CN109941365A - A kind of hull bottom marine growth cleaning master-slave control type Bian Bao robot - Google Patents
A kind of hull bottom marine growth cleaning master-slave control type Bian Bao robot Download PDFInfo
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- 230000012010 growth Effects 0.000 title claims abstract description 36
- 230000007246 mechanism Effects 0.000 claims abstract description 19
- 238000009527 percussion Methods 0.000 claims abstract description 16
- 238000005096 rolling process Methods 0.000 claims description 36
- 229910052701 rubidium Inorganic materials 0.000 claims description 4
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- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 1
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Abstract
A kind of hull bottom marine growth cleaning master-slave control type Bian Bao robot, belongs to hull bottom marine growth cleaning equipment field.A kind of hull bottom marine growth clears up master-slave control type Bian Bao robot, be by platform hull, straight-arm device, triangle arm assembly, air bag, driving device, cleaning plant, percussion mechanism, platen cover, CCD, hawser connector, cylinder, hoistable platform, shield, the gentle pump group of towing cable at.The invention is beneficial in that, hull bottom cleaning robot is connected by towing cable with the operator on ship, operator can pass through the underwater situation of CCD observer robot, the platform hull of robot and straight-arm device, triangle arm assembly form different states with stretching, extension by fixed, to adapt to that robot alow creeps, hull bottom obstacle detouring and marine growth are removed and moved；The shell of hull bottom marine growth can not only be given and be destroyed by the interval cooperative movement of cleaning plant and percussion mechanism, and can be removed the marine growth residual fraction of hull bottom.
Description
Technical field
The present invention relates to a kind of hull bottom marine growths to clear up master-slave control type Bian Bao robot, specifically uses and is equipped with
The triangle arm assembly and straight-arm device of magnet block, one for carrying out position detection with machine vision and being constituted using multiple motors
Kind can clear up the master-slave control type Bian Bao robot of hull bottom marine growth, belong to hull bottom marine growth cleaning equipment field.
Background technique
Ship, naval vessels are navigated by water and are berthed in the seawater, it is difficult to hull bottom be avoided to breed marine growth.Since sea organism attachment is formed
Dirty bottom considerably increase Ship Resistance, not only reduce speed of the ship in metres per second, and ship oil consumption increase.Although scientific research personnel develops
Various anti-fouling paints are to reduce the attachment of marine growth, but this coating life is lower, mostly validity period in some months to 3 years
Limit.For this purpose, periodic detection and removing hull bottom marine growth and becoming more urgent problems at present.
The mechanism form of hull cleaning robot mostly uses suction type and move mode both at home and abroad at present.Hull bottom is clear at present
The suction type for washing robot is more reliable, but mobile flexibility is poor；Move mode movement is flexible, but adsorption capacity is small.Cause
This, alow marine growth cleaning aspect has that adsorption capacity is strong and motility is flexible there is an urgent need to a kind of hull bottom cleaning equipment
Function, but lack such equipment at present.
Summary of the invention
In view of the above-mentioned deficiencies, the present invention provides a kind of hull bottom marine growths to clear up master-slave control type Bian Bao robot.
The present invention is achieved by the following technical solutions: a kind of hull bottom marine growth cleaning master-slave control type change born of the same parents' machine
People, be by platform hull, straight-arm device, triangle arm assembly, air bag, driving device, cleaning plant, percussion mechanism, platen cover,
CCD, hawser connector, cylinder, hoistable platform, shield, the gentle pump group of towing cable at, one end of four straight-arm devices point
It is not connect with the both ends of platform hull two sides, the other end of straight-arm device is connect with one end of triangle arm assembly, platform hull
Other two sides both ends be fixedly connected respectively with air bag, the centre of four sides of platform hull respectively with four driving devices
Connection, the top surface of platform hull are fixedly connected with platen cover bottom surface, and the surrounding of platform hull bottom surface is fixedly mounted there are four CCD,
The surrounding of platform hd top face is fixedly mounted there are four CCD, and platform hull bottom surface centre is fixedly connected with hawser connector, and towing cable is located at
The centre of robot bottom connects machine inner part, and is pierced by by the mesoporous of platform hull bottom surface, is above extended down to operate on ship and put down
Platform, the three described cylinder one end are fixedly connected with platform hull bosom respectively, the other end of cylinder and hoistable platform
