CN107140151B - Hull cleaning wall climbing robot - Google Patents
Hull cleaning wall climbing robot Download PDFInfo
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- CN107140151B CN107140151B CN201710326197.1A CN201710326197A CN107140151B CN 107140151 B CN107140151 B CN 107140151B CN 201710326197 A CN201710326197 A CN 201710326197A CN 107140151 B CN107140151 B CN 107140151B
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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
Abstract
The invention belongs to the technical field of wall climbing robots, and particularly relates to a ship body cleaning wall climbing robot, which comprises a driving mechanism, a cleaning mechanism and an adsorption travelling mechanism; the driving mechanism comprises a motor box, a first transmission shaft and a second transmission shaft, wherein a first output end and a second output end are respectively arranged on two opposite sides of the motor box, the first transmission shaft is connected with the first output end, and the second transmission shaft is connected with the second output end; the adsorption travelling mechanism comprises a driving magnetic wheel assembly, a driven magnetic wheel assembly and an auxiliary magnetic wheel assembly; the auxiliary magnetic wheel assembly comprises an auxiliary floating frame and at least two auxiliary magnetic wheels, two ends of the auxiliary floating frame are respectively connected with the first transmission shaft and the second transmission shaft in a rotating mode, and each auxiliary magnetic wheel is rotatably installed on the auxiliary floating frame and located in front of the driving magnetic wheel assembly. The obstacle surmounting capability and the load capacity of the invention are greatly improved, the adaptability of the wall surface of the ship body is enhanced, and the cleaning mechanism can realize high-efficiency operation.
Description
Technical Field
The invention belongs to the technical field of wall climbing robots, and particularly relates to a ship body cleaning wall climbing robot.
Background
At present, the cleaning operation of the surface of the domestic ship body is mostly finished in a dock or carried by a diver, and the mature mode is that an operator holds a pneumatic or hydraulic cleaner to submerge under water, applies external force and negative pressure generated by rotating brushes to enable the cleaner to cling to the ship body, pushes the cleaner to move forwards, and cleans marine organisms on the surface of the ship body. The manual cleaning mode has low efficiency, long period and high operation intensity, and has higher requirements on physical and psychological quality of workers. The cleaning device is carried on the underwater wall climbing robot for operation, the high-pressure water jet cleaning, the real-time monitoring system detection and the wall climbing robot crawling operation are combined, the wall climbing robot is controlled to travel through a remote control, the cleaning mechanism executes cleaning action, the monitoring detection mechanism detects the cleaning wall surface and the environment in real time, and the smoothness of cleaning work and the cleaning effect are guaranteed. To achieve this, a key technology is a wall climbing robot.
Chinese patent (application number: 200410016429.6) discloses a magnetic wheel adsorption type wall climbing robot, which has the advantages of flexible movement and high detection precision, but has small effective adsorption area of the magnetic wheel and poor load capacity. Chinese patent (application number: 201510027910.3) discloses a wall climbing robot, and this scheme has strengthened the load capacity of robot with the adsorption mode that magnetic gap and magnetic wheel combined together, but its obstacle crossing ability does not promote, meets the obstacle alright block of small thickness and adsorbs the magnetic path, blocks the marching of robot. Chinese patent (application number 201610554277.8) discloses a magnetic wheel type wall climbing robot, which can climb over a vertically connected wall surface through a special frame structure and a magnetic wheel structure, but the simple and thin frame also determines that the load capacity is weak and the obstacle crossing capacity is limited.
Aiming at the problem that the existing wall climbing robot cannot realize high-efficiency cleaning operation due to poor loading capacity and obstacle surmounting capacity, the wall climbing robot with the characteristics of large loading, strong wall surface adaptability, flexible steering and the like is provided, and the technical problem to be solved for realizing high-efficiency cleaning of ship body operation is urgent.
Disclosure of Invention
The invention aims to provide a ship body cleaning wall climbing robot, and aims to solve the technical problems of poor loading capacity and obstacle surmounting capacity of the wall climbing robot in the prior art.
In order to achieve the above purpose, the invention adopts the following technical scheme: a ship body cleaning wall climbing robot comprises a driving mechanism, a cleaning mechanism and an adsorption travelling mechanism;
the driving mechanism comprises a motor box, a first transmission shaft and a second transmission shaft, wherein a first output end and a second output end are respectively arranged on two opposite sides of the motor box, the first transmission shaft is connected with the first output end, and the second transmission shaft is connected with the second output end;
the adsorption travelling mechanism comprises a driving magnetic wheel assembly, a driven magnetic wheel assembly and an auxiliary magnetic wheel assembly, and the cleaning mechanism is fixed above the driving magnetic wheel assembly or above the driven magnetic wheel assembly;
the driving magnetic wheel assembly comprises a first driving magnetic wheel and a second driving magnetic wheel, the first driving magnetic wheel is connected with the first transmission shaft, and the second driving magnetic wheel is connected with the second transmission shaft;
the driven magnetic wheel assembly comprises a driven floating frame, a connecting frame and driven magnetic wheels, wherein two ends of the driven floating frame are respectively and rotatably connected with the first transmission shaft and the second transmission shaft, the connecting frame is fixedly connected with the driven floating frame and extends along the rear of the driving magnetic wheel assembly, and the driven magnetic wheels are rotatably arranged on the connecting frame;
the auxiliary magnetic wheel assembly comprises an auxiliary floating frame and at least two auxiliary magnetic wheels, wherein two ends of the auxiliary floating frame are respectively connected with the first transmission shaft and the second transmission shaft in a rotating mode, and each auxiliary magnetic wheel is rotatably installed on the auxiliary floating frame and located in front of the driving magnetic wheel assembly.
