CN110948497A - Boats and ships adhere to biological cleaning robot - Google Patents
Boats and ships adhere to biological cleaning robot Download PDFInfo
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- CN110948497A CN110948497A CN201911035942.2A CN201911035942A CN110948497A CN 110948497 A CN110948497 A CN 110948497A CN 201911035942 A CN201911035942 A CN 201911035942A CN 110948497 A CN110948497 A CN 110948497A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 41
- 238000005406 washing Methods 0.000 claims abstract description 10
- 230000000712 assembly Effects 0.000 claims abstract description 8
- 238000000429 assembly Methods 0.000 claims abstract description 8
- 238000001179 sorption measurement Methods 0.000 claims description 53
- 230000006835 compression Effects 0.000 claims description 24
- 238000007906 compression Methods 0.000 claims description 24
- 238000003780 insertion Methods 0.000 claims description 6
- 230000037431 insertion Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 abstract description 5
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000005389 magnetism Effects 0.000 description 11
- 230000005484 gravity Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 238000007789 sealing Methods 0.000 description 4
- 230000009194 climbing Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000005034 decoration Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 244000005700 microbiome Species 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
- B08B3/024—Cleaning by means of spray elements moving over the surface to be cleaned
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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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
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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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Robotics (AREA)
- Ocean & Marine Engineering (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The application provides a ship attached organism cleaning robot, which comprises a connecting frame and walking devices respectively connected to two sides of the connecting frame; each walking device comprises a support frame and a side link connected to one side of the support frame close to the connecting frame; a plurality of groups of connecting assemblies are connected between the connecting frame and the side link rod, and a rotating pair is connected between the side link rod and the supporting frame; a pair of synchronously moving tracks is arranged on the support frame; be equipped with the washing dish on the link, the support frame tip is equipped with first motor, and first motor is equipped with the output shaft, is connected with the washing rifle on the output shaft. The beneficial effect of this application is: the traveling device drives the connecting frame to move during traveling, so that ships at different parts can be cleaned by the cleaning disc; be equipped with the washing rifle in the running gear simultaneously, can realize washing the rifle and wash different positions of boats and ships at the removal in-process, first motor drives simultaneously moreover and washs the rifle and carry out the washing of multi-angle with rotation angle's mode.
Description
Technical Field
The utility model relates to the technical field of robots, concretely relates to boats and ships adhere to biological cleaning robot.
Background
Usually because of the adhesion of marine microorganism, lead to the whole load of boats and ships to increase, speed descends 10% to 50%, and boats and ships need consume more fuel in order to compensate the decline of speed, greatly increased the cost of transportation, consequently need in time to clear up the adhesion organisms on the boats and ships, cavitation jet technology is the mature technique among the prior art, also is the commonly used technique that is used for clearing up boats and ships adhesion organisms, but how nimble removal cavitation jet cleaning dish and the position of clearance rifle become the problem that needs urgent solution among the prior art with the boats and ships adhesion organisms of clearance different positions.
Disclosure of Invention
The purpose of this application is to provide a boats and ships adhering to biological cleaning robot to above problem.
In a first aspect, the application provides a robot for cleaning marine fouling organisms, which comprises a connecting frame and walking devices respectively connected to two sides of the connecting frame; each walking device comprises a support frame and a side link connected to one side of the support frame close to the connecting frame; a plurality of groups of connecting assemblies are connected between the connecting frame and the side link, and a rotating pair is connected between the side link and the supporting frame; a pair of synchronously moving tracks is arranged on the support frame; the cleaning device is characterized in that a cleaning disc is arranged on the connecting frame, a first motor is arranged at the end part of the supporting frame, an output shaft is arranged on the first motor, and a cleaning gun is connected onto the output shaft.
According to the technical scheme that this application embodiment provided, it is a pair of evenly be provided with a plurality of magnetism on the track and adsorb the unit, magnetism adsorbs the unit and passes through movable assembly to be connected on the track.
According to the technical scheme that this application embodiment provided, the movable assembly is including fixing a pair of connecting seat on a pair of track surface, first through-hole has been seted up on the connecting seat, magnetism adsorbs the unit bottom surface and is fixed with the correspondence the inserted bar of connecting seat, the inserted bar passes through first through-hole rotationally pegs graft between a pair of the connecting seat.
