CN112092996A - Adsorption and driving device of underwater ship body cleaning robot and working method thereof - Google Patents
Adsorption and driving device of underwater ship body cleaning robot and working method thereof Download PDFInfo
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- CN112092996A CN112092996A CN202011024671.3A CN202011024671A CN112092996A CN 112092996 A CN112092996 A CN 112092996A CN 202011024671 A CN202011024671 A CN 202011024671A CN 112092996 A CN112092996 A CN 112092996A
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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
- B63B59/10—Cleaning devices for hulls using trolleys or the like driven along the surface
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
- B62D55/26—Ground engaging parts or elements
- B62D55/265—Ground engaging parts or elements having magnetic or pneumatic adhesion
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Abstract
The invention discloses an adsorption and driving device of an underwater ship body cleaning robot and a working method thereof, wherein the device comprises a crawler belt module, a driving module, a control module and a frame; the two crawler belt modules are respectively arranged on the left side and the right side of the main body; the electromagnet is fixedly arranged in the crawler belt module and is connected with the control module through a control line; permanent magnets are fixedly arranged at concave teeth on the outer surface of the rubber track of the track module; the drive module comprises five vertical thrusters, two longitudinal thrusters and a lateral thruster. The crawler belt structure has the advantages that the contact area between the surface of the crawler belt and the surface of a ship body is large, the crawler belt structure is not easy to slip, and higher stability can be achieved compared with a crawler belt structure with a wheel type structure. The permanent magnet track adopts a matching use mode of the permanent magnet and the electromagnet, the permanent magnet provides stable adsorption force, and the problem that the permanent magnet track is difficult to separate from a metal wall surface is solved by controlling the magnetic force and the magnetic force direction of the electromagnet.
Description
Technical Field
The invention relates to an ROV technology, in particular to an adsorption and driving device of an underwater ship body cleaning robot and a working method thereof.
Background
Marine organisms are attached to the surface of the ship for a long time, so that the ship resistance is greatly increased, the ship speed is reduced by about 10%, the oil consumption is increased by 40% to the maximum extent, the navigation period is delayed seriously, and the operation cost is increased. The number of large docks in China is insufficient, the dock repairing period is long, and cleaning of attachments on the surface of a ship body is a main means for achieving energy conservation and emission reduction of the ship at present. And the worldwide ship industry costs nearly 100 billion dollars per year for ship cleaning. The cost of cleaning large cargo ships in dry dock is up to 30 ten thousand yuan. As a temporary measure, many shippers send divers to inspect the hull and remove biofouling, which manually clean the hull using scrapers and scrubbers, and the underwater cleaning operation is characterized by an extremely harsh working environment. In addition, the diver has limited body bearing capacity under water, and the operation time and range are also limited, so that the working efficiency is low, the cleaning quality is difficult to ensure, and once the antifouling paint is damaged, a large amount of toxic substances are released, so that the ship is more easily polluted by organisms. There are also disease and accident hazards, which are time consuming, labor intensive and risky. Fuel consumption is not the only threat posed by biological contamination. A portion of the marine life can fix itself on the ship and travel to other areas. Although sometimes harmless, this may lead to species invasion.
In order to improve the cleaning efficiency and cleaning effect of the underwater ship body, chinese patent CN201620916527.3 discloses an underwater ship body cleaning robot, which comprises a plurality of adsorption assemblies, a robot body, a plurality of wheel assemblies, a cleaning mechanism and a control mechanism; the adsorption component comprises a permanent magnet, a guide rod spring and a plurality of universal bearings. The utility model discloses simple structure, low cost, it adopts non-contact permanent magnetism adsorption mode, uses wheeled structure to move simultaneously, and the energy consumption can reduce by a wide margin, and wheeled structure motion is fast simultaneously, and the turn is nimble, can improve the cleaning efficiency by a wide margin.
However, the robot adopts wheel drive and permanent magnet adsorption, the adsorption form is single, the robot is easily limited by the surface material of the ship body, the moving efficiency on the surface of the ship body is low, the wheel structure is very easy to slip, and the control precision is low.
