makes to form the universal auxiliary magnet-wheel of permanent magnetism using Ru-Fe-Mn annular permanent magnet.
In the present embodiment, with reference to shown in Fig. 3 and Fig. 6, the first active magnet-wheel 311, the second active magnet-wheel 312 and described
Driven magnet-wheel 323 includes steel metallic wheel body 301, some permanent magnetism cylinders 302 and soft magnetism set 303, the steel metal wheel
Body 301 close to the position of wheel rim provided with the uniform some cylindrical holes 304 of annular, each cylindrical hole 304 with it is described
The axis parallel of steel metallic wheel body 301 is set, and each correspondence of permanent magnetism cylinder 302 is installed on each cylindrical hole
In 304, the soft magnetism set 303 is socketed on the outer ring of the steel metallic wheel body 301.Specifically, 304 pairs of a cylindrical hole
It should be flush-mounted in a cylindrical hole 304, such ease of assembly, each permanent magnetism cylinder 302 realizes radial magnetizing after assembling.
Soft magnetism set 303 be socketed in the outer rings of steel metallic wheel body 301 so as to the tight connection of steel metallic wheel body 301, it is same have it is square
Just the stability after the advantage assembled, and connection is splendid.
Wherein, soft magnetism set 303 is soft structures, using the deformable feature of compression of soft magnetism set 303, in increase wheel friction
While power and obstacle climbing ability, the magnetic attenuation degree of each wall of permanent magnetism cylinder 302 is farthest reduced.
Preferably, the quantity of permanent magnetism cylinder 302 is 28, and the quantity of cylindrical hole 304 is also 28.Certainly, exist
In other embodiment, the quantity of permanent magnetism cylinder 302 can be more than 28, such as 30~40, or permanent magnetism cylinder 302
Quantity can be following in 28, such as 10~20, is selected with specific reference to actual demand, no longer carries out enumerating and repeating herein.
Preferably, the size one of the first active magnet-wheel 311, the second active magnet-wheel 312 and the driven magnet-wheel 323
Cause, can be between the first active magnet-wheel 311, the second active magnet-wheel 312 and the driven magnet-wheel 323 so in assembling
It is mutually general.
In the walking suction type of the hull cleaning climbing robot of the embodiment of the present invention, by the He of the first active magnet-wheel 311
The permanent magnetism cylinder of second active magnet-wheel 312 provides primary attachment power, and the universal auxiliary magnet-wheel of permanent magnetism is driven and aids in absorption, so that
Under the premise of ensureing that hull cleaning climbing robot walking is flexible, load capacity is improved.
Certainly, the hull of the embodiment of the present invention cleans climbing robot except available for the cleaning to under-water body surface
Outside, it can be also used for such as cleaning of large oil tank wall etc. of other steel walls.Other can also be carried by climbing wall cleaning robot
Equipment such as detection device is creeped and completes relevant work in steel wall.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
Any modifications, equivalent substitutions and improvements made within refreshing and principle etc., should be included in the scope of the protection.
Claims (10)
1. a kind of hull cleans climbing robot, it is characterised in that：Including drive mechanism, wiper mechanism and absorption walking mechanism；
The drive mechanism includes motor housing, the first power transmission shaft and second driving shaft, and the relative both sides of the motor housing are set respectively
Have the first output end and the second output end, first power transmission shaft is connected with first output end, the second driving shaft with
The second output end connection；
The absorption walking mechanism includes active magnetic wheel assembly, driven magnet-wheel component and auxiliary magnet-wheel component, the wiper mechanism
It is fixed on the top of the active magnetic wheel assembly or the top of the driven magnet-wheel component；
The active magnetic wheel assembly includes the first active magnet-wheel and the second active magnet-wheel, the first active magnet-wheel and described first
Power transmission shaft is connected, and the second active magnet-wheel is connected with the second driving shaft；
The driven magnet-wheel component includes driven floating shelf, link and driven magnet-wheel, and the two ends of the driven floating shelf are distinguished
Rotate and be connected with first power transmission shaft and the second driving shaft, the link be fixedly connected with the driven floating shelf and
It is extended along the rear of the active magnetic wheel assembly, the driven magnet-wheel is rotatably installed on the link；
The auxiliary magnet-wheel component includes auxiliary floating shelf and at least two auxiliary magnet-wheels, the two ends difference of the auxiliary floating shelf
Rotate and be connected with first power transmission shaft and the second driving shaft, each auxiliary magnet-wheel is rotatably installed on the auxiliary
On floating shelf and positioned at the front of the active magnetic wheel assembly.
2. hull according to claim 1 cleans climbing robot, it is characterised in that：The auxiliary floating shelf includes auxiliary
Vacuum line and the first auxiliary side lever and second for being connected to the auxiliary vacuum line two ends and extending towards the same side are aided in
Side lever, it is described first auxiliary side lever end be connected with first drive axis, it is described second aid in side lever end and
The second driving shaft rotates connection, and the auxiliary vacuum line is auxiliary provided with quantity and the quantity identical of the auxiliary magnet-wheel
Magnetic assist wheel wheel carrier, each auxiliary magnet-wheel correspondence is installed on each auxiliary magnet-wheel wheel carrier.
3. hull according to claim 2 cleans climbing robot, it is characterised in that：The drive mechanism also includes first
Bearing and second bearing, the inner ring of the clutch shaft bearing are fixedly connected with first power transmission shaft, the first auxiliary side lever
End is fixedly connected with the outer ring of the clutch shaft bearing, and the inner ring of the second bearing is fixedly connected with the second driving shaft,
The end of the second auxiliary side lever is fixedly connected with the outer ring of the second bearing.