According to the technical scheme provided by the embodiment of the application, the cross section of the crawler belt is of a runway shape; a track is arranged between the pair of tracks, the cross section shape of the track is consistent with that of the tracks, and the track is connected to the support frame through an elastic assembly; the tracks comprise working areas, idle areas and arc areas connected between the working areas and the idle areas, and the tracks are correspondingly arranged in the areas between the working areas and the idle areas of the pair of tracks; a symmetrical shaft of the crawler belt, which is parallel to the travelling direction of the crawler belt, is set as a first symmetrical shaft, a symmetrical shaft of the crawler belt, which is parallel to the travelling direction of the crawler belt, is set as a second symmetrical shaft, the first symmetrical shaft is parallel to the second symmetrical shaft, and the vertical distance between the second symmetrical shaft and the working area is greater than that between the second symmetrical shaft and the idle area; a slidable guide wheel is clamped in the track; a support rod is connected between the guide wheel and the magnetic adsorption unit.
According to the technical scheme provided by the embodiment of the application, the cross section of the crawler belt is of a runway shape; a track fixed on the support frame is arranged between the pair of tracks, and the cross section shape of the track is consistent with that of the track; the tracks comprise working areas, idle areas and arc areas connected between the working areas and the idle areas, and the tracks are correspondingly arranged in the areas between the working areas and the idle areas of the pair of tracks; a symmetrical shaft of the crawler belt, which is parallel to the travelling direction of the crawler belt, is set as a first symmetrical shaft, a symmetrical shaft of the crawler belt, which is parallel to the travelling direction of the crawler belt, is set as a second symmetrical shaft, the first symmetrical shaft is parallel to the second symmetrical shaft, and the vertical distance between the second symmetrical shaft and the working area is greater than that between the second symmetrical shaft and the idle area; a slidable guide wheel is clamped in the track; and an elastic connecting piece is connected between the guide wheel and the magnetic adsorption unit.
According to the technical scheme that this application embodiment provided, coupling assembling includes the connecting rod, the one end of connecting rod is passed through joint bearing and is rotationally connected on the side link, the other end of connecting rod is rotationally established through the cylinder cover on the link.
According to the technical scheme that this application embodiment provided, the both ends of side link are equipped with rotatory sleeve respectively, the both sides of support frame correspond rotatory sleeve sets up the pillar respectively, rotatory sleeve rotationally overlaps and establishes form on the pillar the revolute pair.
According to the technical scheme provided by the embodiment of the application, one side of the support frame, which is far away from the side link, corresponds to two ends of the side link and is respectively provided with the limit stop.
According to the technical scheme that this application embodiment provided, be equipped with compression spring on the coupling assembling, compression spring cover is established on the connecting rod.
According to the technical scheme that this application embodiment provided, set up compression spring be equipped with a pair of nut on the connecting rod, it is a pair of the nut is connected respectively compression spring's both ends, correspond on the connecting rod the nut sets up the external screw thread, compression spring passes through the nut to be fixed on the connecting rod.
The invention has the beneficial effects that: the application provides a ship attached organism cleaning robot, which comprises a connecting frame and walking devices respectively connected to two sides of the connecting frame; each walking device comprises a support frame and a side link connected to one side of the support frame close to the connecting frame; a plurality of groups of connecting assemblies are connected between the connecting frame and the side link, and a rotating pair is connected between the side link and the supporting frame; a pair of synchronously moving tracks is arranged on the support frame; the cleaning device is characterized in that a cleaning disc is arranged on the connecting frame, a first motor is arranged at the end part of the supporting frame, an output shaft is arranged on the first motor, and a cleaning gun is connected onto the output shaft.
The traveling device drives the connecting frame to move during traveling, so that ships at different parts can be cleaned by the cleaning disc; be equipped with the washing rifle in the running gear simultaneously, can realize washing the rifle and wash different positions of boats and ships at the removal in-process, first motor drives simultaneously moreover and washs the rifle and carry out the washing of multi-angle with rotation angle's mode.