Disclosure of Invention
In order to solve the problems in the prior art, the invention aims to design an adsorption and driving device of an underwater ship cleaning robot, which can be flexibly driven and reliably adsorbed, and a working method thereof.
In order to achieve the purpose, the technical scheme of the invention is as follows: an adsorption and driving device of an underwater ship body cleaning robot comprises a crawler belt module, a driving module, a control module and a frame;
the frame comprises a head part and a main body, wherein the head part is a rhombohedron, the main body is a cuboid, and the head part is fixedly connected with the main body;
the two crawler belt modules are respectively arranged on the left side and the right side of the main body; the electromagnet is fixedly arranged in the crawler belt module and is connected with the control module through a control line; permanent magnets are fixedly arranged at concave teeth on the outer surface of the rubber track of the track module;
the driving module comprises five vertical thrusters, two longitudinal thrusters and a lateral thruster; the five vertical thrusters comprise a head vertical thruster and four main body vertical thrusters, the head vertical thruster is vertically arranged on the central axis of the head, and the four main body vertical thrusters are respectively vertically arranged at four corners of the main body; the two longitudinal thrusters are respectively and symmetrically arranged at two sides of the tail part of the main body, and the lateral thrusters are transversely arranged at the head part;
the control module is arranged in a sealed control cabin, and the sealed control cabin is arranged at the upper part of the main body;
the control module is respectively connected with the crawler belt module and the driving module through data lines, and the control module is connected with the onshore control center through a carrier line.
Further, the vertical propeller, the longitudinal propeller and the lateral propeller are all installed on corresponding positions through respective cowlings.
Furthermore, the head part is a rhombohedron formed by fixedly connecting a head part top plate and two head part side plates, and a 135-degree included angle is formed at the junction of the head part top plate and the main body top plate; the head side plates at two sides are fixed with the main body side plate, and the joint of the head side plate and the main body side plate forms an included angle of 135 degrees.
Furthermore, the crawler module comprises a rubber crawler, a front driving wheel, a rear driving wheel and a speed reducing motor, wherein the front driving wheel is arranged at the front part of the main body through a wheel shaft, the rear driving wheel is arranged at the rear part of the main body through the wheel shaft, and the rubber crawler surrounds the front driving wheel and the rear driving wheel;
a driving chain wheel is arranged on the outer side of the front driving wheel and fixedly connected with the front driving wheel, the driving chain wheel is connected with a speed reduction chain wheel on a speed reduction motor through a chain, the speed reduction motor is fixed on a side plate of the main body, and the speed reduction motor is connected with the control module through a data line;
the side plates of the main body are respectively and fixedly provided with a wheel shaft, a longitudinal support rod of the crawler and one end of a positioning plate fixing rod, the other ends of the wheel shaft, the longitudinal support rod of the crawler and the positioning plate fixing rod are fixedly arranged on a lateral fixing plate of the crawler, and the lateral fixing plate of the crawler is connected with the crawler module;
a track supporting wheel positioning plate is fixedly arranged on the positioning plate fixing rod, a track supporting wheel is arranged below the track supporting wheel positioning plate, and the track supporting wheel is in rolling contact with the inner side of the rubber track and plays a supporting role on the rubber track;
an electromagnet is fixedly arranged between the track supporting wheel positioning plate and the main body side plate and is connected with the control module through a control line;
and permanent magnets are fixedly arranged at the concave teeth on the outer surface of the rubber track.
Furthermore, the front driving wheel and the rear driving wheel are meshed with the rubber track through track driving teeth.
Furthermore, the wheel shaft of the front driving wheel and the wheel shaft of the rear driving wheel are both provided with a ring shaft limiter.
Furthermore, the structure of the driving module is a bilateral symmetry structure.
Furthermore, the front driving wheel, the rear driving wheel, the track supporting wheel positioning plate and the track lateral fixing plate are made of high-density polyethylene materials.