Preferably, the auxiliary floating frame comprises an auxiliary floating connecting rod, a first auxiliary side rod and a second auxiliary side rod, wherein the first auxiliary side rod and the second auxiliary side rod are connected to two ends of the auxiliary floating connecting rod and extend towards the same side, the end part of the first auxiliary side rod is rotationally connected with the first transmission shaft, the end part of the second auxiliary side rod is rotationally connected with the second transmission shaft, the auxiliary floating connecting rod is provided with auxiliary magnetic wheel frames with the same number as the auxiliary magnetic wheels, and each auxiliary magnetic wheel is correspondingly arranged on each auxiliary magnetic wheel frame.
Preferably, the driving mechanism further comprises a first bearing and a second bearing, the inner ring of the first bearing is fixedly connected with the first transmission shaft, the end part of the first auxiliary side rod is fixedly connected with the outer ring of the first bearing, the inner ring of the second bearing is fixedly connected with the second transmission shaft, and the end part of the second auxiliary side rod is fixedly connected with the outer ring of the second bearing.
Preferably, the tip of first auxiliary side lever is equipped with first auxiliary connection piece, be equipped with first auxiliary connecting hole on the first auxiliary connection piece, first auxiliary connecting hole cup joint in on the outer lane of first bearing, the tip of second auxiliary side lever is equipped with the second auxiliary connection piece, be equipped with the second auxiliary connecting hole on the second auxiliary connection piece, the second auxiliary connecting hole cup joint in on the outer lane of second bearing.
Preferably, the driven floating frame comprises a driven floating connecting rod, a first driven side rod and a second driven side rod, wherein the first driven side rod and the second driven side rod are connected to two ends of the driven floating connecting rod and extend towards the same side, the end part of the first driven side rod is rotationally connected with the first transmission shaft, the end part of the second driven side rod is rotationally connected with the second transmission shaft, the connecting frame is fixedly connected with the driven floating connecting rod, the connecting frame is far away from the end part of the driven floating connecting rod, a mounting plate is arranged on the end part of the driven floating connecting rod, a driven magnetic wheel frame is arranged on the mounting plate, and the driven magnetic wheel is correspondingly arranged on the driven magnetic wheel frame.
Preferably, the driving mechanism further comprises a third bearing and a fourth bearing, the inner ring of the third bearing is fixedly connected with the first transmission shaft, the end part of the first driven side rod is fixedly connected with the outer ring of the third bearing, the inner ring of the fourth bearing is fixedly connected with the second transmission shaft, and the end part of the second driven side rod is fixedly connected with the outer ring of the fourth bearing.
Preferably, the end of the first driven side rod is provided with a first driven connecting block, a first driven connecting hole is formed in the first driven connecting block, the first driven connecting hole is sleeved on the outer ring of the third bearing, the end of the second driven side rod is provided with a second driven connecting block, a second driven connecting hole is formed in the second driven connecting block, and the second driven connecting hole is sleeved on the outer ring of the fourth bearing.
Preferably, the cleaning mechanism comprises a rotating motor, a swing arm and a spray washing disc, wherein the rotating motor is fixed above the driving magnetic wheel assembly or above the driven magnetic wheel assembly, one end of the swing arm is in driving connection with the rotating motor, the spray washing disc is connected with the other end of the swing arm, and a nozzle is arranged on the spray washing disc.
Preferably, the auxiliary magnetic wheel is a permanent magnetic universal auxiliary magnetic wheel.
Preferably, the first driving magnetic wheel, the second driving magnetic wheel and the driven magnetic wheel all comprise steel metal wheel bodies, a plurality of permanent magnetic cylinders and soft magnetic sleeves, a plurality of cylindrical through holes which are annularly and uniformly distributed are formed in positions, close to the wheel rims, of the steel metal wheel bodies, the cylindrical through holes are parallel to the axis of the steel metal wheel bodies, the permanent magnetic cylinders are correspondingly installed in the cylindrical through holes, and the soft magnetic sleeves are sleeved on the outer rings of the steel metal wheel bodies.
The invention has the beneficial effects that: according to the ship body cleaning wall climbing robot, under the combined action of the driving magnetic wheel assembly, the driven magnetic wheel assembly and the auxiliary magnetic wheel assembly, the gravity center of the ship body cleaning wall climbing robot is stabilized between the first driving magnetic wheel and the second driving magnetic wheel, so that the auxiliary magnetic wheels positioned in front of the first driving magnetic wheel and the second driving magnetic wheel and the driven magnetic wheels positioned behind the first driving magnetic wheel and the second driving magnetic wheel are combined, the anti-overturning moment can be increased, and the anti-overturning capacity is improved; meanwhile, when obstacle crossing is performed, the cleaning device at least comprises a first driving magnetic wheel, a second driving magnetic wheel, a driven magnetic wheel or an auxiliary magnetic wheel, a driven magnetic wheel or the first driving magnetic wheel, the second driving magnetic wheel, the auxiliary magnetic wheel and the ship body, wherein the obstacle crossing capability and the load can be greatly improved, the adaptability of the wall surface of the ship body is correspondingly enhanced, and the cleaning mechanism can realize high-efficiency operation in the following process.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a hull cleaning wall climbing robot according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a hull cleaning wall climbing robot according to a second embodiment of the present invention.
Fig. 3 is a schematic exploded view of a hull cleaning wall climbing robot according to an embodiment of the present invention.
Fig. 4 is a schematic structural view of an auxiliary floating frame of a hull cleaning wall climbing robot according to an embodiment of the present invention.
Fig. 5 is a schematic structural view of a driven floating frame and a connecting frame of a hull cleaning wall climbing robot according to an embodiment of the present invention.
Fig. 6 is a schematic exploded view of a first driving magnetic wheel or a second driving magnetic wheel or a driven magnetic wheel of a ship body cleaning and wall climbing robot according to an embodiment of the present invention.