Drawings
FIG. 1 is a schematic structural diagram of a first embodiment of the present application;
FIG. 2 is a schematic structural view of a support frame according to a first embodiment of the present disclosure;
FIG. 3 is a schematic structural view of a connecting frame according to a first embodiment of the present application;
FIG. 4 is a schematic structural diagram of a second embodiment of the present application;
FIG. 5 is a schematic view of a second embodiment of the present application showing the connection between a connecting frame and a side link;
FIG. 6 is a schematic structural view illustrating a connection between a side link and a supporting frame according to a second embodiment of the present application;
FIG. 7 is a schematic view showing the structure of the attachment of the crawler belt to the magnetic attraction unit according to the second embodiment of the present application;
FIG. 8 is a schematic structural diagram of a third embodiment of the present application;
FIG. 9 is a schematic structural diagram of a side view of a third embodiment of the present application;
FIG. 10 is a schematic view of the structure of an elastic connector according to a third embodiment of the present application;
FIG. 11 is a schematic structural diagram of a fourth embodiment of the present application;
FIG. 12 is a schematic side view of a fourth embodiment of the present application;
FIG. 13 is a schematic structural view of a track and a guide wheel according to a fourth embodiment of the present application;
the text labels in the figures are represented as: 100. a connecting frame; 110. cleaning the disc; 120. mounting a plate; 200. a traveling device; 210. a support frame; 211. a mounting frame; 212. a sealing box; 213. a second motor; 220. a side link; 230. track 231, work area; 232. an idle area; 233. an arc-shaped area; 234. a first axis of symmetry; 250. a track; 251. a second axis of symmetry; 260. an elastic component; 300. a magnetic adsorption unit; 410. a connecting seat; 420. inserting a rod; 500. a guide wheel; 600. a strut; 700. an elastic connecting member; 810. a connecting rod; 820. a knuckle bearing; 830. a cylindrical sleeve; 840. a compression spring; 850. a nut; 221. rotating the sleeve; 214. a pillar; 215. and a limit stop.
Detailed Description
In order that those skilled in the art will better understand the technical solutions of the present invention, the following detailed description of the present invention is provided in conjunction with the accompanying drawings, and the description of the present section is only exemplary and explanatory, and should not be construed as limiting the scope of the present invention in any way.
Fig. 1 is a schematic view illustrating a first embodiment of the present application, including a connecting frame 100, and traveling devices 200 respectively connected to two sides of the connecting frame 100, where each of the traveling devices 200 includes a supporting frame 210 and a side link 220 connected to one side of the supporting frame 210 close to the connecting frame 100.
A plurality of groups of connecting assemblies are connected between the connecting frame 100 and the side link 220, and the connecting frame 100 and the side link 220 realize relative movement through the connecting assemblies. The side link 220 and the supporting frame 210 are rotatably connected together through a pair of rotating pairs, and the relative position and angle between the side link 220 and the supporting frame 210 can be adjusted through the rotating pairs in the embodiment, so as to adapt to the working conditions with different curved surface degrees between the side link 220 and the supporting frame. In addition, since the connecting frame 100 is connected to the side link 220, the side link 220 moves relative to the supporting frame 210 to drive the connecting frame 100 to move.
The supporting frame 210 is provided with a pair of crawlers 230 that move synchronously, and in this embodiment, the driving wheels drive the pair of crawlers 230 to move when rotating. The cleaning device is characterized in that a cleaning disc 110 is arranged on the connecting frame 100, a first motor is arranged at the end part of the supporting frame 210, an output shaft is arranged on the first motor, and a cleaning gun is connected to the output shaft.
In this embodiment, as shown in fig. 2 and 3, the connecting frame 100 is provided with a mounting plate 120 corresponding to the cleaning disc 110, the cleaning disc 110 is disposed on a surface of the mounting plate 120 away from the connecting frame 100, the connecting frame 100 is provided with a first motor corresponding to the cleaning disc 110, and an output shaft of the first motor is connected to the cleaning disc 110 for driving the cleaning disc 110 to rotate. In this embodiment, adopt the mode of cavitation efflux to clear up boats and ships attached to living things, and the cleaning area of cleaning dish 110 is greater than the cleaning area of washing rifle in this embodiment. In this embodiment, the end of the supporting frame 210 corresponds to the cleaning gun and is provided with the mounting frame 211, the surface of the mounting frame 211 is provided with the sealing box 212, the sealing box 212 is internally provided with the second motor 213, the output shaft of the second motor 213 penetrates through the sealing box 212 and extends to the outside and is connected with the cleaning gun, and the second motor 213 drives the cleaning gun to clean and rotate simultaneously.
Referring to fig. 4 to 7, a second embodiment of the present application is shown, and this embodiment is optimized based on the first embodiment, and the connecting assemblies include four groups, and each of the connecting assemblies is symmetrically connected between the connecting frame 100 and the side link 220. In this embodiment, two sets of connecting components are respectively connected to two sides of the connecting frame 100 and the side link 220, and the other two sets of connecting components are connected to the middle of the connecting frame 100 and the side link 220.