Furthermore, the length of the permanent magnet is 120mm, the width of the permanent magnet is 10mm, the height of the permanent magnet is 5mm, the magnetic force is 15N, and two holes with the diameter of 4mm are formed in the two sides of the middle part and used for mounting screws so as to enable the holes to be fixed at concave teeth on the outer surface of the rubber track; the electromagnet is 75mm long, 35mm wide and 23mm high, the power is supplied by 24V, and the maximum adsorption force is twice of the downward force borne by the robot under water.
A working method of an adsorption and driving device of an underwater ship body cleaning robot comprises the following steps:
A. close to the surface of the ship body
Sending a control signal to the control module through the upper computer, controlling each propeller of the driving module by the control module after processing the control signal, and enabling the robot to freely move to the surface of the underwater ship body and the bottom of the robot to be close to the surface of the ship body by continuously adjusting the pose of the robot;
B. adsorbed on the surface of the ship body
The operator sets the adsorption form of the robot according to the material of the hull surface and the sea current condition, if the hull surface is a ferrous metal surface, the mixed adsorption form is adopted under the condition of torrential sea current or moving of the hull, the step B1 is switched, the magnetic adsorption form is adopted under the condition of moderate sea current or static hull, and the step B2 is switched; otherwise, adopting a thrust adsorption mode, and turning to the step B3;
b1, selecting one of the following mixed adsorption forms according to the use conditions:
b11, in the most extreme case of strong ocean currents: the magnetic force directions of the permanent magnet and the electromagnet are consistent, the thrust direction of the propeller is outward, namely the propeller is perpendicular to the surface of the ship body and outward, and the peak value of the adsorption force is 7-8 times of the downward force exerted by the robot underwater; turning to the step C;
b12, in case of normal ocean currents: the electromagnet does not work, the thrust direction of the propeller is outward, and the peak value of the adsorption force is 4-5 times of the downward force exerted by the robot under water; turning to the step C;
b2, the magnetic force directions of the permanent magnet and the electromagnet are the same, the propeller does not work, and the peak value of the adsorption force is 4-5 times of the downward force exerted by the robot under water; turning to the step C;
b3, adopting a thrust adsorption mode for the surface of the nonmetal ship body, wherein the electromagnet does not work at the moment, the thrust direction of the propeller is outward, and the peak value of the adsorption force is 1-2 times of the downward force borne by the robot underwater; or the permanent magnet is disassembled to reduce the influence of gravity.
C. Moving on the surface of the hull
When the robot is adsorbed on the surface of a ship body, the upper computer controls the rotating speed and the steering of the speed reducing motor through the control module, and the speed reducing motor drives the rear driving wheel to rotate through the chain, so that the robot is driven to perform crawler-type movement on the surface of the ship body; the steering of the robot is realized through differential rotation of the crawler belts;
D. off the surface of the hull
After the cleaning work is finished, the ship body surface needs to be separated, an operator sets the separation form of the robot according to the adsorption form of the robot, and the step D1 is turned if the separation form is a mixed adsorption form, the step D2 is turned if the separation form is a magnetic adsorption form, and the step D3 is turned if the separation form is a thrust adsorption form;
d1, controlling the direction of the magnetic force of the electromagnet and the permanent magnet to be opposite through the control module, controlling the direction of the thrust of the propeller to be inward, namely, the thrust of the propeller to be vertical to the surface of the ship body to be inward, wherein the peak value of the repulsive force is 4-5 times of the downward force exerted by the robot underwater, and the peak value of the net repulsive force is 2-3 times of the downward force exerted by the robot underwater;
d2, controlling the direction of the magnetic force of the electromagnet and the permanent magnet to be opposite through the control module, enabling the propeller to not work, enabling the peak value of the repulsive force to be 2-3 times of the downward force borne by the robot underwater, and enabling the peak value of the net repulsive force to be 0.9-1.1 times of the downward force borne by the robot underwater;
d3, controlling the thrust direction of the propeller inwards through the control module, namely inwards perpendicular to the surface of the ship body, enabling the permanent magnet and the electromagnet not to work, wherein the peak value of the repulsive force is 1-2 times of the downward force exerted by the robot underwater, and the peak value of the net repulsive force is 0.9-1.1 times of the downward force exerted by the robot underwater.