Fig. 7 is a schematic structural diagram of a cleaning mechanism of a hull cleaning wall climbing robot according to an embodiment of the present invention.
Fig. 8 is a schematic structural diagram of a driving mechanism of a hull cleaning wall climbing robot according to an embodiment of the present invention.
Wherein, each reference sign in the figure:
10-drive mechanism 11-first transmission shaft 12-second transmission shaft
13-motor case 14-first bearing 15-second bearing
16-third bearing 17-fourth bearing 18-first coupling
19-second coupling 20-cleaning mechanism 21-rotating electric machine
22-swinging arm 23-spray-washing tray 24-nozzle
30-adsorption travelling mechanism 31-driving magnetic wheel assembly 32-driven magnetic wheel assembly
33-auxiliary magnetic wheel assembly 221-central vertical bar 222-swinging cross bar
223-circumferential vertical rod 301-steel metal wheel body 302-permanent magnet cylinder
303-soft magnetic sleeve 304-cylindrical through hole 311-first driving magnetic wheel
312-second driving magnetic wheel 321-driven floating frame 322-connecting frame
323-driven magnetic wheel 324-mounting plate 325-driven magnetic wheel frame
331-auxiliary floating frame 332-auxiliary magnetic wheel 333-auxiliary magnetic wheel frame
3211-driven floating link 3212-first driven side bar 3213-second driven side bar
3214-first driven connection block 3215-second driven connection block 3216-first driven connection hole
3217-second driven connecting hole 3311-auxiliary floating link 3312-first auxiliary side rod
3313-second auxiliary side bar 3314-first auxiliary connecting block 3315-second auxiliary connecting block
3316-first auxiliary connection holes 3317-second auxiliary connection holes.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to fig. 1 to 8 are exemplary and intended to illustrate the present invention and should not be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
As shown in fig. 1 to 3, the hull cleaning wall climbing robot provided by the embodiment of the invention is suitable for cleaning a deep sea large-load stabilized ship. Wherein, the hull cleaning wall climbing robot comprises a driving mechanism 10, a cleaning mechanism 20 and an adsorption travelling mechanism 30. That is, the hull cleaning and wall climbing robot in this embodiment is mainly formed by assembling three modules, so that the assembly is easier, the driving mechanism 10 mainly plays a role in generating power, the cleaning mechanism 20 realizes cleaning and water spraying operation, and the adsorption travelling mechanism 30 realizes travelling on the wall surface of the hull and realizes obstacle surmounting function.
Further, as shown in fig. 3 and 8, the driving mechanism 10 includes a motor case 13, a first transmission shaft 11, and a second transmission shaft 12, where a first output end and a second output end are respectively disposed on two opposite sides of the motor case 13, the first transmission shaft 11 is connected with the first output end, and the second transmission shaft 12 is connected with the second output end. Specifically, the motor box 13 drives the first transmission shaft 11 to rotate and the second transmission shaft 12 to rotate through the first output end and the second output end which are provided respectively.
Further, as shown in fig. 3, the adsorption traveling mechanism 30 includes a driving magnetic wheel assembly 31, a driven magnetic wheel assembly 32 and an auxiliary magnetic wheel assembly 33, and the cleaning mechanism 20 is fixed above the driving magnetic wheel assembly 31 or above the driven magnetic wheel assembly 32. Specifically, the cleaning mechanism 20 is arranged above the driving magnetic wheel assembly 31 or above the driven magnetic wheel assembly 32, so that the cleaning mechanism 20 is located at the center of the ship body cleaning wall climbing robot as much as possible, and then the anti-overturning moment of the ship body cleaning wall climbing robot can be increased under the combined action of the driven magnetic wheel assembly 32 and the auxiliary magnetic wheel assembly 33, and the anti-overturning capability of the ship body cleaning wall climbing robot is improved.
Further, as shown in fig. 3, the driving magnetic wheel assembly 31 includes a first driving magnetic wheel 311 and a second driving magnetic wheel 312, wherein the first driving magnetic wheel 311 is connected to the first transmission shaft 11, and the second driving magnetic wheel 312 is connected to the second transmission shaft 12. Specifically, the arrangement of the first driving magnetic wheel 311 and the second driving magnetic wheel 312 can ensure that the left side and the right side of the ship body cleaning wall climbing robot are balanced and stable in the walking process.
Further, as shown in fig. 3, the driven magnetic wheel assembly 32 includes a driven floating frame 321, a connecting frame 322 and a driven magnetic wheel 323, two ends of the driven floating frame 321 are respectively rotatably connected with the first transmission shaft 11 and the second transmission shaft 12, the connecting frame 322 is fixedly connected with the driven floating frame 321 and extends along the rear of the driving magnetic wheel assembly 31, and the driven magnetic wheel 323 is rotatably mounted on the connecting frame 322. Specifically, the arrangement of the driven magnetic wheel 323 and the first driving magnetic wheel 311 and the second driving magnetic wheel 312 cooperate to form a triangular adsorption structure, so that the loading capacity of the ship body cleaning wall climbing robot is further improved.
Further, as shown in fig. 3, the auxiliary magnetic wheel assembly 33 includes an auxiliary floating frame 331 and at least two auxiliary magnetic wheels 332, two ends of the auxiliary floating frame 331 are respectively rotatably connected to the first transmission shaft 11 and the second transmission shaft 12, and each auxiliary magnetic wheel 332 is rotatably mounted on the auxiliary floating frame 331 and located in front of the driving magnetic wheel assembly 31. The auxiliary magnetic wheel 332 is respectively matched with the first driving magnetic wheel 311, the second driving magnetic wheel 312 and the driven magnetic wheel 323 to realize obstacle crossing, so that the phenomenon that the ship body cleaning wall climbing robot is blocked or overturned due to obstacles in the running process is avoided.