Bottom surface surrounding is fixedly connected, and the centre of described air pump one end and hoistable platform bottom surface is fixedly connected, air pump and two-bit triplet electricity
Magnet valve air inlet is connected by tracheae, and two gas outlets of solenoid valve pass through tracheae respectively and connect with two three-pronged connectors, wherein one
Three gas outlets of three-pronged connector connect port with the rod chamber of three cylinders respectively and connect, three gas outlets of another three-pronged connector
Port is connect with the rodless cavity of three cylinders respectively to connect, the three described percussion mechanism one end respectively with hoistable platform top surface surrounding
It is fixedly connected, the centre of described cleaning plant one end and hoistable platform top surface is fixedly connected, and two shields are fixed respectively to pacify
Loaded on the two sides inside platform hull；
The straight-arm device is by straight-arm rotary electric machine, straight-arm motor coupler, straight-arm motor shaft, straight-arm bracket, straight
What arm rolling bearing, straight-arm gasket, straight-arm end cap, straight-arm rotating belt, straight-arm magnet block and straight-arm magnet fixinig plate formed, institute
The straight-arm rotary electric machine stated is fixedly connected with straight-arm motor coupler, the fixed company of straight-arm motor coupler and straight-arm motor shaft one end
It connects, the straight-arm motor shaft other end is fixedly connected by the centre of key and straight-arm bracket one end, and four straight-arm rolling bearings are solid respectively
Dingan County is loaded on the two sides at straight-arm bracket both ends, and four straight-arm gaskets are fixed with four straight-arm rolling bearing end faces respectively
Connection, four straight-arm end caps are fixedly connected with four straight-arm gasket end faces respectively, straight-arm rotating belt and four straight-arm rotation axis
It holds periphery to be slidably connected, and then straight-arm rotating belt is located at the surrounding of straight-arm bracket, the straight-arm magnet block is uniformly installed
In the outer surface of straight-arm rotating belt, the straight-arm magnet fixinig plate bottom surface is fixedly connected with straight-arm magnet block top surface, straight-arm
The surrounding of magnet fixinig plate is fixedly connected by bolt with straight-arm rotating belt outer surface, and then straight-arm magnet block and straight-arm rotate
The outer surface of belt is fixedly connected；
The triangle arm assembly is by Triangular Arm rotary electric machine, Triangular Arm motor coupler, Triangular Arm motor shaft, triangle
Arm support, Triangular Arm rolling bearing one, Triangular Arm gasket, Triangular Arm end cap one, Triangular Arm rotating belt, Triangular Arm rolling bearing
Two, Triangular Arm end cap two, roll device, Triangular Arm magnet block and Triangular Arm magnet fixinig plate form, and the Triangular Arm turns
Dynamic motor is fixedly installed in the centre of straight-arm bracket one end, and Triangular Arm rotary electric machine is fixedly connected with Triangular Arm motor coupler,
Triangular Arm motor coupler is fixedly connected with Triangular Arm motor shaft one end, and the Triangular Arm motor shaft other end passes through key and Triangular Arm branch
The centre of frame one end is fixedly connected, and two Triangular Arm rolling bearings one are fixedly installed in the two sides at triangular arm tip respectively,
Triangular Arm rolling bearing one side is equipped with Triangular Arm gasket, and the one side of Triangular Arm gasket is fixedly installed with Triangular Arm bearing end
Gai Yi, two Triangular Arm rolling bearings two are fixedly installed in the two sides of triangular arm flush end side, Triangular Arm rotation respectively
Bearing two side faces are equipped with Triangular Arm end cap two, and the roll device is fixedly installed in the other side of triangular arm flush end,
Triangular Arm rotating belt is slidably connected around Triangular Arm rolling bearing one, Triangular Arm rolling bearing two and roll device, Jin Ersan
Angle arm rotating belt is located at the surrounding of triangular arm, and the Triangular Arm magnet block is uniformly installed on Triangular Arm rotating belt
Outer surface, the Triangular Arm magnet fixinig plate bottom surface are fixedly connected with Triangular Arm magnet block top surface, Triangular Arm magnet fixinig plate
Surrounding be fixedly connected by bolt with Triangular Arm rotating belt outer surface, and then Triangular Arm magnet block and Triangular Arm rotating belt
Outer surface be fixedly connected；
The roll device is by spool turns motor, reel motor coupler, reel motor shaft and rotating drum group
At, the spool turns motor is fixedly installed in the centre of triangular arm flush end side, two reel motor couplers
Be fixedly installed in the both ends of spool turns motor shaft respectively, so one end of two reel motor shafts respectively with two reel motors
Shaft coupling is fixedly connected, and the other end of two reel motor shafts passes through respectively to be fixedly connected among key and two rotating drums, is turned
