CN110861105A

CN110861105A - Screw clearance robot

Info

Publication number: CN110861105A
Application number: CN201911209594.6A
Authority: CN
Inventors: 葛晓博; 廖天怡; 张赐; 付阳; 杨开铭
Original assignee: Yichang Shiming Electronic Technology Co Ltd
Current assignee: Qingdao Allheart Marine Co ltd
Priority date: 2019-12-01
Filing date: 2019-12-01
Publication date: 2020-03-06
Anticipated expiration: 2039-12-01
Also published as: CN110861105B

Abstract

The invention relates to a cleaning device, in particular to a propeller cleaning robot. The water tank is arranged inside the box body, the water tank is connected with the water outlet and the water inlet, the tail end of the box body is provided with the driving paddle, the driving paddle is externally provided with the protective cover, and the box body is provided with the traveling device, the shearing device, the cutting device and the transferring device. The walking device comprises a driving wheel, a driven wheel, a crawler belt, electromagnets, a connecting plate, a rotating disc, an electric shock structure, a wire, a fixed disc, a conductive block and a shaft, wherein the driving wheel and the driven wheel are arranged on the connecting plate, an electric motor is arranged in the driving wheel, the crawler belt is arranged on the driving wheel and the driven wheel, a plurality of electromagnets are arranged on the crawler belt, and the connecting plate is arranged on the box body through the shaft. The propeller cleaning machine achieves time-saving and labor-saving propeller cleaning, and can replace manpower to enter underwater to complete cleaning operation.

Description

Screw clearance robot

Technical Field

The invention relates to a cleaning device, in particular to a propeller cleaning robot.

Background

After a large ship runs in water for a long time, a thick layer of dirt is deposited on the surface of the propeller. This accumulation of dirt can lead to localized corrosion of the propeller, resulting in reduced propeller safety. In addition, fouling increases the weight of the propeller and increases the resistance of the propeller to rotation in the water. If not cleaned in time, the consumed power of the ship is increased in the advancing process, and a large amount of energy is consumed for a long time.

At present, pollutants in water are increased sharply, so that the pollutants not only harm aquatic organisms, but also cause great damage to ships. For example, the propeller of a ship may be involuntarily wound with various wires while rotating. The light person can cause the rotation resistance of the propeller to increase, and the heavy person can cause the propeller to be locked, so that the ship can not move. The only way to do this is for the worker to enter the water and clear the entanglement, which is time consuming and can place the worker at risk.

These problems can cause great economic loss and safety problems, but no good solution exists so far, and therefore, a robot capable of completely replacing manpower to enter underwater for omnibearing cleaning needs to be designed.

Disclosure of Invention

The invention aims to provide a robot which can overcome the defects of time and labor waste and poor effect of the existing cleaning mode when a propeller is cleaned.

In order to solve the technical problems, the invention adopts the technical scheme that: the utility model provides a screw clearance robot, includes the box, box internally mounted water tank, delivery port and water inlet are connected to the water tank, the tail end installation drive oar of box, drive oar externally mounted safety cover, installation camera, lifting hook and scouring mechanical arm on the box, still install running gear, shearing mechanism, cutting device and transfer device on the box.

Preferably, running gear is by the action wheel, from the driving wheel, the track, the electro-magnet, the connecting plate, the rolling disc, the structure of electrocuting, the wire, the fixed disk, the conducting block, the axle is constituteed, action wheel and follow driving wheel are installed on the connecting plate, set up electric motor in the action wheel, action wheel and follow driving wheel are gone up and are installed the track, install a plurality of electro-magnets on the track, the connecting plate passes through the axle and installs on the box, epaxial installation rolling disc and fixed disk, install a plurality of structures of electrocuting on the rolling disc, install semi-annular conducting block on the fixed disk.

Preferably, the cutting device comprises scissors and a first electric push rod, the scissors are mounted on the box body, and the first electric push rod is mounted on the scissors.