More specifically, when the ship body cleaning and wall climbing robot encounters an obstacle during the forward movement, the auxiliary magnetic wheel 332 positioned in front of the driving magnetic wheel assembly 31 is firstly contacted with the obstacle, and the auxiliary magnetic wheel 332 is mounted on the auxiliary floating frame 331, and the auxiliary floating frame 331 is rotatably connected with the first transmission shaft 11 and the second transmission shaft 12, so that the auxiliary magnetic wheel 332 is jacked up by the obstacle when the ship body cleaning and wall climbing robot continues to move forward, and the auxiliary floating frame 331 rotates upwards around the first transmission shaft 11 and the second transmission shaft 12, and at this time, the ship body cleaning and wall climbing robot mainly performs ship body absorption by the first driving magnetic wheel 311 and the second driving magnetic wheel 312 of the driving magnetic wheel assembly 31 and the driven magnetic wheel 323 of the driven magnetic wheel assembly 32 positioned behind the driving magnetic wheel assembly 31; when the auxiliary magnetic wheel 332 passes over the obstacle, the first driving magnetic wheel 311 and the second driving magnetic wheel 312 start to pass over the obstacle, the first driving magnetic wheel 311 and the second driving magnetic wheel 312 are jacked up by the obstacle, the auxiliary floating frame 331 and the driven floating frame 321 rotate respectively to drive the auxiliary magnetic wheel 332 and the driven magnetic wheel 323 to rotate and adsorb a ship body, and the ship body cleaning wall climbing robot is ensured to be stably adsorbed on the ship body; once the driving magnetic wheel passes over the obstacle, the driving magnetic wheel and the auxiliary magnetic wheel 332 can also provide enough attraction force to be attracted to the hull, and rotate relative to the first transmission shaft 11 and the second transmission shaft 12 on the driven floating frame 321 to drive the driven magnetic wheel 323 to pass over the obstacle.
According to the ship body cleaning wall climbing robot, under the combined action of the driving magnetic wheel assembly 31, the driven magnetic wheel assembly 32 and the auxiliary magnetic wheel assembly 33, the gravity center of the ship body cleaning wall climbing robot is stabilized between the first driving magnetic wheel 311 and the second driving magnetic wheel 312, so that the auxiliary magnetic wheel 332 and the rear driven magnetic wheel 323 respectively positioned in front of the first driving magnetic wheel 311 and the second driving magnetic wheel 312 can be combined to increase the anti-overturning moment, and the anti-overturning capacity is improved; meanwhile, when obstacle crossing is performed, the cleaning device at least comprises a first driving magnetic wheel 311, a second driving magnetic wheel 312, a driven magnetic wheel 323 or an auxiliary magnetic wheel 332, a driven magnetic wheel 323 or the first driving magnetic wheel 311, the second driving magnetic wheel 312, the auxiliary magnetic wheel 332 and a ship body, wherein the obstacle crossing capability and the load energy are greatly improved, the adaptability of the wall surface of the ship body is correspondingly improved, and the cleaning mechanism 20 can realize high-efficiency operation in the following process.
Further, two driving motors (not shown) may be disposed in the motor box 13, and harmonic reducers (not shown) may be disposed on the main shafts of the two driving motors, and then the two harmonic reducers may be used as the first output terminal and the second output terminal.
Further, as shown in fig. 3 and 8, the driving mechanism 10 further includes a first coupling 18 and a second coupling 19, where the first output end is connected to the first transmission shaft 11 through a first connection shaft, and the second output end is connected to the second transmission shaft 12 through the second coupling 19, so that the motor housing 13 can be ensured to transmit power to the first transmission shaft 11 and the second transmission shaft 12, respectively.
In this embodiment, as shown in fig. 3 to 4, the auxiliary floating frame 331 includes an auxiliary floating link 3311, and a first auxiliary side lever 3312 and a second auxiliary side lever 3313 connected to two ends of the auxiliary floating link 3311 and extending toward the same side, wherein an end of the first auxiliary side lever 3312 is rotatably connected to the first transmission shaft 11, an end of the second auxiliary side lever 3313 is rotatably connected to the second transmission shaft 12, the auxiliary floating link 3311 is provided with auxiliary magnetic wheel frames 333 having the same number as the auxiliary magnetic wheels 332, and each auxiliary magnetic wheel 332 is correspondingly mounted on each auxiliary magnetic wheel frame 333. Specifically, since the first and second auxiliary side bars 3312 and 3313 are rotatably connected to the first and second transmission shafts 11 and 12, respectively, the auxiliary floating link 3311 connected between the first and second auxiliary side bars 3312 and 3313 can be rotated with respect to the first and second transmission shafts 11 and 12. Thus, when the auxiliary magnetic wheel 332 gets over the obstacle, the auxiliary magnetic wheel 332 is lifted up by the obstacle and rotates along with the auxiliary floating connecting rod 3311 to rise, namely, the auxiliary magnetic wheel 332 cannot interfere with the front surface of the obstacle, and the auxiliary magnetic wheel 332 passes over the obstacle in a floating mode, so that the obstacle is prevented from being blocked or overturned when the ship body cleaning wall-climbing robot walks.
Further, the auxiliary magnetic wheel 332 and the auxiliary magnetic wheel frame 333 may be mounted by shaft hole matching.
Preferably, the auxiliary floating link 3311 is of an integrally formed design with the first auxiliary side bar 3312 and the second auxiliary side bar 3313.
