CN114392990A

CN114392990A - Cleaning robot for narrow air pipe of ship

Info

Publication number: CN114392990A
Application number: CN202210060202.XA
Authority: CN
Inventors: 许颉雯; 许恋斯
Original assignee: Jiangnan Shipyard Group Co Ltd
Current assignee: Jiangnan Shipyard Group Co Ltd
Priority date: 2022-01-19
Filing date: 2022-01-19
Publication date: 2022-04-26

Abstract

The invention provides a cleaning robot for a narrow air pipe of a ship, which is used for finishing the inspection and cleaning work in the narrow air pipe. The robot is placed in the air-supply line by constructor from an tuber pipe port, through crawler-type wheel with can rotate flexible camera, inspects and cleaning along arranging the trend of tuber pipe, advances to next air outlet, accomplishes the inside cleanness and the inspection work of one section narrow and small tuber pipe promptly. The robot body is provided with a rotatable telescopic arm, and is used for carrying out partial solid garbage in a mode of picking up by the telescopic arm and putting the solid garbage into a plastic box carried by the robot. If the robot meets the garbage with larger size and clamped in the air pipe, the robot informs constructors by marking the number and the traveling distance of the section of the air pipe where the robot is located. Thereby get rid of rubbish and the welding piece in narrow and small tuber pipe, reduce clean rubbish and clastic manual work and cost, ensure ventilation volume, personnel's comfort level and the safe operation of front end equipment in the terminal cabin of ventilation simultaneously.

Description

Cleaning robot for narrow air pipe of ship

Technical Field

The invention relates to the field of ship maintenance, in particular to a cleaning robot for a narrow air pipe of a ship.

Background

As the manufacturing industry of China enters a high-quality development stage, the ship ventilation air pipe is more and more concerned by shipowners and crews as a key system component for ensuring the living comfort of ship personnel. In the actual construction process, various kinds of work are usually performed in a cross mode, and in addition, the conditions of shortened construction period, large fluidity of constructors, insufficient construction experience and the like often result in the existence of garbage or welding debris with different sizes and properties in the ship ventilation air pipe. These debris and debris seriously affect the health and safety of crew users at the end of the ventilation ducts and also affect the stable operation of the front-end equipment.

However, after the ventilation air pipe is installed, a section of complete pipeline is formed, and when problems are found at the tail end and the front end, the tail sound is often close to the tail sound in the ship construction stage. The large area available for inspection and construction of certain waste and debris is extremely labor and cost intensive. Therefore, after the ship air pipe is completely installed, the cleaning and checking work in the air duct of the ship air pipe is necessary. Especially for the air pipes with small diameter or with long distance between the connectors at two ends, personnel cannot reach or touch for inspection, and the smoothness of the ship ventilation air pipes and the cleanness of the interior of the air pipes are difficult to ensure.

Therefore, it is necessary to provide a device for cleaning and inspecting the narrow air duct of the ship.

Disclosure of Invention

In view of the above-mentioned drawbacks of the prior art, the present invention provides a cleaning robot for a narrow air duct of a ship, the cleaning robot comprising:

the rear part of the shell is fixedly provided with a plastic box;

the roller groups are respectively positioned at the left side and the right side, the roller groups at the left side and the right side respectively and independently operate, each roller group comprises a plurality of large wheels and a plurality of small wheels, the plurality of small wheels are positioned at two ends of all the large wheels, and the centers of the small wheels are higher than the centers of the large wheels;

the integrated circuit board is arranged in the shell, and a camera which is in communication connection with the integrated circuit board is arranged on the front side surface of the shell;

install respectively in the flexible arm of the plastics box left and right sides, flexible arm is including the first arm, second arm, the third arm that connect gradually, the third arm includes fixed connection's the third spheroid and the third body of rod, the end coaxial of the third body of rod is fixed with the rotatory track of annular, circular pivot board with the coaxial coupling of the third body of rod, circular pivot board is close to the orbital one side of annular rotation has 2 at least drive gear, drive gear can advance in the rotatory track of annular, so that circular pivot board can pivoting under drive gear's the drive.

Optionally, the cleaning robot further comprises:

the crawler belt is sleeved on the peripheries of all the large wheels and the small wheels, concave-convex patterns are arranged on the outer surfaces of the large wheels and the small wheels to be meshed with each other, and concave-convex patterns are also arranged on the inner surface of the crawler belt so as to rotate under the driving of the large wheels and the small wheels; the big wheel and the small wheel are made of stainless steel, and the track is made of reinforced plastic.

Optionally, a bearing is sleeved on a wheel shaft of each cart wheel, the bearing is fixed below the plastic box, a gear shaft is coaxially fixed at one end of the wheel shaft, which is far away from the cart wheels, the gear shaft is used for transmitting power to drive the cart wheels on the same side to synchronously rotate so as to realize forward or backward movement of the cleaning robot, and the inner diameter of the bearing is 1-2mm larger than the outer diameter of the wheel shaft.