Preferably, the cutting device comprises a Y-shaped rod, a cutting blade, a motor and a second electric push rod, wherein one end of the Y-shaped rod is hinged to the box body, the motor and the cutting blade are installed at the other end of the Y-shaped rod, one end of the second electric push rod is installed on the box body, and the other end of the second electric push rod is installed on the Y-shaped rod.

Preferably, the transfer device comprises an electric motor, a winding wheel, a powerful electromagnet and a manipulator, wherein the electric motor is connected with the winding wheel and is installed on the box body through a supporting rod, the winding wheel is connected with a flexible steel cable in a winding mode, the other end of the flexible steel cable is connected with the powerful electromagnet, the powerful electromagnet needs to be matched with the manipulator for use, and the manipulator is installed on the box body.

Preferably, the flushing manipulator and the water outlet are respectively connected with two outlets of the electromagnetic valve, an inlet of the electromagnetic valve is connected with a water pump, and the water pump is installed inside the box body and connected with the water tank.

Preferably, the electric shock structure consists of a conducting strip and a spring, the conducting strip is kept in contact with the conducting block, the tail end of the electric shock structure is connected with a lead, and the lead is connected with the electromagnet.

Preferably, the rotating disc is installed on the shaft, the motor is arranged in the rotating disc, the fixed disc is fixedly connected to the shaft, and the fixed disc is connected with the rotating disc.

The invention has the beneficial effects that: 1, dirt on the surface of the propeller can be cleaned; 2, the winding on the propeller can be cut off and cut; 3, the operator only needs to carry out shore remote control, and the device is safe and convenient.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a schematic diagram showing the energization mode of the electromagnet 24 according to the present invention.

Fig. 3 is a schematic view of the connection between the flushing robot 16 and the water outlet 17.

In the figure: 11 boxes, 12 driving paddles, 13 mechanical hands, 14 cameras, 15 lifting hooks, 16 flushing mechanical hands, 17 water outlets, 18 water inlets, 21 driving wheels, 22 driven wheels, 23 crawler belts, 24 electromagnets, 25 connecting plates, 26 rotating discs, 261 electric shock structures, 262 conducting wires, 27 fixed discs, 271 conductive blocks, 28 shafts, 31 scissors, 32 first electric push rods, 41Y-shaped rods, 42 cutting pieces, 43 motors, 44 second electric push rods, 51 electric motors, 52 winding wheels, 53 powerful electromagnets, 61 water pumps and 62 electromagnetic valves.

Detailed Description

The invention is further described below with reference to the figures and examples.

As shown in fig. 1-3, a propeller cleaning robot consists of four devices, namely a walking device, a shearing device, a cutting device and a transferring device. The method specifically comprises the following steps: 11 boxes, 12 driving paddles, 13 mechanical hands, 14 cameras, 15 lifting hooks, 16 flushing mechanical hands, 17 water outlets, 18 water inlets, 21 driving wheels, 22 driven wheels, 23 crawler belts, 24 electromagnets, 25 connecting plates, 26 rotating discs, 261 electric shock structures, 262 conducting wires, 27 fixed discs, 271 conductive blocks, 28 shafts, 31 scissors, 32 first electric push rods, 41Y-shaped rods, 42 cutting pieces, 43 motors, 44 second electric push rods, 51 electric motors, 52 winding wheels, 53 powerful electromagnets, 61 water pumps and 62 electromagnetic valves.

The box body 11 is streamline, so that the running resistance of the robot in water can be greatly reduced. Besides some electrical devices, a water tank is also arranged in the water tank. The water tank is connected to a water outlet 17 and a water inlet 18, and the water inlet 18 is connected to a solenoid valve, which opens to allow seawater to enter the tank. The amount of seawater in the water tank determines the submergence depth of the robot in water.