More preferably, as shown in fig. 1-2, the number of the auxiliary magnetic wheels 332 is two, and two auxiliary magnetic wheels 332 are located between the first driving magnetic wheel 311 and the second driving magnetic wheel 312, and the first driving magnetic wheel 311 and the second driving magnetic wheel 312 are located at the left side and the right side of the middle position of the whole hull cleaning wall climbing robot. Thus, when the driven magnetic wheel 323 passes over the obstacle, a trapezoid structure, i.e. a similar triangle structure, is formed between the two auxiliary magnetic wheels 332 and the first driving magnetic wheel 311 and the second driving magnetic wheel 312, so that the stability of the whole ship body cleaning wall climbing robot can be enhanced.
In this embodiment, as shown in fig. 3 to 4 and fig. 8, the driving mechanism 10 further includes a first bearing 14 and a second bearing 15, the inner ring of the first bearing 14 is fixedly connected with the first transmission shaft 11, the end portion of the first auxiliary side rod 3312 is fixedly connected with the outer ring of the first bearing 14, the inner ring of the second bearing 15 is fixedly connected with the second transmission shaft 12, and the end portion of the second auxiliary side rod 3313 is fixedly connected with the outer ring of the second bearing 15. Specifically, the arrangement of the first bearing 14 serves to support the rotation of the first auxiliary side lever 3312 and reduce the coefficient of friction of the first auxiliary floating connecting rod during movement; similarly, the second bearing 15 is configured to support the second auxiliary side lever 3313 for rotation and to reduce the coefficient of friction of the second auxiliary floating connecting rod during movement. This way, the auxiliary floating link also achieves rotation relative to the first and second drive shafts 11, 12, provided that the first and second auxiliary side bars 3312, 3313 ensure rotation relative to the first and second drive shafts 11, 12, respectively.
In this embodiment, as shown in fig. 3 to 4, the end portion of the first auxiliary side rod 3312 is provided with a first auxiliary connection block 3314, the first auxiliary connection block 3314 is provided with a first auxiliary connection hole 3316, the first auxiliary connection hole 3316 is sleeved on the outer ring of the first bearing 14, the end portion of the second auxiliary side rod 3313 is provided with a second auxiliary connection block 3315, the second auxiliary connection block 3315 is provided with a second auxiliary connection hole 3317, and the second auxiliary connection hole 3317 is sleeved on the outer ring of the second bearing 15. Specifically, by providing the first auxiliary connection block 3314, it is ensured that the end portion of the first auxiliary side lever 3312 has a sufficient strength to be connected to the first transmission shaft 11, and the provision of the first auxiliary connection hole 3316 facilitates the connection with the first bearing 14, facilitating the assembly. Similarly, by providing the second auxiliary connection block 3315, it is ensured that the end portion of the second auxiliary side rod 3313 has sufficient strength to be connected with the second transmission shaft 12, and the second auxiliary connection hole 3317 is provided to facilitate connection with the second bearing 15, thereby facilitating assembly.
In this embodiment, as shown in fig. 3 and fig. 5, the driven floating frame 321 includes a driven floating link 3211, a first driven side rod 3212 and a second driven side rod 3213 connected to two ends of the driven floating link 3211 and extending toward the same side, an end of the first driven side rod 3212 is rotationally connected to the first transmission shaft 11, an end of the second driven side rod 3213 is rotationally connected to the second transmission shaft 12, the connecting frame 322 is fixedly connected to the driven floating link 3211, a mounting plate 324 is disposed at an end of the connecting frame 322 far from the driven floating link 3211, a driven magnetic wheel frame 325 is disposed on the mounting plate 324, and the driven magnetic wheel 323 is correspondingly mounted on the driven magnetic wheel frame 325. Specifically, since the first and second driven side bars 3212 and 3213 are rotatably connected to the third and fourth driving shafts, respectively, the driven floating link 3211 connected between the first and second driven side bars 3212 and 3213 can be rotated with respect to the third and fourth driving shafts. Thus, when the first driving magnetic wheel 311 and the second driving magnetic wheel 312 surmount the obstacle, the first driving magnetic wheel 311 and the second driving magnetic wheel 312 are rotated along with the auxiliary floating connecting rod 3311 and the driven floating connecting rod 3211 to lower the lifting position when being jacked up by the obstacle, so that the auxiliary magnetic wheel 332 and the driven magnetic wheel 323 are adsorbed on the ship body, that is, the first driving magnetic wheel 311 and the second driving magnetic wheel 312 do not interfere with the front surface of the obstacle, and the first driving magnetic wheel 311 and the second driving magnetic wheel 312 surmount the obstacle in a floating manner; when the driven magnetic wheel 323 passes over the obstacle, the driven magnetic wheel 323 is jacked up by the obstacle and rotates along with the driven floating connecting rod 3211 to rise, namely, the driven magnetic wheel 323 cannot interfere with the front surface of the obstacle, and the driven magnetic wheel 323 passes over the obstacle in a floating mode, so that the blocking or overturning cannot occur when the obstacle is encountered in the walking process of the ship body cleaning wall-climbing robot.
Further, the driven magnetic wheel 323 and the driven magnetic wheel frame 325 may be mounted by shaft hole matching.
In this embodiment, as shown in fig. 3, 5 and 8, the driving mechanism 10 further includes a third bearing 16 and a fourth bearing 17, an inner ring of the third bearing 16 is fixedly connected with the first transmission shaft 11, an end portion of the first driven side rod 3212 is fixedly connected with an outer ring of the third bearing 16, an inner ring of the fourth bearing 17 is fixedly connected with the second transmission shaft 12, and an end portion of the second driven side rod 3213 is fixedly connected with an outer ring of the fourth bearing 17. Specifically, the third bearing 16 is configured to support the first driven side rod 3212 for rotation and reduce the coefficient of friction of the first driven floating connecting rod during movement; similarly, the fourth bearing 17 is provided to support the second driven side rod 3213 for rotation and reduce the coefficient of friction of the second driven floating connecting rod during movement. In this way, the driven floating connecting rod also realizes the rotation relative to the first transmission shaft 11 and the second transmission shaft 12 on the premise that the first driven side rod 3212 and the second driven side rod 3213 are guaranteed to be capable of rotating relative to the first transmission shaft 11 and the second transmission shaft 12, respectively.