The outer circumference surface of movable reel and the Triangular Arm rotating belt medial surface connect；
The driving device is by propeller rotational motor, propeller motor coupler, propeller motor shaft and driving
Propeller composition, four propeller rotational motors are symmetrically fixedly installed in the inside of platform hull, propeller two-by-two
Rotary electric machine projecting shaft is fixedly installed with propeller motor coupler, one end of propeller motor shaft and propeller motor coupler
It is fixedly mounted, the centre of propeller motor shaft passes through the through-hole of platform hull, and then the other end of propeller motor shaft and driving
Propeller circle circumferential surface is fixedly connected；
The cleaning plant is by brush head and cleaning motor form, and it is flat that the cleaning motor is fixedly installed in lifting
One end of the centre of countertop, brush head is fixedly connected with cleaning motor；
The percussion mechanism is made of impact block, electromagnet casing, spring, fixed block and isolating pad, impact block
One end be fixedly connected with one end of two springs, the other end of two springs is fixedly connected with the top surface of fixed block, fixed block
Bottom surface be fixedly connected with isolating pad top surface, electromagnet casing inside top surface is connect with impact block bottom surface, electromagnet casing and rise
Drop platform top surface is fixedly connected；
The electromagnet casing is made of flange, hollow shell, guide pad and limited block, and the flange is located at sky
One end of heart shell, two limited blocks are located at the two sides of the hollow shell other end, and two limited blocks are located at two medial surfaces of hollow shell
It is intermediate；
The straight-arm rotary electric machine, Triangular Arm rotary electric machine, spool turns motor, propeller rotational motor, cleaning electricity
Machine is waterproof machine；
The straight-arm magnet block and Triangular Arm magnet block is rubidium magnet.
The device has the beneficial effect that hull bottom cleaning robot is connected by towing cable with the operator on ship, grasps
Author under the promotion of propeller, can realize the dive of robot by the underwater situation of CCD observer robot；Work as spiral
, it can be achieved that robot moves up when the outlet of paddle is both facing to the bottom；When the propeller mouth rotation of robot opposite sides is to water
, it can be achieved that the transverse shifting of robot and steering when prosposition is set；When robot during exercise, propeller direction also change
When, posture changing and the curvilinear motion of robot can be realized, to realize hull bottom cleaning by the control to four propellers
Comprehensive, the full attitude motion of robot in water；
It is mounted on four on the outside of platform hull air bags to play an important role in the work of robot, one side air bag
The buoyancy of generation can balanced robot weight, offset the self weight of robot with its buoyancy by water, to reduce
The power of propeller driving；On the other hand, air bag is mounted on four angles of platform hull, can effectively mitigate robot and other
The purpose of protection robot is realized in the collision of object；
Straight-arm device and triangle arm assembly play an important role the movement of hull bottom cleaning robot, the platform of robot
Shell forms different states with stretching, extension by fixed from straight-arm device, triangle arm assembly, alow climbs to adapt to robot
Row, hull bottom obstacle detouring and marine growth, which are removed, to be moved；
The shell of hull bottom marine growth can not only be given and be destroyed by the interval cooperative movement of cleaning plant and percussion mechanism, and
And the marine growth residual fraction of hull bottom can be removed；
Straight-arm magnet block and Triangular Arm magnet block select rubidium magnet, ensure that the adsorption capacity of robot alow.
Detailed description of the invention
Fig. 1 is the axonometric schematic diagram of state one of the present invention；
Fig. 2 is the axonometric schematic diagram of state two of the present invention；
Fig. 3 is the axonometric schematic diagram of state three of the present invention；
Fig. 4 is the axonometric schematic diagram of state four of the present invention；
Fig. 5 is main view of the invention；
Fig. 6 is hoistable platform junction main view；
Fig. 7 is cylinder and platform hull connection schematic diagram；
Fig. 8 is connection schematic diagram inside percussion mechanism；
Fig. 9 connect main view with triangle arm assembly for straight-arm device；
Figure 10 is straight-arm device and triangle arm assembly junction A-A cross-sectional view；
Figure 11 is straight-arm device and triangle arm assembly junction A-A partial sectional view；
Figure 12 is the partial enlargement diagram of Figure 11；
Figure 13 is triangle arm assembly main view；
Figure 14 is triangle arm assembly A-A cross-sectional view；
Figure 15 is the partial enlargement diagram of triangle arm assembly A-A cross-sectional view；
Figure 16 is internal mechanism schematic diagram of the present invention；
Figure 17 is connection schematic diagram inside shield；
Figure 18 is electromagnet protective shell structural schematic diagram.