The connecting assembly comprises a connecting rod 810, one end of the connecting rod 810 is rotatably connected to the side link 220 through a joint bearing 820, and the other end of the connecting rod 810 is rotatably sleeved on the connecting frame 100 through a cylindrical sleeve 830. In this embodiment, the joint bearing 820 and the cylindrical sleeve 830 can adjust the position and the angle of the connecting frame 100 relative to the traveling device to adapt to curved surface conditions of different degrees between the two.
In a preferred embodiment, the connecting assembly is provided with a compression spring 840, and the compression spring 840 is sleeved on the connecting rod 810. In the preferred embodiment, the compression spring 840 is provided on the connection rod 810 connected to the middle of the connection frame 100. The compression spring 840 is provided to provide cushioning for the attachment frame 100 during operation.
Preferably, a pair of nuts 850 is disposed on the connecting rod 810 provided with the compression spring 840, the pair of nuts 850 are respectively connected to two ends of the compression spring 840, an external thread is disposed on the connecting rod 810 corresponding to the nuts 850, and the compression spring 840 is fixed on the connecting rod 810 through the nuts 850. In the present preferred embodiment, the degree of compression of the compression spring 840 can be adjusted by adjusting the distance between the pair of nuts 850 to adjust the buffering effect of the compression spring 840.
In this embodiment, two ends of the side link 220 are respectively provided with a rotating sleeve 221, two sides of the supporting frame 210 are respectively provided with a supporting column 214 corresponding to the rotating sleeve 221, and the rotating sleeve 221 is rotatably sleeved on the supporting column 214 to form the rotating pair. The rotation sleeve 221 and the support 214 are circumferentially limited by a lock nut 850.
Preferably, limit stoppers 215 are respectively disposed at two ends of the side frame 220 corresponding to one side of the support frame 210 away from the side frame 220. The limit stopper 215 is provided to limit the movement space of the side link 220 and to limit the rotation space of the connecting rod 810 within 180 °.
In this embodiment, a plurality of magnetic adsorption units 300 are uniformly disposed on the pair of crawlers 230 through a movable assembly. In this embodiment, the caterpillar 230 is a chain structure, and the plurality of magnetic adsorption units 300 provided on the caterpillar 230 can make the magnetic adsorption units 300 adsorbed on the working surface, thereby increasing the stability of the traveling robot in working and traveling.
The movable assembly includes a pair of connecting seats 410 respectively fixed to the pair of caterpillar bands 230, a first through hole is formed in the middle of the connecting seats 410, an insertion rod 420 is fixed to the bottom surface of the magnetic adsorption unit 300, and both ends of the insertion rod 420 are respectively rotatably inserted between the pair of connecting seats 410 through the first through hole. In this embodiment, the chain is provided with chain clamps respectively connected to both sides thereof, and the connecting seat 410 is fixed to the chain clamps by bolts. The magnetic adsorption unit 300 rotates relative to the pair of connecting seats 410 through the insertion rod 420, so that the track 230 adjusts the position and the angle of the magnetic adsorption unit 300 according to the degree of the curved surfaces of different parts, and the magnetic adsorption unit 300 is limited in rotation amount due to the fact that the magnetic adsorption unit 300 normally works, and therefore a clamp spring is connected between the bottom surface of the magnetic adsorption unit 300 and the connecting seats 410.
According to the inconsistent degree of the curved surface of the robot, the relative position between the connecting frame 100 and the walking device 200 can be adjusted through the connecting component so as to adapt to the curved surface working conditions with different degrees between the connecting frame and the walking device; meanwhile, the frame link 220 in the walking device 200 can adjust the relative position with the support frame 210 according to the working condition curved surface, and the magnetic adsorption unit 300 can adjust the relative position with the track 230 according to the working condition curved surface through a movable component, so that the three-section type curved surface self-adaptive adjustment structure of the robot is realized. That is, when the curved surface degrees of the working conditions of the wall-climbing robot are not consistent, the relative position of the connecting frame 100 with respect to the walking devices 200 on the two sides can be adjusted, so that the connecting frame 100 can be better attached to the curved surface of the corresponding working condition; meanwhile, the relative positions of the support frame 210 and the side link 220 in the walking device 200 are adjusted, so that the support frame 210 and the side link 220 can be better attached to the curved surface of the corresponding working condition; in addition, the magnetic adsorption unit 300 on the caterpillar 230 can rotate relative to the caterpillar 230, so that the magnetic adsorption unit 300 can better fit on the curved surface of the corresponding working condition. Through the above adjusting structure, the position relation of each part on the wall-climbing robot can be adaptively adjusted according to different degrees of curvature of the curved surface of each part of the working condition, so that the wall-climbing robot can be better attached to the surface of the curved surface working condition, and the surface of the wall-climbing robot can stably work under the working condition.