Further, since the first bearing 14 and the third bearing 16 are both connected to the first transmission shaft 11, a first bearing 14 sleeve (not shown) may be additionally provided and sleeved outside the first bearing 14 and the third bearing 16, so that the end of the first auxiliary side rod 3312 and the end of the first driven side rod 3212 may be connected to the first bearing 14 sleeve. Similarly, since the second bearing 15 and the fourth bearing 17 are both connected to the second transmission shaft 12, a second bearing 15 sleeve (not shown) may be additionally provided and sleeved outside the second bearing 15 and the fourth bearing 17, so that the end of the second auxiliary side rod 3313 and the end of the second driven side rod 3213 may be connected to the second bearing 15 sleeve.
In this embodiment, as shown in fig. 3 and fig. 5, a first driven connection block 3214 is disposed at an end portion of the first driven side rod 3212, a first driven connection hole 3216 is disposed on the first driven connection block 3214, the first driven connection hole 3216 is sleeved on an outer ring of the third bearing 16, a second driven connection block 3215 is disposed at an end portion of the second driven side rod 3213, a second driven connection hole 3217 is disposed on the second driven connection block 3215, and the second driven connection hole 3217 is sleeved on an outer ring of the fourth bearing 17. Specifically, by providing the first driven connection block 3214, it is ensured that the end portion of the first driven side rod 3212 has sufficient strength to be connected to the first transmission shaft 11, and the first driven connection hole 3216 is provided to facilitate connection to the first bearing 14, thereby facilitating assembly. Similarly, by arranging the second driven connecting block 3215, the end portion of the second driven side rod 3213 can be ensured to have enough strength to be connected with the second transmission shaft 12, and the second driven connecting hole 3217 is arranged to be convenient to be connected with the second bearing 15, so that the assembly is convenient.
As shown in fig. 1-2, the whole body of the hull cleaning wall climbing robot of the present embodiment is designed to be arched, that is, the arched is formed by the swing design of the auxiliary floating frame 331, the driven floating frame 321 and the connecting frame 322, and the center of gravity of the whole machine is located at the middle position by reasonable structural size design. The arched structure makes the connection stress of the machine body more reasonable and effective, and the machine body is upwards arched to prevent the machine body from contacting with the obstacle on the wall surface of the ship body, so that the obstacle crossing capability of the whole machine is ensured. In this embodiment, the cleaning mechanism 20 includes a rotating motor 21, a swinging arm 22, and a spray disc 23, where the rotating motor 21 is fixed above the driving magnetic wheel assembly 31 or above the driven magnetic wheel assembly 32, one end of the swinging arm 22 is in driving connection with the rotating motor 21, the spray disc 23 is connected with the other end of the swinging arm 22, and a nozzle 24 is provided on the spray disc 23. Specifically, the rotating electric machine 21 may be fixed to the middle part of the driven floating link 3211 of the driven floating frame 321 or to the motor case 13, and in any case, the position of the rotating electric machine 21 is ensured to be in the middle part of the whole machine as much as possible. Then the swing arm 22 is driven to rotate by the rotating shaft of the rotating motor 21, and the swing arm 22 can rotate by 360 degrees, so that the spray washing plate 23 is driven to rotate by 360 degrees, and the spray washing range of the spray nozzle 24 of the spray washing plate 23 is extremely wide. Meanwhile, the swing arm 22 is matched with the spray washing disc 23 to replace a traditional heavy washing disc, so that obstacle surmounting and wall surface adaptability can be improved, and the swing arm 22 drives the spray washing disc 23 to perform circumferential rotation around the center of the complete machine, so that no dead angle is realized in a washing range, and the washing effect is excellent.
Further, as shown in fig. 1 to 3 and 7, the swing arm 22 includes a central vertical rod 221, a swing cross rod 222 and a circumferential vertical rod 223, the central vertical rod 221 is in driving connection with a main shaft of the rotary motor 21 and is in vertical arrangement, one end of the swing cross rod 222 is connected with the central vertical rod 221, the other end is connected with the circumferential vertical rod 223, the swing cross rod 222 is in horizontal arrangement, and the circumferential vertical rod 223 is in vertical arrangement and is used for mounting the spray dish 23. Thus, when the spindle of the rotating motor 21 drives the central vertical rod 221 to rotate, the swinging cross rods 222 rotate along with the central vertical rod 221, and the circumferential vertical rods 223 rotate along with the swinging cross rods 222, so that the spray dish 23360 DEG rotation is driven, and the spray nozzles 24 arranged on the spray dish 23 can realize the cleaning work in a 360 DEG range.
Further, as shown in fig. 5, the connecting frames 322 are preferably two and spaced apart, and the connecting frames 322 have an arc structure, which is advantageous for designing the whole machine into an arch structure.
Wherein, center montant 221, swing horizontal pole 222 and circumference montant 223 all adopt telescopic link structure, can adjust abluent height through the flexible of center montant 221 like this, adjust abluent radius scope through the flexible of swing horizontal pole 222, can adjust abluent angle through the flexible of circumference montant 223.
Further, the center vertical rod 221, the swing horizontal rod 222 and the circumferential vertical rod 223 can be movably connected with each other by adopting an adjustable relative position, so that the height, the angle and other parameters of the center vertical rod 221, the swing horizontal rod 222 and the circumferential vertical rod 223 can be conveniently adjusted, and the cleaning efficiency is ensured.