In figure, 1, platform hull, 2, straight-arm device, 201, straight-arm rotary electric machine, 202, straight-arm motor coupler, 203, straight
Arm motor shaft, 204, straight-arm bracket, 205, straight-arm rolling bearing, 206, straight-arm gasket, 207, straight-arm end cap, 208, straight-arm rotation
Belt, 209, straight-arm magnet block, 210, straight-arm magnet fixinig plate, 3, triangle arm assembly, 301, Triangular Arm rotary electric machine, 302, three
Angle arm motor coupler, 303, Triangular Arm motor shaft, 304, triangular arm, 305, Triangular Arm rolling bearing one, 306, triangle
Arm gasket, 307, Triangular Arm end cap one, 308, Triangular Arm rotating belt, 309, Triangular Arm rolling bearing two, 310, Triangular Arm end
Lid two, 311, roll device, 31101, spool turns motor, 31102, reel motor coupler, 31103, reel motor shaft,
31104, rotating drum, 312, Triangular Arm magnet block, 313, Triangular Arm magnet fixinig plate, 4, air bag, 5, driving device, 501, spiral shell
Rotation paddle rotary electric machine, 502, propeller motor coupler, 503, propeller motor shaft, 504, driving propeller, 6, cleaning plant,
601, brush head, 602, cleaning motor, 7, percussion mechanism, 701, impact block, 702, electromagnet casing, 70201, flange, 70202,
Hollow shell, 70203, guide pad, 70204, limited block, 703, spring, 704, fixed block, 705, isolating pad, 8, platen cover, 9,
CCD, 10, hawser connector, 11, cylinder, 12, hoistable platform, 13, shield, 14, towing cable, 15, air pump.
Specific embodiment
A kind of hull bottom marine growth cleaning master-slave control type Bian Bao robot, is by platform hull 1, straight-arm device 2, Triangular Arm
Device 3, air bag 4, driving device 5, cleaning plant 6, percussion mechanism 7, platen cover 8, CCD9, hawser connector 10, cylinder 11, lifting
Platform 12, shield 13 and towing cable 14 form, one end of four straight-arm devices 2 respectively with 1 two sides of platform hull
Both ends connection, the other end of straight-arm device 2 connect with one end of triangle arm assembly 3, the other two sides both ends of platform hull 1
It is fixedly connected respectively with air bag 4, the centre of four sides of platform hull 1 is connect with four driving devices 5 respectively, platform hull
1 top surface is fixedly connected with 8 bottom surface of platen cover, and the surrounding of 1 bottom surface of platform hull is fixedly mounted there are four CCD9, and platen cover 8 is pushed up
The surrounding in face is fixedly mounted there are four CCD9, and 1 bottom surface of platform hull centre is fixedly connected with hawser connector 10, and towing cable 14 is located at machine
The centre of device people bottom connects machine inner part, and is pierced by by the mesoporous of 1 bottom surface of platform hull, is above extended down to operating platform on ship,
Three described 11 one end of cylinder are fixedly connected with 1 bosom of platform hull respectively, the other end and hoistable platform of cylinder 11
12 bottom surface surrounding is fixedly connected, and the centre of 12 bottom surface of 15 one end of air pump and hoistable platform is fixedly connected, air pump 15 with
Two-bit triplet electromagnetic valve air inlet is connected by tracheae, and two gas outlets of solenoid valve pass through tracheae respectively and two three-pronged connectors connect
It connects, wherein three gas outlets of a three-pronged connector connect port with the rod chamber of three cylinders 11 respectively and connect, another three-pronged connector
Three gas outlets connect port with the rodless cavity of three cylinders 11 respectively and connect, three described 7 one end of percussion mechanism respectively with
12 top surface surrounding of hoistable platform is fixedly connected, and the centre of 12 top surface of 6 one end of cleaning plant and hoistable platform is fixedly connected,
Two shields 13 are fixedly installed in the two sides inside platform hull 1 respectively；
The straight-arm device 2 is by straight-arm rotary electric machine 201, straight-arm motor coupler 202, straight-arm motor shaft 203, straight
Arm support 204, straight-arm rolling bearing 205, straight-arm gasket 206, straight-arm end cap 207, straight-arm rotating belt 208, straight-arm magnet block
209 and straight-arm magnet fixinig plate 210 form, the straight-arm rotary electric machine 201 and straight-arm motor coupler 202 is fixed connects
It connects, straight-arm motor coupler 202 is fixedly connected with 203 one end of straight-arm motor shaft, and 203 other end of straight-arm motor shaft is by key and directly
The centre of 204 one end of arm support is fixedly connected, and four straight-arm rolling bearings 205 are fixedly installed in 204 both ends of straight-arm bracket respectively