Compared with the prior art, the invention has the following beneficial technical effects:
1. the crawler belt provided by the invention has the advantages that the contact area between the surface of the crawler belt and the surface of a ship body is large, the crawler belt is not easy to slip, higher stability can be realized compared with a crawler belt structure with a wheel type structure, and in addition, the surface of the crawler belt is easier to install permanent magnets, so that the magnetic adsorption function is easy to realize.
2. The crawler driving wheel, the crawler supporting wheel positioning plate and the crawler lateral fixing plate are made of high-density polyethylene materials, and compared with the traditional metal fixing piece, the crawler driving wheel, the crawler supporting wheel positioning plate and the crawler lateral fixing plate have the advantages of low cost, light weight, easiness in maintenance and the like.
3. The permanent magnet and the electromagnet are matched for use, the permanent magnet provides stable adsorption force, the problem that a permanent magnet crawler belt is difficult to separate from a metal wall surface is solved by controlling the magnetic force and the magnetic force direction of the electromagnet, and the magnetic force direction of the electromagnet is the same as the magnetic force direction of the permanent magnet by increasing the magnetic force of the electromagnet, so that the adsorption force of a crawler belt module on the wall surface is increased under the condition of rapid water flow, and the robot has high working stability; through the magnetic force size of increase electro-magnet, electro-magnet magnetic force direction is opposite with permanent magnet magnetic force direction simultaneously to this counteracts the adsorption of permanent magnet to the ship wall, makes the robot more easily take off ship surface after the cleaning work finishes.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a side cross-sectional view of FIG. 1;
FIG. 3 is a rear perspective view of FIG. 1;
FIG. 4 is a schematic bottom view of FIG. 1;
FIG. 5 is a schematic view of a track module of the present invention;
FIG. 6 is a side view of the track of the present invention;
FIG. 7 is a schematic view of a track support wheel alignment plate of the present invention.
In the figure: 1. the device comprises a main body vertical thruster, 2, a sealed control cabin, 3, a main body side plate, 4, a rubber track, 5, a rear driving wheel, 6, a track lateral fixing plate, 7, a track supporting wheel, 8, a positioning plate fixing rod, 9, a front driving wheel, 10, a wheel shaft, 11, a head side plate, 12, a head top plate, 13, a head vertical thruster, 14, a permanent magnet, 15, a lateral thruster, 16, a longitudinal thruster, 17, a driving chain wheel, 18, a ring shaft limiter, 19, a chain, 20, a speed reduction chain wheel, 21, a speed reduction motor, 22, an electromagnet, 23, a track supporting wheel positioning plate, 24 and a track longitudinal supporting rod.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
an adsorption and driving device of an underwater ship body cleaning robot comprises a crawler belt module, a driving module, a control module and a frame;
the frame comprises a head part and a main body, wherein the head part is a rhombohedron, the main body is a cuboid, and the head part is fixedly connected with the main body;
the two crawler belt modules are respectively arranged on the left side and the right side of the main body; the electromagnet 22 is fixedly installed in the crawler belt module, and the electromagnet 22 is connected with the control module through a control line; permanent magnets 14 are fixedly arranged at concave teeth on the outer surface of the rubber track 4 of the track module;
the driving module comprises five vertical thrusters, two longitudinal thrusters 16 and one lateral thruster 15; the five vertical thrusters comprise a head vertical thruster 13 and four main body vertical thrusters 1, the head vertical thruster 13 is vertically arranged on the central axis of the head, and the four main body vertical thrusters 1 are respectively vertically arranged at four corners of the main body; the two longitudinal thrusters 16 are respectively and symmetrically arranged at two sides of the tail part of the main body, and the lateral thrusters 15 are transversely arranged at the head part;
the control module is arranged in the sealed control cabin 2, and the sealed control cabin 2 is arranged at the upper part of the main body;
the control module is respectively connected with the crawler belt module and the driving module through data lines, and the control module is connected with the onshore control center through a carrier line.
Further, the vertical thruster, the longitudinal thruster 16 and the lateral thruster 15 are all mounted on the corresponding portions by means of respective cowls.