In this embodiment, the auxiliary magnetic wheel 332 is preferably a permanent magnetic universal auxiliary magnetic wheel. Specifically, the auxiliary magnetic wheel 332 has a smaller outer diameter than the first driving magnetic wheel 311, the second driving magnetic wheel 312, and the driven magnetic wheel 323. The auxiliary magnetic wheel 332 has a smaller overall structure, and is manufactured by adopting Ru-Fe-B annular permanent magnets to form the permanent-magnet universal auxiliary magnetic wheel.
In this embodiment, as shown in fig. 3 and fig. 6, the first driving magnetic wheel 311, the second driving magnetic wheel 312, and the driven magnetic wheel 323 each include a steel metal wheel body 301, a plurality of permanent magnetic cylinders 302, and a soft magnetic sleeve 303, a plurality of cylindrical through holes 304 that are annularly and uniformly distributed are disposed at positions of the steel metal wheel body 301 near the rim, each cylindrical through hole 304 is disposed parallel to the axis of the steel metal wheel body 301, each permanent magnetic cylinder 302 is correspondingly installed in each cylindrical through hole 304, and the soft magnetic sleeve 303 is sleeved on the outer ring of the steel metal wheel body 301. Specifically, a cylindrical through hole 304 is correspondingly embedded in a cylindrical through hole 304, so that assembly is convenient, and each permanent magnet cylinder 302 is radially magnetized after assembly. The soft magnetic sleeve 303 is sleeved on the outer ring of the steel metal wheel body 301 so as to be tightly connected with the steel metal wheel body 301, and the soft magnetic sleeve has the advantage of convenient assembly and excellent stability after connection.
The soft magnetic sleeve 303 has a soft structure, and the characteristics of the soft magnetic sleeve 303 that the soft magnetic sleeve 303 is pressed and deformed are utilized to increase the friction force and obstacle surmounting capability of the wheel and simultaneously reduce the magnetic attenuation degree of the wall surface of each permanent magnet cylinder 302 to the greatest extent.
Preferably, the number of permanent magnet cylinders 302 is 28, and the number of cylindrical through holes 304 is also 28. Of course, in other embodiments, the number of the permanent magnetic cylinders 302 may be greater than 28, for example, 30-40, or the number of the permanent magnetic cylinders 302 may be less than 28, for example, 10-20, which are specifically selected according to the actual needs, and will not be described in detail herein.
Preferably, the first driving magnet wheel 311, the second driving magnet wheel 312 and the driven magnet wheel 323 have the same size, so that the first driving magnet wheel 311, the second driving magnet wheel 312 and the driven magnet wheel 323 can be commonly used with each other when assembled.
In the walking adsorption mode of the ship body cleaning wall-climbing robot, the permanent magnet cylinders of the first driving magnetic wheel 311 and the second driving magnetic wheel 312 are used for providing main adsorption force, and the permanent magnet universal auxiliary magnetic wheels are driven and assist in adsorption, so that the loading capacity is improved on the premise of ensuring flexible walking of the ship body cleaning wall-climbing robot.
Of course, the hull cleaning wall climbing robot of the embodiment of the invention can be used for cleaning the surface of an underwater hull, and also can be used for cleaning other steel wall surfaces such as the wall surface of a large oil tank. The wall climbing cleaning robot can also carry other equipment such as detection equipment to climb on the steel wall surface to finish corresponding work.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (10)
1. The utility model provides a hull washs wall climbing robot which characterized in that: comprises a driving mechanism, a cleaning mechanism and an adsorption travelling mechanism;
the driving mechanism comprises a motor box, a first transmission shaft and a second transmission shaft, wherein a first output end and a second output end are respectively arranged on two opposite sides of the motor box, the first transmission shaft is connected with the first output end, and the second transmission shaft is connected with the second output end;
the adsorption travelling mechanism comprises a driving magnetic wheel assembly, a driven magnetic wheel assembly and an auxiliary magnetic wheel assembly, and the cleaning mechanism is fixed above the driving magnetic wheel assembly or above the driven magnetic wheel assembly;
the driving magnetic wheel assembly comprises a first driving magnetic wheel and a second driving magnetic wheel, the first driving magnetic wheel is connected with the first transmission shaft, and the second driving magnetic wheel is connected with the second transmission shaft;
the driven magnetic wheel assembly comprises a driven floating frame, a connecting frame and driven magnetic wheels, wherein two ends of the driven floating frame are respectively and rotatably connected with the first transmission shaft and the second transmission shaft, the connecting frame is fixedly connected with the driven floating frame and extends along the rear of the driving magnetic wheel assembly, and the driven magnetic wheels are rotatably arranged on the connecting frame;
the auxiliary magnetic wheel assembly comprises an auxiliary floating frame and at least two auxiliary magnetic wheels, wherein two ends of the auxiliary floating frame are respectively connected with the first transmission shaft and the second transmission shaft in a rotating mode, and each auxiliary magnetic wheel is rotatably installed on the auxiliary floating frame and located in front of the driving magnetic wheel assembly.
2. The hull cleaning wall climbing robot of claim 1, wherein: the auxiliary floating frame comprises auxiliary floating connecting rods, a first auxiliary side rod and a second auxiliary side rod, wherein the first auxiliary side rod and the second auxiliary side rod are connected to two ends of the auxiliary floating connecting rods and extend towards the same side, the end part of the first auxiliary side rod is rotationally connected with the first transmission shaft, the end part of the second auxiliary side rod is rotationally connected with the second transmission shaft, the auxiliary magnetic wheel frames with the same number as the auxiliary magnetic wheels are arranged on the auxiliary floating connecting rods, and the auxiliary magnetic wheels are correspondingly arranged on the auxiliary magnetic wheel frames.