Two sides, four straight-arm gaskets 206 are fixedly connected with four 205 end faces of straight-arm rolling bearing respectively, four straight-arms
End cap 207 is fixedly connected with four 206 end faces of straight-arm gasket respectively, straight-arm rotating belt 208 and four straight-arm rolling bearings 205
Periphery is slidably connected, and then straight-arm rotating belt 208 is located at the surrounding of straight-arm bracket 204, and the straight-arm magnet block 209 is equal
The even outer surface for being installed on straight-arm rotating belt 208,210 bottom surface of straight-arm magnet fixinig plate and straight-arm magnet block 209 push up
Face is fixedly connected, and the surrounding of straight-arm magnet fixinig plate 210 is fixedly connected by bolt with 208 outer surface of straight-arm rotating belt, into
And straight-arm magnet block 209 is fixedly connected with the outer surface of straight-arm rotating belt 208；
The triangle arm assembly 3 is by Triangular Arm rotary electric machine 301, Triangular Arm motor coupler 302, Triangular Arm motor
Axis 303, triangular arm 304, Triangular Arm rolling bearing 1, Triangular Arm gasket 306, Triangular Arm end cap 1, Triangular Arm
Rotating belt 308, Triangular Arm rolling bearing 2 309, Triangular Arm end cap 2 310, roll device 311,312 and of Triangular Arm magnet block
What Triangular Arm magnet fixinig plate 313 formed, the Triangular Arm rotary electric machine 301 is fixedly installed in 204 one end of straight-arm bracket
Centre, Triangular Arm rotary electric machine 301 are fixedly connected with Triangular Arm motor coupler 302, Triangular Arm motor coupler 302 and triangle
303 one end of arm motor shaft is fixedly connected, and 303 other end of Triangular Arm motor shaft passes through the centre of 304 one end of key and triangular arm
It is fixedly connected, two Triangular Arm rolling bearings 1 are fixedly installed in the two sides at 304 tip of triangular arm, Triangular Arm respectively
One 305 side of rolling bearing is equipped with Triangular Arm gasket 306, and the one side of Triangular Arm gasket 306 is fixedly installed with triangle arm axle
Socket end lid one, two Triangular Arm rolling bearings 2 309 are fixedly installed in the two sides of 304 flush end side of triangular arm respectively,
2 309 side of Triangular Arm rolling bearing is equipped with Triangular Arm end cap 2 310, and the roll device 311 is fixedly installed in triangle
The other side of 304 flush end of arm support, Triangular Arm rotating belt 308 surround Triangular Arm rolling bearing 1, Triangular Arm rolling bearing
2 309 and roll device 311 be slidably connected, and then Triangular Arm rotating belt 308 is located at the surrounding of triangular arm 304, described
Triangular Arm magnet block 312 be uniformly installed on the outer surface of Triangular Arm rotating belt 308, the Triangular Arm magnet fixinig plate
313 bottom surfaces are fixedly connected with 312 top surface of Triangular Arm magnet block, and the surrounding of Triangular Arm magnet fixinig plate 313 passes through bolt and triangle
308 outer surface of arm rotating belt is fixedly connected, and then the outer surface of Triangular Arm magnet block 312 and Triangular Arm rotating belt 308 is solid
Fixed connection；
The roll device 311 is by spool turns motor 31101, reel motor coupler 31102, reel motor shaft
31103 and rotating drum 31104 form, the spool turns motor 31101 is fixedly installed in 304 flush end of triangular arm
The centre of side, two reel motor couplers 31102 are fixedly installed in the both ends of 31101 axis of spool turns motor respectively, into
And one end of two reel motor shafts 31103 is fixedly connected with two reel motor couplers 31102 respectively, two reel motors
The other end of axis 31103 passes through respectively to be fixedly connected among key and two rotating drums 31104, the outer circle of rotating drum 31104
Circumferential surface and 308 medial surface of Triangular Arm rotating belt connect；
The driving device 5 is by propeller rotational motor 501, propeller motor coupler 502, propeller motor shaft
503 and driving propeller 504 form, four propeller rotational motors 501 are symmetrically fixedly installed in platform shell two-by-two
The inside of body 1,501 projecting shaft of propeller rotational motor are fixedly installed with propeller motor coupler 502, propeller motor shaft
503 one end and propeller motor coupler 502 are fixedly mounted, and the centre of propeller motor shaft 503 passes through the logical of platform hull 1
Hole, and then the other end of propeller motor shaft 503 is fixedly connected with driving 504 periphery of propeller；
The cleaning plant 6 is made of brush head 601 and cleaning motor 602, the fixed peace of the cleaning motor 602