Furthermore, the head part is a rhombohedron formed by fixedly connecting a head part top plate 12 and two head part side plates 11, and a 135-degree included angle is formed at the junction of the head part top plate 12 and the main body top plate; the head side plates 11 on the two sides are fixed with the main body side plate 3, and the joint of the head side plate 11 and the main body side plate 3 forms an included angle of 135 degrees.
Further, the crawler module comprises a rubber crawler 4, a front driving wheel 9, a rear driving wheel 5 and a speed reducing motor 21, wherein the front driving wheel 9 is installed at the front part of the main body through an axle 10, the rear driving wheel 5 is installed at the rear part of the main body through the axle 10, and the rubber crawler 4 is surrounded on the front driving wheel 9 and the rear driving wheel 5;
a driving chain wheel 17 is arranged on the outer side of the front driving wheel 9, the driving chain wheel 17 is fixedly connected with the front driving wheel 9, the driving chain wheel 17 is connected with a speed reduction chain wheel 20 on a speed reduction motor 21 through a chain 19, the speed reduction motor 21 is fixed on the side plate 3 of the main body, and the speed reduction motor 21 is connected with a control module through a data line;
the main body side plate 3 is respectively and fixedly provided with a wheel shaft 10, a track longitudinal direction supporting rod 24 and one end of a positioning plate fixing rod 8, the other ends of the wheel shaft 10, the track longitudinal direction supporting rod 24 and the positioning plate fixing rod 8 are fixedly arranged on a track lateral fixing plate 6, and the track lateral fixing plate 6 is connected with a track module;
a track supporting wheel positioning plate 23 is fixedly arranged on the positioning plate fixing rod 8, a track supporting wheel 7 is arranged below the track supporting wheel positioning plate 23, and the track supporting wheel 7 is in rolling contact with the inner side of the rubber track 4 and plays a supporting role for the rubber track 4;
an electromagnet 22 is fixedly arranged between the track supporting wheel positioning plate 23 and the main body side plate 3, and the electromagnet 22 is connected with a control module through a control line;
Further, the front driving wheel 9 and the rear driving wheel 5 are meshed with the rubber track 4 through track driving teeth.
Furthermore, the axle 10 of the front driving wheel 9 and the axle 10 of the rear driving wheel 5 are both provided with a ring axle stopper 18.
Furthermore, the structure of the driving module is a bilateral symmetry structure.
Furthermore, the front driving wheel 9, the rear driving wheel 5, the track supporting wheel positioning plate 23 and the track lateral fixing plate 6 are made of high-density polyethylene materials.
Furthermore, the length of the permanent magnet 14 is 120mm, the width of the permanent magnet is 10mm, the height of the permanent magnet is 5mm, the magnetic force is 15N, and hole sites with the diameter of 4mm are formed in the two sides of the middle of the permanent magnet and used for installing screws to enable the permanent magnet to be fixed at concave teeth on the outer surface of the rubber track 4; the electromagnet 22 is 75mm long, 35mm wide and 23mm high, 24V is used for power supply, and the maximum adsorption force is twice of the downward force borne by the robot under water.
A working method of an adsorption and driving device of an underwater ship body cleaning robot comprises the following steps:
A. close to the surface of the ship body
Sending a control signal to the control module through the upper computer, controlling each propeller of the driving module by the control module after processing the control signal, and enabling the robot to freely move to the surface of the underwater ship body and the bottom of the robot to be close to the surface of the ship body by continuously adjusting the pose of the robot;
B. adsorbed on the surface of the ship body
The operator sets the adsorption form of the robot according to the material of the hull surface and the sea current condition, if the hull surface is a ferrous metal surface, the mixed adsorption form is adopted under the condition of torrential sea current or moving of the hull, the step B1 is switched, the magnetic adsorption form is adopted under the condition of moderate sea current or static hull, and the step B2 is switched; otherwise, adopting a thrust adsorption mode, and turning to the step B3;
b1, selecting one of the following mixed adsorption forms according to the use conditions:
b11, in the most extreme case of strong ocean currents: the magnetic force directions of the permanent magnet 14 and the electromagnet 22 are consistent, the thrust direction of the propeller is outward, namely the propeller is perpendicular to the surface of the ship body and outward, and the peak value of the adsorption force is 7-8 times of the downward force borne by the robot underwater; turning to the step C;
b12, in case of normal ocean currents: the electromagnet 22 does not work, the thrust direction of the propeller is outward, and the peak value of the adsorption force is 4-5 times of the downward force borne by the robot under water; turning to the step C;
b2, the magnetic force direction of the permanent magnet 14 is the same as that of the electromagnet 22, the propeller does not work, and the peak value of the adsorption force is 4-5 times of the downward force borne by the robot under water; turning to the step C;
b3, adopting a thrust adsorption mode for the surface of the nonmetal ship body, wherein the electromagnet 22 does not work at the moment, and the peak value of the adsorption force is 1-2 times of the downward force borne by the robot underwater; or the permanent magnet 14 is removed to mitigate the effect of gravity.