Two driving paddles 12 are arranged at the tail end of the box body 11, and the driving paddles 12 are arranged in the protective cover. By changing the speed difference of the two driving paddles 12, the robot can be steered in water.

The camera 14 is used for transmitting the underwater picture to an operator, so that the operator can conveniently control the robot. The hook 15 can be used for grabbing and lifting the robot by external equipment.

The washing mechanical arm 16 is a mechanical arm spray head which has a very large and flexible rotation range, is connected with a water tank in the box body 11, and can spray pressurized water in the water tank onto the screw propeller to be cleaned so as to wash away dirt deposited on the screw propeller.

As shown in fig. 3, in order to reduce the overall weight of the robot, only one water pump 61 is required to be installed in the box body 11, and the water pump 61 is connected with the water tank. The electromagnetic valve 62 is a three-position three-way electromagnetic valve, the water pump 61 is connected with an inlet of the electromagnetic valve 62, and two outlets of the electromagnetic valve 62 are respectively connected with the flushing manipulator 16 and the water outlet 17. When the spool of the solenoid valve 62 is in the neutral position, all of the conduits are closed. When the spool of the solenoid valve 62 is on the left side, only one side channel is open, and the water pump 61 can supply high pressure water to the flush robot 16. When the valve core of the electromagnetic valve 62 is positioned on the right side, only the channel on the other side is opened, and at the moment, the water pump 61 can discharge the water in the box body 11 from the water outlet 17, so that the robot can float up to the water surface conveniently.

The walking device comprises a driving wheel 21, a driven wheel 22, a crawler belt 23, an electromagnet 24, a connecting plate 25, a rotating disc 26, an electric contact structure 261, a conducting wire 262, a fixed disc 27, a conducting block 271, a shaft 28 and the like. The walking device is arranged on two sides of the bottom of the robot, and has functions similar to two walking wheels. Wherein, an electric motor is arranged in the driving wheel 21 and is matched with the driven wheel 22 to drive the crawler belt 23 to rotate. A plurality of electromagnets 24 are arranged on the crawler 23, so that the robot can be ensured to be adsorbed on the propeller and can walk on the propeller.

As shown in fig. 2, the driving pulley 21 and the driven pulley 22 are mounted on a connecting plate 25, and the connecting plate 25 is mounted on the case 11 via a shaft 28. The rotating disc 26 is sleeved on the shaft 28 and driven by a motor of the rotating disc to keep rotating synchronously with the crawler belt 23. A plurality of deep grooves are uniformly distributed on the rotating disc 26, and each deep groove is provided with an electric contact structure 261. The electric shock structure 261 is composed of a conductive sheet and a spring, and the spring extrudes the conductive sheet to ensure that one end of the electric shock structure 261 is always in contact with the fixed disc 27. While the other end of each contact structure 261 is connected to a wire 262 passing through the rotary disc 26, each wire 262 in turn being connected to each electromagnet 24.

The mounting plate 27 is attached to the shaft 28 for rotation with the shaft 28. The fixed disc 27 is provided with a semi-annular conductive block 271, and the conductive block 271 is connected with a power supply line in the box body 11. The robot can be connected with an external power supply through a power transmission line, and can also supply power to all electric equipment in a mode of installing a storage battery in the box body 11.

The rotary plate 26 is in close contact with the fixed plate 27, and during the rotation of the rotary plate 26 along with the caterpillar track 23, part of the electric contact structure 261 is in turn in contact with the conductive block 271. Thereby effecting energization of the electromagnet 24 that will contact the propeller and de-energization of the electromagnet 24 that does not contact the propeller. Therefore, the robot can be adsorbed on the propeller. And the driving wheel 21 and the driven wheel 22 drive the crawler belt 23 to rotate so as to realize the walking of the robot on the propeller.

It should be noted that, since the traveling device is implemented underwater, all live structures need to be subjected to waterproof and anti-creeping treatment.