One end of centre loaded on 12 top surface of hoistable platform, brush head 601 is fixedly connected with cleaning motor 602；
The percussion mechanism 7 is by impact block 701, electromagnet casing 702, spring 703, fixed block 704 and isolating pad
705 composition, one end of impact block 701 is fixedly connected with one end of two springs 703, the other end of two springs 703 with consolidate
The top surface for determining block 704 is fixedly connected, and the bottom surface of fixed block 704 is fixedly connected with 705 top surface of isolating pad, in electromagnet casing 702
Portion top surface is connect with 701 bottom surface of impact block, and electromagnet casing 702 is fixedly connected with 12 top surface of hoistable platform；
The electromagnet casing 702 is by flange 70201, hollow shell 70202, guide pad 70203 and limited block 70204
Composition, the flange 70201 is located at one end of hollow shell 70202, and it is another that two limited blocks 70204 are located at hollow shell 70202
The two sides of one end, two limited blocks 70204 are located at the centre of 70,202 two medial surfaces of hollow shell；
The straight-arm rotary electric machine 201, Triangular Arm rotary electric machine 301, spool turns motor 31101, propeller rotational
Motor 501, cleaning motor 602 are waterproof machine；
The straight-arm magnet block 209 and Triangular Arm magnet block 312 is rubidium magnet.
The device is in use, into the water by robot, under the promotion of driving propeller 504, realize that robot exists
Movement in water, while by the position of CCD9 searching hull bottom, after determining the position of hull bottom, driving robot is moved to hull bottom
Near, it is located below the towing cable 14 of robot under the promotion of driving propeller 504, in turning for Triangular Arm rotary electric machine 301
Under dynamic, triangle arm assembly 3 is adsorbed in hull bottom；When robot is when hull surface is creeped, straight-arm device 2 and platform hull 1 at this time
Position is accordingly fixed, and straight-arm device 2 is made to become the epitaxial part of robot platform shell 1, and triangle arm assembly 3 becomes robot
The main member of movement；When robot will creep the slope of wavy line shape, robot straight-arm device 2 decontrol, make robot at
For the multi-joint mechanism laid flat, similar snake-shaped robot, the straight-arm device 2 and triangle arm assembly 3 for making robot are close to being creeped
Surface, drive spool turns under the rotation of reel motor, thus drive Triangular Arm belt rotate, band mobile robot alow
Surface creep；When robot obstacle detouring, triangle arm assembly 3 and platform hull 1 are at plumbness, by platform hull 1 far from hull bottom
Surface, the two of robot straight-arm device 2 and two triangle arm assemblies 3 three legs and hull can be consolidated within the same time at this time
It is fixed, and in addition one leg is across obstacle, after four leg successively obstacle detourings, robot carries out structure again and becomes born of the same parents；When robot carries out
When the marine growth cleaning of hull surface, two straight-arm devices 2 of robot and two triangle arm assemblies 3 form triangle collapse,
Triangular Arm magnet block 312 by 3 bottom of triangle arm assembly is fixed together with hull surface, and cylinder 11 extends at this time, pushes and rises
It drops platform 12 to increase from inside platform hull 1 to top, so that percussion mechanism 7 and cleaning plant 6 are dynamic in the support of hoistable platform 12
Under stretched out from platform hull 1, percussion mechanism 7 and cleaning plant 6 do intermittent movement, and impact block 701 does the flexible fortune of translation first
It is dynamic, the marine growth shell on hull is given and is destroyed, brush head 601 makes rotating motion under the drive of cleaning motor 602, to impact
The residual fraction for the marine growth that block 701 crashed be bonded on hull is removed, until the marine growth of hull bottom is removed
Finish；When robot is detached from hull surface, the movement of robot both can lean on towing cable 14 to drop at this time, can also rely on robot
The driving propeller 504 of platform surrounding installation drives operation, and when robot floats up to the water surface, operator moves to robot
On ship, the cleaning work of hull bottom marine growth is completed.
For the ordinary skill in the art, introduction according to the present invention, do not depart from the principle of the present invention with
In the case where spirit, changes, modifications that embodiment is carried out, replacement and variant still fall within protection scope of the present invention it
It is interior.