C. Moving on the surface of the hull
When the robot is adsorbed on the surface of a ship body, the upper computer controls the rotating speed and the steering direction of the speed reducing motor 21 through the control module, and the speed reducing motor 21 drives the rear driving wheel 5 to rotate through the chain 19, so that the robot is driven to perform crawler-type movement on the surface of the ship body; the robot steering is realized through differential rotation of the crawler belts;
D. off the surface of the hull
After the cleaning work is finished, the ship body surface needs to be separated, an operator sets the separation form of the robot according to the adsorption form of the robot, and the step D1 is turned if the separation form is a mixed adsorption form, the step D2 is turned if the separation form is a magnetic adsorption form, and the step D3 is turned if the separation form is a thrust adsorption form;
d1, controlling the direction of the magnetic force of the electromagnet 22 and the permanent magnet 14 to be opposite through the control module, controlling the thrust direction of the propeller to be inward, namely the direction perpendicular to the surface of the ship body to be inward, wherein the peak value of the repulsive force is 4-5 times of the downward force of the robot under water, and the peak value of the net repulsive force is 2-3 times of the downward force of the robot under water;
d2, controlling the direction of the magnetic force of the electromagnet 22 and the permanent magnet 14 to be opposite through the control module, and enabling the propeller not to work, wherein the peak value of the repulsive force is 2-3 times of the downward force exerted by the robot underwater, and the peak value of the net repulsive force is 0.9-1.1 times of the downward force exerted by the robot underwater;
d3, controlling the thrust direction of the propeller inwards, namely inwards perpendicular to the surface of the ship body through the control module, enabling the permanent magnet 14 and the electromagnet 22 not to work, wherein the peak value of the repulsive force is 1-2 times of the downward force of the robot under water, and the peak value of the net repulsive force is 0.9-1.1 times of the downward force of the robot under water.
In the invention, the annular shaft limiter 18 can fix and lock the shaft rod, and the body of the annular shaft limiter is fixed on the main body side plate 3 through screws, so that the wheel shaft 10 is vertically fixed on the plate surface.
The present invention is not limited to the embodiment, and any equivalent idea or change within the technical scope of the present invention is to be regarded as the protection scope of the present invention.
Claims (10)
1. The utility model provides an absorption and drive arrangement of hull cleaning robot under water which characterized in that: the crawler belt type crawler belt driving device comprises a crawler belt module, a driving module, a control module and a frame;
the frame comprises a head part and a main body, wherein the head part is a rhombohedron, the main body is a cuboid, and the head part is fixedly connected with the main body;
the two crawler belt modules are respectively arranged on the left side and the right side of the main body; an electromagnet (22) is fixedly installed in the crawler belt module, and the electromagnet (22) is connected with the control module through a control line; permanent magnets (14) are fixedly arranged at concave teeth on the outer surface of the rubber track (4) of the track module;
the driving module comprises five vertical thrusters, two longitudinal thrusters (16) and one lateral thruster (15); the five vertical thrusters comprise a head vertical thruster (13) and four main body vertical thrusters (1), the head vertical thruster (13) is vertically arranged on the central axis of the head, and the four main body vertical thrusters (1) are respectively vertically arranged at four corners of the main body; the two longitudinal thrusters (16) are respectively and symmetrically arranged at two sides of the tail part of the main body, and the lateral thrusters (15) are transversely arranged at the head part;
the control module is arranged in the sealed control cabin (2), and the sealed control cabin (2) is arranged at the upper part of the main body;
the control module is respectively connected with the crawler belt module and the driving module through data lines, and the control module is connected with the onshore control center through a carrier line.