As shown in fig. 8-10, the third embodiment of the present application is optimized based on the second embodiment, the cross-sectional shape of the caterpillar 230 is configured as a runway, a pair of driving wheels drives a pair of chains to move synchronously, and the driving wheels are fixedly connected to the supporting frame 210, so that the supporting frame 210 and the driving mechanism are driven to move synchronously during the movement of the pair of caterpillar 230.
A rail 250 fixed to the support frame 210 is provided between the pair of caterpillars 230, and the cross-sectional shape of the rail 250 is a raceway type. In this embodiment, the cross-sectional shape of the rail 250 corresponds to the cross-sectional shape of the crawler 230, but has a size smaller than the cross-sectional size of the crawler 230.
The crawler 230 comprises a working area 231, an idle area 232 and an arc area 233 connected between the working area 231 and the idle area 232, in this embodiment, the outer surfaces of the working area 231, the idle area 232 and the arc area 233 of the crawler 230 are uniformly provided with the magnetic adsorption units 300, the magnetic adsorption units 300 on the working area 231 are adsorbed on the working surface when the crawler 230 is on the working surface, and the magnetic adsorption units 300 on the idle area 232 and the arc area 233 do not work and are in an idle state. In the present embodiment, only one magnetic adsorption unit 300 is schematically shown on the crawler 230, and in practical use of the present embodiment, a plurality of magnetic adsorption units 300 are uniformly disposed on the crawler 230, and preferably, widened chain clamps are disposed on both sides of the crawler 230, and one magnetic adsorption unit 300 is disposed at intervals of the width of one chain clamp.
The rail 250 is correspondingly disposed in an area between the working area 231 and the idle area 232 of the pair of the caterpillars 230. In the present embodiment, since the size of the rail 250 is smaller than that of the crawler 230, the rail 250 is disposed between the working area 231 and the vacant area 232 with respect to the crawler 230, and the rail 250 is disposed between the pair of crawlers 230 so that the horizontal spacing of the rail 250 from the pair of crawlers 230 is uniform in order to ensure balance.
The symmetry axis of the caterpillar 230 parallel to the traveling direction thereof is set as a first symmetry axis 234, the symmetry axis of the track 250 parallel to the traveling direction of the caterpillar 230 is set as a second symmetry axis 251, the first symmetry axis 234 is parallel to the second symmetry axis 251, and the vertical distance between the second symmetry axis 251 and the working area 231 is greater than the vertical distance between the second symmetry axis 251 and the idle area 232. In this embodiment, the second axis of symmetry 251 of the track 250 is not coincident with the first axis of symmetry 234 of the crawler 230 and the second axis of symmetry 251 is disposed on a side close to the idle zone 232 of the crawler 230, i.e., the vertical distance between the working zone 231 and the surface of the track 250 on the same side is greater than the vertical distance between the idle zone 232 and the surface of the track 250 on the same side.
A slidable guide wheel 500 is clamped in the rail 250; a plurality of magnetic adsorption units 300 are uniformly arranged between the pair of caterpillar tracks 230; an elastic connection member 700 is connected between the guide wheel 500 and the magnetic adsorption unit 300. In this embodiment, in order to ensure the balance of the movement of the guide wheel 500, both ends of the elastic connection member 700 are connected to the middle of the guide wheel 500 and the middle of the magnetic adsorption unit 300, respectively.
In this embodiment, a pair of connecting lugs is disposed on the insertion rod 420 corresponding to the guide wheel 500, a pin parallel to the extending direction of the guide wheel 500 is connected to the pair of connecting lugs, and two ends of the elastic component 260 are respectively connected to the guide wheel 500 and the pin. Preferably, the elastic member 260 is a double-ended tension spring. In the preferred embodiment, idler 500 is connected to magnetic attraction unit 300 by a tension spring, that is, rail 250 is connected to magnetic attraction unit 300 on crawler 230 by a tension spring.