Claims (10)
- It is by platform hull, straight-arm device, Triangular Arm dress 1. a kind of hull bottom marine growth clears up master-slave control type Bian Bao robot Set, air bag, driving device, cleaning plant, percussion mechanism, platen cover, CCD, hawser connector, cylinder, hoistable platform, shield, The gentle pump group of towing cable at, one end of four straight-arm devices is connect with the both ends of platform hull two sides respectively, straight-arm The other end of device is connect with one end of triangle arm assembly, and the other two sides both ends of platform hull are fixed with air bag respectively to be connected It connects, the centre of four sides of platform hull is connect with four driving devices respectively, the top surface and platen cover bottom surface of platform hull It is fixedly connected, there are four CCD for the surrounding fixed installation of platform hull bottom surface, and there are four the surrounding fixed installations of platform hd top face CCD, platform hull bottom surface centre are fixedly connected with hawser connector, and towing cable is located at the centre of robot bottom, connect machine inner part, And be pierced by by the mesoporous of platform hull bottom surface, be above extended down to operating platform on ship, the three described cylinder one end respectively with platform It is fixedly connected among enclosure interior, the other end of cylinder is fixedly connected with the bottom surface surrounding of hoistable platform, described air pump one end It is fixedly connected with the centre of hoistable platform bottom surface, air pump is connect with two-bit triplet electromagnetic valve air inlet by tracheae, solenoid valve Two gas outlets pass through tracheae respectively and connect with two three-pronged connectors, wherein three gas outlets of a three-pronged connector respectively with three gas The rod chamber of cylinder connects port connection, and three gas outlets of another three-pronged connector meet port company with the rodless cavity of three cylinders respectively It connecing, the three described percussion mechanism one end are fixedly connected with hoistable platform top surface surrounding respectively,The centre of described cleaning plant one end and hoistable platform top surface is fixedly connected, and two shields are fixedly installed in flat respectively The two sides of platform enclosure interior.
- 2. a kind of hull bottom marine growth according to claim 1 clears up master-slave control type Bian Bao robot, it is characterised in that: institute The straight-arm device stated be by straight-arm rotary electric machine, straight-arm motor coupler, straight-arm motor shaft, straight-arm bracket, straight-arm rolling bearing, What straight-arm gasket, straight-arm end cap, straight-arm rotating belt, straight-arm magnet block and straight-arm magnet fixinig plate formed, the straight-arm turns Dynamic motor is fixedly connected with straight-arm motor coupler, and straight-arm motor coupler is fixedly connected with straight-arm motor shaft one end, straight-arm electricity The arbor other end is fixedly connected by the centre of key and straight-arm bracket one end, and four straight-arm rolling bearings are fixedly installed in directly respectively The two sides at arm support both ends, four straight-arm gaskets are fixedly connected with four straight-arm rolling bearing end faces respectively, and four Straight-arm end cap is fixedly connected with four straight-arm gasket end faces respectively, and straight-arm rotating belt and four straight-arm rolling bearing peripheries are sliding Dynamic connection, and then straight-arm rotating belt is located at the surrounding of straight-arm bracket, the straight-arm magnet block is uniformly installed on straight-arm rotation The outer surface of belt, the straight-arm magnet fixinig plate bottom surface are fixedly connected with straight-arm magnet block top surface, straight-arm magnet fixinig plate Surrounding be fixedly connected by bolt with straight-arm rotating belt outer surface, and then the appearance of straight-arm magnet block and straight-arm rotating belt Face is fixedly connected.
- 3. a kind of hull bottom marine growth according to claim 1 clears up master-slave control type Bian Bao robot, it is characterised in that: institute The triangle arm assembly stated is by Triangular Arm rotary electric machine, Triangular Arm motor coupler, Triangular Arm motor shaft, triangular arm, three Angle arm rolling bearing one, Triangular Arm gasket, Triangular Arm end cap one, Triangular Arm rotating belt, Triangular Arm rolling bearing two, Triangular Arm What end cap two, roll device, Triangular Arm magnet block and Triangular Arm magnet fixinig plate formed, the Triangular Arm rotary electric machine is fixed It is installed on the centre of straight-arm bracket one end, Triangular Arm rotary electric machine is fixedly connected with Triangular Arm motor coupler, Triangular Arm motor Shaft coupling is fixedly connected with Triangular Arm motor shaft one end, and the Triangular Arm motor shaft other end passes through in key and triangular arm one end Between be fixedly connected, two Triangular Arm rolling bearings one are fixedly installed in the two sides at triangular arm tip respectively, Triangular Arm rotation Bearing one side is equipped with Triangular Arm gasket, and the one side of Triangular Arm gasket is fixedly installed with Triangular Arm bearing (ball) cover one, and two Triangular Arm rolling bearing two is fixedly installed in the two sides of triangular arm flush end side, Triangular Arm rolling bearing two side faces respectively Triangular Arm end cap two is installed, the roll device is fixedly installed in the other side of triangular arm flush end, Triangular Arm rotation Belt is slidably connected around Triangular Arm rolling bearing one, Triangular Arm rolling bearing two and roll device, and then Triangular Arm rotates skin Band is located at the surrounding of triangular arm, and the Triangular Arm magnet block is uniformly installed on the outer surface of Triangular Arm rotating belt, institute The Triangular Arm magnet fixinig plate bottom surface stated is fixedly connected with Triangular Arm magnet block top surface,The surrounding of Triangular Arm magnet fixinig plate is fixedly connected by bolt with Triangular Arm rotating belt outer surface, and then Triangular Arm magnetic Iron block is fixedly connected with the outer surface of Triangular Arm rotating belt.