2. The suction and driving apparatus of an underwater hull cleaning robot according to claim 1, wherein: the vertical propeller, the longitudinal propeller (16) and the lateral propeller (15) are all arranged on corresponding parts through respective fairings.
3. The suction and driving apparatus of an underwater hull cleaning robot according to claim 1, wherein: the head part is a rhombohedron formed by fixedly connecting a head part top plate (12) and two head part side plates (11), and a 135-degree included angle is formed at the junction of the head part top plate (12) and the main body top plate; the head side plates (11) on the two sides are fixed with the main body side plate (3), and the joint of the head side plate (11) and the main body side plate (3) forms an included angle of 135 degrees.
4. The suction and driving apparatus of an underwater hull cleaning robot according to claim 1, wherein: the crawler module comprises a rubber crawler (4), a front driving wheel (9), a rear driving wheel (5) and a speed reducing motor (21), the front driving wheel (9) is installed at the front part of the main body through a wheel shaft (10), the rear driving wheel (5) is installed at the rear part of the main body through the wheel shaft (10), and the rubber crawler (4) surrounds the front driving wheel (9) and the rear driving wheel (5);
a driving chain wheel (17) is arranged on the outer side of the front driving wheel (9), the driving chain wheel (17) is fixedly connected with the front driving wheel (9), the driving chain wheel (17) is connected with a speed reduction chain wheel (20) on a speed reduction motor (21) through a chain (19), the speed reduction motor (21) is fixed on the side plate (3) of the main body, and the speed reduction motor (21) is connected with the control module through a data line;
the main body side plate (3) is fixedly provided with a wheel shaft (10), a track longitudinal direction supporting rod (24) and one end of a positioning plate fixing rod (8), the other ends of the wheel shaft (10), the track longitudinal direction supporting rod (24) and the positioning plate fixing rod (8) are fixedly arranged on a track lateral fixing plate (6), and the track lateral fixing plate (6) is connected with a track module;
a track supporting wheel positioning plate (23) is fixedly arranged on the positioning plate fixing rod (8), a track supporting wheel (7) is arranged below the track supporting wheel positioning plate (23), and the track supporting wheel (7) is in rolling contact with the inner side of the rubber track (4) and plays a supporting role on the rubber track (4);
an electromagnet (22) is fixedly arranged between the track supporting wheel positioning plate (23) and the main body side plate (3), and the electromagnet (22) is connected with the control module through a control line;
and permanent magnets (14) are fixedly arranged at the concave teeth on the outer surface of the rubber track (4).
5. The suction and driving apparatus of an underwater hull cleaning robot according to claim 1, wherein: the front driving wheel (9) and the rear driving wheel (5) are meshed with the rubber track (4) through track driving teeth.
6. The suction and driving apparatus of an underwater hull cleaning robot according to claim 1, wherein: and the wheel shaft (10) of the front driving wheel (9) and the wheel shaft (10) of the rear driving wheel (5) are both provided with a ring shaft limiter (18).
7. The suction and driving apparatus of an underwater hull cleaning robot according to claim 1, wherein: the structure of the driving module is a bilateral symmetry structure.
8. The suction and driving apparatus of an underwater hull cleaning robot according to claim 1, wherein: the front driving wheel (9), the rear driving wheel (5), the track supporting wheel positioning plate (23) and the track lateral fixing plate (6) are made of high-density polyethylene materials.
9. The suction and driving apparatus of an underwater hull cleaning robot according to claim 1, wherein: the length of the permanent magnet (14) is 120mm, the width of the permanent magnet is 10mm, the height of the permanent magnet is 5mm, the magnetic force is 15N, and hole sites with the diameter of 4mm are formed in the two sides of the middle part and used for installing screws to enable the permanent magnet to be fixed at concave teeth on the outer surface of the rubber track (4); the electromagnet (22) is 75mm long, 35mm wide and 23mm high, 24V is used for power supply, and the maximum adsorption force is twice of the downward force borne by the robot under water.