The working principle of the present embodiment for dispersing the load of the robot to the respective magnetic adsorption units 300 on the working area 231 is: take the top surface that wall climbing robot adsorbs in the operating mode as an example, the magnetism adsorption unit 300 of workspace 231 adsorbs on the work top surface, because track 230 is hinged, therefore track 230 has flexibility, when track 230 adsorbs on the work top surface, because it is flexible rather than rigid itself, consequently each magnetism adsorption unit 300 is inconsistent to the load capacity of robot load in the workspace 231 of track 230, the robot hoist and mount when the top surface this moment, on the main workspace 231 of gravity of robot on the magnetism adsorption unit 300 of the track 230 of both ends, and then appear that robot gravity can not disperse on the magnetism adsorption unit 300 of each workspace 231. However, through the arrangement of this embodiment, the elastic connection member 700 is elongated in the working area 231, and a traction force is generated between the guide wheel 500 and the magnetic adsorption unit 300, so that the magnetic adsorption unit 300 located in the middle section of the working area 231 can better pull the guide wheel 500 and the rail 250 to which the load guide wheel 500 is connected and the gravity load of other parts under the tensile force of the elongated elastic member 260, and therefore the gravity and other loads of the robot can be better dispersed to the magnetic adsorption unit 300 on each working area 231, so that the wall climbing robot has higher stability during the upside-down adsorption work, and is not easy to fall off.
As shown in fig. 11-13, a fourth embodiment of the present application is optimized based on the second embodiment, the cross-sectional shape of the caterpillar 230 is configured as a runway, a pair of driving wheels drives a pair of chains to move synchronously, and the driving wheels are fixedly connected to the supporting frame 210, so that the supporting frame 210 and the driving mechanism are driven to move synchronously during the movement of the pair of caterpillar 230.
A rail 250 is provided between a pair of the caterpillars 230, the rail 250 has a cross-sectional shape corresponding to the cross-sectional shape of the caterpillars 230 but has a size smaller than that of the caterpillars 230, and the rail 250 is connected to the support frame 210 by an elastic member 260.
The elastic component 260 is disposed on the inner side of the rail 250, the elastic component 260 includes a receiving plate, one side of the receiving plate is fixedly connected to the supporting frame 210, a plurality of compression springs 840 are disposed on the surface of the receiving plate, and one end of the compression springs 840 far away from the receiving plate is fixed on the inner side surface of the rail 250. In the preferred embodiment, the rail 250 is movable relative to the supporting frame 210 by connecting the compression spring 840 between the bearing plate and the supporting frame 210.
The crawler 230 comprises a working area 231, an idle area 232 and an arc area 233 connected between the working area 231 and the idle area 232, in this embodiment, the outer surfaces of the working area 231, the idle area 232 and the arc area 233 of the crawler 230 are uniformly provided with the magnetic adsorption units 300, the magnetic adsorption units 300 on the working area 231 are adsorbed on the working surface when the crawler 230 is on the working surface, and the magnetic adsorption units 300 on the idle area 232 and the arc area 233 do not work and are in an idle state. In the present embodiment, only one magnetic adsorption unit 300 is schematically shown on the crawler 230, and in practical use of the present embodiment, a plurality of magnetic adsorption units 300 are uniformly disposed on the crawler 230, and preferably, widened chain clamps are disposed on both sides of the crawler 230, and one magnetic adsorption unit 300 is disposed at intervals of the width of one chain clamp.
The rail 250 is correspondingly disposed in an area between the working area 231 and the vacant area 232 of the pair of crawler belts 230, and in this embodiment, since the size of the rail 250 is smaller than that of the crawler belts 230, the rail 250 is disposed between the working area 231 and the vacant area 232 with respect to the crawler belts 230, and the rail 250 is disposed between the pair of crawler belts 230 so that the horizontal distance between the rail 250 and the pair of crawler belts 230 is uniform in order to ensure the balance.
The symmetry axis of the caterpillar 230 parallel to the traveling direction thereof is set as a first symmetry axis 234, the symmetry axis of the track 250 parallel to the traveling direction of the caterpillar 230 is set as a second symmetry axis 251, the first symmetry axis 234 is parallel to the second symmetry axis 251, and the vertical distance between the second symmetry axis 251 and the working area 231 is greater than the vertical distance between the second symmetry axis 251 and the idle area 232. In this embodiment, the second axis of symmetry 251 of the track 250 is not coincident with the first axis of symmetry 234 of the crawler 230 and the second axis of symmetry 251 is disposed on a side close to the idle zone 232 of the crawler 230, i.e., the vertical distance between the working zone 231 and the surface of the track 250 on the same side is greater than the vertical distance between the idle zone 232 and the surface of the track 250 on the same side.