The cutting device comprises scissors 31 and a first electric push rod 32, wherein the scissors 31 are arranged on the box body 11, and the first electric push rod 32 is arranged on the scissors 31. The first electric push rod 32 controls opening and closing of the scissors 31. The device can cut off the non-metal winding on the propeller, so that the winding falls off from the propeller.

The cutting device consists of a Y-shaped rod 41, a cutting blade 42, a motor 43 and a second electric push rod 44. Wherein one end of the Y-shaped rod 41 is hinged on the box 11 and the other end is provided with a motor 43 and a cutting blade 42. The cutting blade 42 is driven by the motor 43 to rotate at a high speed, so that the metal winding on the propeller can be cut. The second electric push rod 44 has one end mounted on the case 11 and the other end mounted on the Y-shaped bar 41. The extension and contraction of the second electric push rod 44 can control the Y-shaped rod 41 to swing up and down, so that the cutting angle can be adjusted conveniently.

The transfer device is composed of an electric motor 51, a winding wheel 52, a powerful electromagnet 53 and a manipulator 13. The electric motor 51 controls the rotation of the winding wheel 52, and the winding wheel 52 is wound with a flexible steel cable, and the other end of the flexible steel cable is connected with a strong electromagnet 53. The powerful electromagnet 53 is moved to the other side of the propeller after being grasped by the robot arm 13, and the powerful electromagnet 53 is attracted to the surface. The flexible cable is then retracted by the electric motor 51, which drives the winding wheel 52, so that the robot is quickly transferred to the other side of the propeller.

The working principle of the invention is as follows:

when the robot is used, the robot is placed in water by using the lifting hook 15, and an operator remotely controls the water inlet 18 to be opened, so that water continuously enters the water tank, and the robot slowly sinks. The operator then remotely controls the driving paddle 12 on the robot to rotate according to the video information sent back by the camera 14, so that the robot reaches the surface of the propeller to be cleaned. Under the action of the attraction force of the electromagnet 24 in the walking device, the robot is in contact with the surface of the propeller and is adsorbed on the propeller.

The driving wheel 21 on the walking device drives the caterpillar track 23 to rotate, and the robot can walk on the surface of the propeller under the intermittent electrification of the electromagnet 24. If the walking direction of the robot is required to be changed, only the speed difference of the two driving wheels 21 needs to be changed.

The washing mechanical arm 16 pressurizes the water in the water tank and sprays the pressurized water to the surface of the propeller under the action of the water pump 61, so that dirt on the surface of the propeller can be washed clean. The spraying direction is adjusted by controlling the swinging angle of the flushing manipulator 16, so that dead corners on the propeller which are not easy to clean can be cleaned.

When an operator finds that non-metal winding objects are on the propeller from the camera 14 during the running process of the robot, the shearing device controls the scissors 31 to work under the action of the first electric push rod 32, and the winding objects are sheared. When encountering a metal wrap, a cutting device is required to work. Firstly, the motor 43 of the cutting device is controlled to work, so that the motor drives the cutting blade 42 to rotate at a high speed, and then the second electric push rod 44 is used for controlling the swing angle of the cutting device.

When the robot finishes cleaning one side of the propeller, an operator controls the robot to reach the edge of the propeller blade. The operator controls the manipulator 13 to grab the powerful electromagnet 53, and then attaches the powerful electromagnet 53 to the other surface of the propeller blade and energizes the powerful electromagnet 53, so that the powerful electromagnet 53 is firmly attached to the surface of the blade. At this time, the power supply to the walking device is stopped, so that the robot is separated from the propeller blades.

The robot then slides to the other side of the propeller blades under the traction of the flexible cable on the winding wheel 52 and the drive of the drive paddles 12. The control then retracts the flexible wire around the wheel 52, bringing the robot closer to the blade. Then, the robot traveling device is attracted to the blade with the aid of the robot hand 13. Then, the energization of the powerful electromagnet 53 is stopped, and the winding wheel 52 is controlled to retract the powerful electromagnet 53. Similarly, the robot may also use this method to reach from the surface of a blade to the surface of an adjacent blade.