10. A working method of an adsorption and driving device of an underwater ship body cleaning robot is characterized in that: the method comprises the following steps:
A. close to the surface of the ship body
Sending a control signal to the control module through the upper computer, controlling each propeller of the driving module by the control module after processing the control signal, and enabling the robot to freely move to the surface of the underwater ship body and the bottom of the robot to be close to the surface of the ship body by continuously adjusting the pose of the robot;
B. adsorbed on the surface of the ship body
The operator sets the adsorption form of the robot according to the material of the hull surface and the sea current condition, if the hull surface is a ferrous metal surface, the mixed adsorption form is adopted under the condition of torrential sea current or moving of the hull, the step B1 is switched, the magnetic adsorption form is adopted under the condition of moderate sea current or static hull, and the step B2 is switched; otherwise, adopting a thrust adsorption mode, and turning to the step B3;
b1, selecting one of the following mixed adsorption forms according to the use conditions:
b11, in the most extreme case of strong ocean currents: the magnetic force directions of the permanent magnet (14) and the electromagnet (22) are consistent, the thrust direction of the propeller is outward, namely the propeller is perpendicular to the surface of the ship body and outward, and the peak value of the adsorption force is 7-8 times of the downward force borne by the robot under water; turning to the step C;
b12, in case of normal ocean currents: the electromagnet (22) does not work, the thrust direction of the propeller is outward, and the peak value of the adsorption force is 4-5 times of the downward force borne by the robot under water; turning to the step C;
b2, the magnetic force direction of the permanent magnet (14) and the electromagnet (22) is the same, the propeller does not work, and the peak value of the adsorption force is 4-5 times of the downward force borne by the robot underwater; turning to the step C;
b3, adopting a thrust adsorption mode for the surface of the non-metal ship body, wherein the electromagnet (22) does not work at the moment, the thrust direction of the propeller is outward, and the peak value of the adsorption force is 1-2 times of the downward force borne by the robot under water; or the permanent magnet (14) is disassembled to reduce the influence of gravity;
C. moving on the surface of the hull
When the robot is adsorbed on the surface of a ship body, the upper computer controls the rotating speed and the steering of the speed reducing motor (21) through the control module, and the speed reducing motor (21) drives the rear driving wheel (5) to rotate through the chain (19), so that the robot is driven to perform crawler-type movement on the surface of the ship body; the steering of the robot is realized through differential rotation of the crawler belts;
D. off the surface of the hull
After the cleaning work is finished, the ship body surface needs to be separated, an operator sets the separation form of the robot according to the adsorption form of the robot, and the step D1 is turned if the separation form is a mixed adsorption form, the step D2 is turned if the separation form is a magnetic adsorption form, and the step D3 is turned if the separation form is a thrust adsorption form;
d1, controlling the direction of the magnetic force of the electromagnet (22) and the permanent magnet (14) to be opposite through the control module, controlling the direction of the thrust of the propeller to be inward, namely, the thrust is vertical to the surface of the ship body and inward, wherein the peak value of the repulsive force is 4-5 times of the downward force exerted by the robot underwater, and the peak value of the net repulsive force is 2-3 times of the downward force exerted by the robot underwater;
d2, controlling the direction of the magnetic force of the electromagnet (22) and the permanent magnet (14) to be opposite through the control module, and enabling the propeller not to work, wherein the peak value of the repulsive force is 2-3 times of the downward force exerted by the robot underwater, and the peak value of the net repulsive force is 0.9-1.1 times of the downward force exerted by the robot underwater;
d3, the thrust direction of the propeller is controlled to be inward through the control module, namely the propeller is perpendicular to the surface of the ship body to be inward, the permanent magnet (14) and the electromagnet (22) do not work, the peak value of the repulsive force is 1-2 times of the downward force of the robot under water, and the peak value of the net repulsive force is 0.9-1.1 times of the downward force of the robot under water.
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