A slidable guide wheel 500 is clamped in the rail 250; a supporting rod 600 is connected between the guide wheel 500 and the magnetic adsorption unit 300. In this embodiment, in order to ensure the balance of the movement of the guide wheel 500, both ends of the supporting rod 600 are connected to the middle of the guide wheel 500 and the middle of the magnetic adsorption unit 300, respectively. In this embodiment, the bar 600 is provided as a rigid material.
Preferably, a pair of connecting lugs is disposed on the inserting rod 420 corresponding to the guide wheel 500, a pin parallel to the extending direction of the guide wheel 500 is connected to the pair of connecting lugs, and two ends of the supporting rod 600 are respectively connected to the guide wheel 500 and the pin. In the preferred embodiment, the guide wheel 500 and the magnetic attraction unit 300, which are engaged with the rail 250, are rigidly connected by the rod 600, but the magnetic attraction unit 300 can also be elastically connected to the support frame 210 by the rail 250 because the rail 250 is elastically connected to the support frame 210 by the elastic member 260.
The working principle of the present embodiment for dispersing the load of the robot to the respective magnetic adsorption units 300 on the working area 231 is: take the top surface that wall climbing robot adsorbs in the operating mode as an example, the magnetism adsorption unit 300 of workspace 231 adsorbs on the work top surface, because track 230 is hinged, therefore track 230 has flexibility, when track 230 adsorbs on the work top surface, because it is flexible rather than rigid itself, consequently each magnetism adsorption unit 300 is inconsistent to the load capacity of robot load in the workspace 231 of track 230, the robot hoist and mount when the top surface this moment, on the main workspace 231 of gravity of robot on the magnetism adsorption unit 300 of the track 230 of both ends, and then appear that robot gravity load can not disperse on the magnetism adsorption unit 300 of each workspace 231. With the arrangement of the present embodiment, however, since the length of the bar 600 is constant but the distance of the rail 250 from the track 230 of the working area 231 is greater than the distance of the track 230 of the non-working area 231, therefore, in order to make the bar 600 smoothly pass through the working area 231, the bar 600 pulls the rail 250 to move toward the working area 231 of the track 230, and the elastic member 260 is elongated, thereby generating a pulling force between the guide wheel 500 and the magnetic attraction unit 300, magnetic attachment unit 300 located in the middle of working area 231 is therefore better able to pull the gravitational load of idler 500 and the track 250 and other portions to which idler 500 is attached under the tension of elongated resilient member 260, the gravity and other loads of the robot can be better dispersed to the magnetic adsorption units 300 of the respective working regions 231, therefore, the wall-climbing robot has higher stability during the operation of upside-down hanging and adsorption and is not easy to fall off.
The principles and embodiments of the present application are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts of the present application. The foregoing is only a preferred embodiment of the present application, and it should be noted that there are objectively infinite specific structures due to the limited character expressions, and it will be apparent to those skilled in the art that a plurality of modifications, decorations or changes may be made without departing from the principle of the present application, and the technical features described above may be combined in a suitable manner; such modifications, variations, combinations, or adaptations of the invention using its spirit and scope, as defined by the claims, may be directed to other uses and embodiments, or may be learned by practice of the invention.
Claims (10)
1. The robot for cleaning the attached organisms on the ship is characterized by comprising a connecting frame (100) and walking devices (200) respectively connected to two sides of the connecting frame (100); each walking device (200) comprises a support frame (210) and a side link (220) connected to one side, close to the connecting frame (100), of the support frame (210); a plurality of groups of connecting assemblies are connected between the connecting frame (100) and the side link (220), and a rotating pair is connected between the side link (220) and the supporting frame (210); a pair of synchronously moving crawler belts (230) is arranged on the support frame (210); be equipped with on link (100) and wash dish (110), support frame (210) tip is equipped with first motor, first motor is equipped with the output shaft, be connected with the washing rifle on the output shaft.