3. The hull cleaning wall climbing robot of claim 2, wherein: the driving mechanism further comprises a first bearing and a second bearing, the inner ring of the first bearing is fixedly connected with the first transmission shaft, the end part of the first auxiliary side rod is fixedly connected with the outer ring of the first bearing, the inner ring of the second bearing is fixedly connected with the second transmission shaft, and the end part of the second auxiliary side rod is fixedly connected with the outer ring of the second bearing.
4. A hull cleaning wall climbing robot according to claim 3, wherein: the end of the first auxiliary side rod is provided with a first auxiliary connecting block, a first auxiliary connecting hole is formed in the first auxiliary connecting block and sleeved on the outer ring of the first bearing, the end of the second auxiliary side rod is provided with a second auxiliary connecting block, a second auxiliary connecting hole is formed in the second auxiliary connecting block, and the second auxiliary connecting hole is sleeved on the outer ring of the second bearing.
5. The hull cleaning wall climbing robot according to any of claims 1-4, wherein: the driven floating frame comprises a driven floating connecting rod and a first driven side rod and a second driven side rod which are connected to two ends of the driven floating connecting rod and extend towards the same side, the end part of the first driven side rod is rotationally connected with the first transmission shaft, the end part of the second driven side rod is rotationally connected with the second transmission shaft, the connecting frame is fixedly connected with the driven floating connecting rod, the connecting frame is far away from the end part of the driven floating connecting rod, a mounting plate is arranged on the end part of the driven floating connecting rod, a driven magnetic wheel frame is arranged on the mounting plate, and the driven magnetic wheel is correspondingly arranged on the driven magnetic wheel frame.
6. The hull cleaning wall climbing robot of claim 5, wherein: the driving mechanism further comprises a third bearing and a fourth bearing, the inner ring of the third bearing is fixedly connected with the first transmission shaft, the end part of the first driven side rod is fixedly connected with the outer ring of the third bearing, the inner ring of the fourth bearing is fixedly connected with the second transmission shaft, and the end part of the second driven side rod is fixedly connected with the outer ring of the fourth bearing.
7. The hull cleaning wall climbing robot of claim 6, wherein: the end of the first driven side rod is provided with a first driven connecting block, a first driven connecting hole is formed in the first driven connecting block, the first driven connecting hole is sleeved on the outer ring of the third bearing, the end of the second driven side rod is provided with a second driven connecting block, the second driven connecting block is provided with a second driven connecting hole, and the second driven connecting hole is sleeved on the outer ring of the fourth bearing.
8. The hull cleaning wall climbing robot according to any of claims 1-4, wherein: the cleaning mechanism comprises a rotating motor, a swinging arm and a spray washing disc, wherein the rotating motor is fixed above the driving magnetic wheel assembly or above the driven magnetic wheel assembly, one end of the swinging arm is in driving connection with the rotating motor, the spray washing disc is connected with the other end of the swinging arm, and a nozzle is arranged on the spray washing disc.
9. The hull cleaning wall climbing robot according to any of claims 1-4, wherein: the auxiliary magnetic wheel is a permanent magnetic universal auxiliary magnetic wheel.
10. The hull cleaning wall climbing robot according to any of claims 1-4, wherein: the first driving magnetic wheel, the second driving magnetic wheel and the driven magnetic wheel comprise steel metal wheel bodies, a plurality of permanent magnetic cylinders and soft magnetic sleeves, a plurality of cylindrical through holes which are annularly and uniformly distributed are formed in positions, close to the wheel rims, of the steel metal wheel bodies, the cylindrical through holes are parallel to the axis of the steel metal wheel bodies, the permanent magnetic cylinders are correspondingly arranged in the cylindrical through holes, and the soft magnetic sleeves are sleeved on the outer rings of the steel metal wheel bodies.
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| CN201710326197.1A CN107140151B (en) | 2017-05-10 | 2017-05-10 | Hull cleaning wall climbing robot |
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| CN201710326197.1A 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 |
| WO2019203729A1 (en) * | 2018-04-18 | 2019-10-24 | Gan Chong Bin Michael | Underwater hull cleaning machine, hull cleaning system and method for cleaning a hull of a vessel |
| 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 |
| CN111167765B (en) * | 2019-12-30 | 2021-06-22 | 浙江大学 | Method for cleaning surface attachments of underwater concave slot of pier and robot |
| 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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| GB1578742A (en) * | 1976-02-24 | 1980-11-12 | Nat Res Dev | Peripatetic vehicles |
| US20110253464A1 (en) * | 2010-04-15 | 2011-10-20 | Freerider Corp. | Suspension system for electric wheelchair |
| US8851214B2 (en) * | 2010-07-15 | 2014-10-07 | Permobil Ab | Electric mid-wheel drive wheelchair |
| CN101947777B (en) * | 2010-09-22 | 2012-07-04 | 上海交通大学 | Wheel-foot combined obstacle detouring non-contact magnetic absorption type wall climbing robot system |
| KR101248978B1 (en) * | 2012-01-18 | 2013-04-02 | 서울대학교산학협력단 | Hybrid mobile robot |
| CN103847428B (en) * | 2014-03-07 | 2016-06-08 | 赵剑毅 | One can be inlayed magnet steel wheel |
| CN205971575U (en) * | 2016-08-10 | 2017-02-22 | 杨闫景 | But magnetism sorption wheel formula wall climbing robot that right angle wall independently passed through |
| CN106608307A (en) * | 2016-09-14 | 2017-05-03 | 中科新松有限公司 | Wall climbing compound robot |
| CN206782026U (en) * | 2017-05-10 | 2017-12-22 | 深圳市行知行机器人技术有限公司 | Hull cleans climbing robot |
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