The dirt on the surface of the propeller can be cleaned by repeating the steps. After the robot is cleaned, water in the water tank can be drained under the combined action of the water pump 61 and the electromagnetic valve 62, so that the robot floats to the water surface.

The present invention has been described in connection with the accompanying drawings, and it is to be understood that the invention is not limited to the specific embodiments disclosed, but is intended to cover various modifications, changes and equivalents of the embodiments of the invention, and its application to other applications without departing from the spirit and scope of the invention.

Claims

1. The utility model provides a screw clearance robot, includes box (11), its characterized in that: the water tank is arranged in the box body (11) and is connected with the water outlet (17) and the water inlet (18), the driving paddle (12) is arranged at the tail end of the box body (11), the protective cover is arranged outside the driving paddle (12), the camera (14), the lifting hook (15) and the scouring manipulator (16) are arranged on the box body (11), and the walking device, the shearing device, the cutting device and the transferring device are further arranged on the box body (11);

the walking device consists of a driving wheel (21), a driven wheel (22), a crawler belt (23), an electromagnet (24), a connecting plate (25), a rotating disc (26), an electric shock structure (261), a lead (262), a fixed disc (27), a conductive block (271) and a shaft (28), the driving wheel (21) and the driven wheel (22) are arranged on the connecting plate (25), an electric motor is arranged in the driving wheel (21), a crawler belt (23) is arranged on the driving wheel (21) and the driven wheel (22), a plurality of electromagnets (24) are arranged on the crawler belt (23), the connecting plate (25) is arranged on the box body (11) through a shaft (28), a rotating disc (26) and a fixed disc (27) are arranged on the shaft (28), a plurality of electric shock structures (261) are arranged on the rotating disc (26), and a semi-annular conductive block (271) is arranged on the fixed disc (27);

the shearing device consists of scissors (31) and a first electric push rod (32), the scissors (31) are arranged on the box body (11), and the first electric push rod (32) is arranged on the scissors (31);

the cutting device consists of a Y-shaped rod (41), a cutting blade (42), a motor (43) and a second electric push rod (44), one end of the Y-shaped rod (41) is hinged to the box body (11), the motor (43) and the cutting blade (42) are installed at the other end of the Y-shaped rod (41), one end of the second electric push rod (44) is installed on the box body (11), and the other end of the second electric push rod (44) is installed on the Y-shaped rod (41);

the transfer device is composed of an electric motor (51), a winding wheel (52), a powerful electromagnet (53) and a manipulator (13), wherein the electric motor (51) is connected with the winding wheel (52) and is installed on the box body (11) through a supporting rod, a flexible steel cable is wound on the winding wheel (52), the other end of the flexible steel cable is connected with the powerful electromagnet (53), the powerful electromagnet (53) needs to be matched with the manipulator (13) for use, and the manipulator (13) is installed on the box body (11).

2. A propeller cleaning robot as recited in claim 1, wherein: the flushing manipulator (16) and the water outlet (17) are respectively connected with two outlets of the electromagnetic valve (62), an inlet of the electromagnetic valve (62) is connected with the water pump (61), and the water pump (61) is installed inside the box body (11) and connected with the water tank.

3. A propeller cleaning robot as recited in claim 1, wherein: the electric shock structure (261) is composed of a conducting strip and a spring, the conducting strip is kept in contact with the conducting block (271), the tail end of the electric shock structure (261) is connected with a conducting wire (262), and the conducting wire (262) is connected with the electromagnet (24).

4. A propeller cleaning robot as recited in claim 1, wherein: the rotating disc (26) is installed on a shaft (28), a motor is arranged in the rotating disc (26), the fixed disc (27) is fixedly connected to the shaft (28), and the fixed disc (27) is connected with the rotating disc (26).