2. The robot for cleaning marine biofouling organisms according to claim 1, wherein a plurality of magnetic adsorption units (300) are uniformly disposed on a pair of said crawlers (230), said magnetic adsorption units (300) being connected to said crawlers (230) by means of movable members.
3. The robot for cleaning marine fouling organisms according to claim 2, wherein the movable assembly comprises a pair of connecting seats (410) fixed on the surfaces of a pair of the tracks (230), the connecting seats (410) are provided with first through holes, the bottom surface of the magnetic adsorption unit (300) is fixed with insertion rods (420) corresponding to the connecting seats (410), and the insertion rods (420) are rotatably inserted between the pair of the connecting seats (410) through the first through holes.
4. The robot for ship fouling and organism cleaning according to any one of claims 1 to 3, wherein the cross-sectional shape of the caterpillar (230) is configured as a race type; a rail (250) is arranged between the pair of tracks (230), the cross section shape of the rail (250) is consistent with that of the tracks (230), and the rail (250) is connected to the support frame (210) through an elastic assembly (260); the crawler belt (230) comprises a working area (231), an idle area (232) and an arc area (233) connected between the working area (231) and the idle area (232), and the track (250) is correspondingly arranged in an area between the working area (231) and the idle area (232) of a pair of crawler belts (230); the symmetry axis of the crawler (230) parallel to the traveling direction of the crawler is set as a first symmetry axis (234), the symmetry axis of the track (250) parallel to the traveling direction of the crawler (230) is set as a second symmetry axis (251), the first symmetry axis (234) is parallel to the second symmetry axis (251), and the vertical distance between the second symmetry axis (251) and the working area (231) is larger than the vertical distance between the second symmetry axis (251) and the idle area (232); a slidable guide wheel (500) is clamped in the rail (250); a support rod (600) is connected between the guide wheel (500) and the magnetic adsorption unit (300).
5. The robot for ship fouling and organism cleaning according to any one of claims 1 to 3, wherein the cross-sectional shape of the caterpillar (230) is configured as a race type; a rail (250) fixed on the support frame (210) is arranged between the pair of crawler belts (230), and the cross section shape of the rail (250) is consistent with that of the crawler belts (230); the crawler belt (230) comprises a working area (231), an idle area (232) and an arc area (233) connected between the working area (231) and the idle area (232), and the track (250) is correspondingly arranged in an area between the working area (231) and the idle area (232) of a pair of crawler belts (230); the symmetry axis of the crawler (230) parallel to the traveling direction of the crawler is set as a first symmetry axis (234), the symmetry axis of the track (250) parallel to the traveling direction of the crawler (230) is set as a second symmetry axis (251), the first symmetry axis (234) is parallel to the second symmetry axis (251), and the vertical distance between the second symmetry axis (251) and the working area (231) is larger than the vertical distance between the second symmetry axis (251) and the idle area (232); a slidable guide wheel (500) is clamped in the rail (250); an elastic connecting piece (700) is connected between the guide wheel (500) and the magnetic adsorption unit (300).
6. The robot for cleaning marine fouling organisms according to any one of claims 1-3, characterized in that the connecting assembly comprises a connecting rod (810), one end of the connecting rod (810) is rotatably connected to the side link (220) through a joint bearing (820), and the other end of the connecting rod (810) is rotatably sleeved on the connecting frame (100) through a cylindrical sleeve (830).
7. The robot for cleaning marine fouling organisms according to any one of claims 1-3, wherein two ends of the side link (220) are respectively provided with a rotating sleeve (221), two sides of the supporting frame (210) are respectively provided with a supporting column (214) corresponding to the rotating sleeve (221), and the rotating sleeve (221) is rotatably sleeved on the supporting column (214) to form the rotating pair.
8. The robot for cleaning marine fouling organisms according to claim 7, wherein a limit stop (215) is respectively arranged on one side of the support frame (210) far away from the side link (220) corresponding to two ends of the side link (220).
9. The robot for cleaning marine fouling organisms according to claim 6, wherein a compression spring (840) is arranged on the connecting component, and the compression spring (840) is sleeved on the connecting rod (810).
10. The robot for cleaning marine fouling organisms according to claim 9, wherein a pair of nuts (850) are arranged on the connecting rod (810) provided with the compression spring (840), the pair of nuts (850) are respectively connected to two ends of the compression spring (840), an external thread is arranged on the connecting rod (810) corresponding to the nuts (850), and the compression spring (840) is fixed on the connecting rod (810) through the nut (850).
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