- 4. a kind of hull bottom marine growth according to claim 3 clears up master-slave control type Bian Bao robot, it is characterised in that: institute The roll device stated is made of spool turns motor, reel motor coupler, reel motor shaft and rotating drum, described Spool turns motor is fixedly installed in the centre of triangular arm flush end side, and two reel motor couplers are fixedly mounted respectively In the both ends of spool turns motor shaft, and then one end of two reel motor shafts is fixed with two reel motor couplers connect respectively It connects, the other end of two reel motor shafts passes through respectively to be fixedly connected among key and two rotating drums, the outer circle of rotating drum Circumferential surface and the Triangular Arm rotating belt medial surface connect.
- 5. a kind of hull bottom marine growth according to claim 1 clears up master-slave control type Bian Bao robot, it is characterised in that: institute The driving device stated is made of propeller rotational motor, propeller motor coupler, propeller motor shaft and driving propeller , four propeller rotational motors are symmetrically fixedly installed in the inside of platform hull two-by-two, and propeller rotational motor is stretched Shaft is fixedly installed with propeller motor coupler, and one end of propeller motor shaft and propeller motor coupler are fixedly mounted, The centre of propeller motor shaft passes through the through-hole of platform hull, and then the other end of propeller motor shaft and driving propeller circumference Face is fixedly connected.
- 6. a kind of hull bottom marine growth according to claim 1 clears up master-slave control type Bian Bao robot, it is characterised in that: institute The cleaning plant stated is by brush head and cleaning motor form, and the cleaning motor is fixedly installed in hoistable platform top surface Between, one end of brush head is fixedly connected with cleaning motor.
- 7. a kind of hull bottom marine growth according to claim 1 clears up master-slave control type Bian Bao robot, it is characterised in that: institute The percussion mechanism stated is made of impact block, electromagnet casing, spring, fixed block and isolating pad, one end of impact block and two One end of a spring is fixedly connected, and the other end of two springs is fixedly connected with the top surface of fixed block, the bottom surface of fixed block with every It is fixedly connected from pad top surface, electromagnet casing inside top surface is connect with impact block bottom surface, electromagnet casing and hoistable platform top surface It is fixedly connected.
- 8. a kind of hull bottom marine growth according to claim 7 clears up master-slave control type Bian Bao robot, it is characterised in that: institute The electromagnet casing stated is made of flange, hollow shell, guide pad and limited block, and the flange is located at the one of hollow shell End, two limited blocks are located at the two sides of the hollow shell other end, and two limited blocks are located at the centre of two medial surfaces of hollow shell.
- 9. a kind of hull bottom marine growth according to claim 1 clears up master-slave control type Bian Bao robot, it is characterised in that: institute Straight-arm rotary electric machine, Triangular Arm rotary electric machine, spool turns motor, propeller rotational motor, the cleaning motor stated are waterproof Motor.
- 10. a kind of hull bottom marine growth according to claim 1 clears up master-slave control type Bian Bao robot, it is characterised in that: The straight-arm magnet block and Triangular Arm magnet block is rubidium magnet.
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| CN201910289096.0A CN109941365B (en) | 2019-04-11 | 2019-04-11 | Master-slave control type metamorphic robot for cleaning marine organisms at bottom of ship |
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| CN201910289096.0A CN109941365B (en) | 2019-04-11 | 2019-04-11 | Master-slave control type metamorphic robot for cleaning marine organisms at bottom of ship |
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| CN112119768A (en) * | 2020-09-27 | 2020-12-25 | 姜爱涛 | A preprocessing device for straw auxiliary material mixes |
| CN113650750A (en) * | 2021-10-19 | 2021-11-16 | 南通军华船舶配件有限公司 | Ship bottom biological cleaning device |
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| CN109941365B (en) | 2024-08-09 |
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