4. hull according to claim 3 cleans climbing robot, it is characterised in that：The end of the first auxiliary side lever
Provided with the first auxiliary contiguous block, the first auxiliary contiguous block is provided with the first auxiliary connecting hole, the first auxiliary connecting hole
On the outer ring for being socketed on the clutch shaft bearing, the end of the second auxiliary side lever is provided with the second auxiliary contiguous block, described second
Aid in contiguous block provided with the second auxiliary connecting hole, the second auxiliary connecting hole is socketed on the outer ring of the second bearing.
5. the hull cleaning climbing robot according to any one of Claims 1 to 4, it is characterised in that：The driven floating
Frame includes driven vacuum line and is connected to the driven vacuum line two ends and the first driven side lever extended towards the same side
With the second driven side lever, the end of the first driven side lever is connected with first drive axis, second slave end
The end of bar is rotated with the second driving shaft and is connected, and the link is fixedly connected with the driven vacuum line, the company
End of the frame away from the driven vacuum line is connect provided with installing plate, the installing plate is provided with driven magnet-wheel wheel carrier, it is described from
Dynamic magnet-wheel correspondence is installed on the driven magnet-wheel wheel carrier.
6. hull according to claim 5 cleans climbing robot, it is characterised in that：The drive mechanism also includes the 3rd
Bearing and fourth bearing, the inner ring of the 3rd bearing are fixedly connected with first power transmission shaft, the first driven side lever
End is fixedly connected with the outer ring of the 3rd bearing, and the inner ring of the fourth bearing is fixedly connected with the second driving shaft,
The end of the second driven side lever is fixedly connected with the outer ring of the fourth bearing.
7. hull according to claim 6 cleans climbing robot, it is characterised in that：The end of the first driven side lever
Provided with the first driven contiguous block, the first driven contiguous block is provided with the first driven connecting hole, the first driven connecting hole
On the outer ring for being socketed on the 3rd bearing, the end of the second driven side lever is provided with the second driven contiguous block, described second
Driven contiguous block is provided with the second driven connecting hole, and the second driven connecting hole is socketed on the outer ring of the fourth bearing.
8. the hull cleaning climbing robot according to any one of Claims 1 to 4, it is characterised in that：The wiper mechanism
Including electric rotating machine, swing arm and hydro-peening disk, the electric rotating machine be fixed on the active magnetic wheel assembly top or it is described from
The top of dynamic magnet-wheel component, one end of the swing arm and the electric rotating machine drive connection, the hydro-peening disk are swung with described
The other end connection of arm, and the hydro-peening disk is provided with nozzle.
9. the hull cleaning climbing robot according to any one of Claims 1 to 4, it is characterised in that：The auxiliary magnet-wheel
For the universal auxiliary magnet-wheel of permanent magnetism.
10. the hull cleaning climbing robot according to any one of Claims 1 to 4, it is characterised in that：Described first actively
Magnet-wheel, the second active magnet-wheel and the driven magnet-wheel include steel metallic wheel body, some permanent magnetism cylinders and soft magnetism set, described
Steel metallic wheel body close to the position of wheel rim provided with the uniform some cylindrical holes of annular, each cylindrical hole with it is described
The axis parallel of steel metallic wheel body is set, and each permanent magnetism cylinder correspondence is installed in each cylindrical hole, described
Soft magnetism set is socketed on the outer ring of the steel metallic wheel body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710326197.1A CN107140151B (en) | 2017-05-10 | 2017-05-10 | Hull cleaning wall climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710326197.1A CN107140151B (en) | 2017-05-10 | 2017-05-10 | Hull cleaning wall climbing robot |
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| Publication Number | Publication Date |
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| CN107140151A true CN107140151A (en) | 2017-09-08 |
| CN107140151B CN107140151B (en) | 2023-07-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710326197.1A Active CN107140151B (en) | 2017-05-10 | 2017-05-10 | Hull cleaning wall climbing robot |
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| CN108032922A (en) * | 2017-12-13 | 2018-05-15 | 哈尔滨科能熔敷科技有限公司 | A kind of water-cooling wall thickness measuring is special to climb wall trolley |
| CN108297957A (en) * | 2018-02-08 | 2018-07-20 | 深圳市行知行机器人技术有限公司 | The wheeled climbing robot of magnetic gap |
| CN109466723A (en) * | 2019-01-03 | 2019-03-15 | 中国石油大学(华东) | A kind of climbing robot for marine surface cleaning derusting |
| CN110773489A (en) * | 2019-09-12 | 2020-02-11 | 天津华能北方热力设备有限公司 | Barrier-free high-altitude rust removal device |
| CN111167765A (en) * | 2019-12-30 | 2020-05-19 | 浙江大学 | Method for cleaning surface attachments of underwater concave slot of pier and robot |
| CN112004742A (en) * | 2018-04-18 | 2020-11-27 | 颜宗明 | Underwater hull cleaner, hull cleaning system and method of cleaning a ship hull |
| CN114802529A (en) * | 2022-04-15 | 2022-07-29 | 安徽华鲲智能技术有限公司 | Ship cleaning robot |
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| CN114802529A (en) * | 2022-04-15 | 2022-07-29 | 安徽华鲲智能技术有限公司 | Ship cleaning robot |
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