Optionally, the plastic box is made of hard plastic materials with the thickness of 3mm, the plastic box comprises 2 first side plates respectively located at the left side and the right side, 2 second side plates respectively located at the front side and the rear side, and a bottom plate, the first side plates, the second side plates and the bottom plate are fixed in pairs through screws, and a plurality of round holes matched with the bearings are formed in the bottoms of the first side plates to fix the bearings.

Optionally, the camera comprises a protective shell, a bottom slot and a camera body, the integrated circuit board is fixedly connected with the shell through fixed supporting legs located on each side of the shell, a binding post is installed at the center of the integrated circuit board, a concave hole is formed in one end, away from the integrated circuit board, of the binding post, a rotary sphere with an installation rod is installed in the concave hole, the rotary sphere can freely rotate in the concave hole, an external thread is arranged at one end, away from the rotary sphere, of the installation rod, the camera body is fixedly connected with the installation rod through the external thread, so that the camera body can freely rotate through the rotary sphere, the protective shell covers the exterior of the camera body, is in threaded connection with the bottom slot located on the surface of the shell, and a control wire and a signal wire of the integrated circuit board are electrically connected with the binding post through a wire winding mode, thereby transmitting a signal to control the operation of the camera body.

Optionally, the cleaning robot further comprises:

the battery mounting box is located behind the plastic box and fixedly connected with the plastic box through a clamping groove, an electric motor is fixed at the bottom of the battery mounting box and used for providing power for the roller train, and the electric motor is fixed at the bottom of the battery mounting box through a motor base and in a gluing mode.

Optionally, the first mechanical arm comprises a first ball body and a first outer rod which are fixedly connected, the first ball body is mounted in a first fixed circular shaft fixed on the left side and the right side of the plastic box so as to rotate freely, a first inner rod capable of sliding in the first outer rod is sleeved in the first outer rod, and a telescopic limiting block and a limiting contact are arranged at one end, far away from the first ball body, of the first outer rod so as to prevent the first inner rod from slipping; the second arm includes fixed connection's second spheroid and interior pole of second, first interior pole is close to the one end of second arm is fixed with the fixed round axle of second, the second spheroid install in the fixed round axle of second to realize the free rotation, the overcoat has and follows the gliding second outer pole of pole in the second, the fixed round axle of second is 3/5 spheroids, in order to wrap up the second spheroid, the outer pole of second is close to the spheroidal one end of second also is equipped with flexible stopper and spacing contact, in order to prevent the pole slippage in the second, the outer pole of second is close to the one end of third arm is fixed with the fixed round axle of third, the third spheroid install in the fixed round axle of third to realize the free rotation.

Optionally, one side, away from the annular rotating track, of the circular rotating shaft plate is fixed with a square stroke rod, a sliding groove is formed in the square stroke rod, 2 opposite induction clamping plates are vertically installed in the sliding groove, and the induction clamping plates can slide along the sliding groove. The both ends and the center department of square stroke pole are equipped with the slip stopper to prevent response splint roll-off stroke scope, the response module is installed to the tip of response splint, is equipped with infrared emitter in the response module of one of them response splint, is provided with infrared receiver in the response module of another response splint to whether the clamp is got in the detection and has been got the object.

Optionally, the operating unit is configured to send a control signal and transmit the control signal to a signal antenna installed on the top of the housing through bluetooth, and the signal antenna is in communication connection with the integrated circuit board, so that the camera, the telescopic arm, and the electric motor are controlled.

Optionally, the operation component includes a touch display screen, a left handle and a right handle, the left handle and the right handle are used for respectively controlling the roller group located on the left side and the roller group located on the right side, and the left handle and the right handle cannot move in two different directions simultaneously to prevent misoperation;

the operating component further comprises a first section of button, a second section of button, a forward extending button, a backward retracting button and a track ball, wherein the first section of button and the second section of button are used for switching and selecting the first mechanical arm and the second mechanical arm respectively, indicator lamps are arranged below the first section of button and the second section of button respectively, the forward extending button and the backward retracting button are used for controlling forward extending and backward retracting of the mechanical arms respectively, and any position on the surface of the track ball is mapped with the annular rotating track and the fixed circular shaft respectively and used for controlling rotation of the mechanical arms and rotation of the circular rotating shaft plate.

As described above, the present invention provides a cleaning robot for a narrow air duct of a ship to perform inspection and cleaning work in the narrow air duct. The robot is placed in the air-supply line by constructor from an tuber pipe port, through crawler-type wheel with can carry out 60 rotatory flexible cameras, inspects and cleaning work along arranging the trend of tuber pipe, advances to next air outlet, accomplishes the inside cleanness and the inspection work of one section narrow and small tuber pipe promptly. The robot body is provided with a telescopic arm capable of rotating by 210 degrees, and the telescopic arm is used for carrying out partial solid garbage in a picking mode and putting the solid garbage into a plastic box carried by the robot. If the robot meets the garbage with larger size and clamped in the air pipe, the robot informs constructors by marking the number and the traveling distance of the section of the air pipe where the robot is located. Thereby get rid of rubbish and the welding piece in narrow and small tuber pipe, reduce clean rubbish and clastic manual work and cost, ensure ventilation volume, personnel's comfort level and the safe operation of front end equipment in the terminal cabin of ventilation simultaneously.

Drawings

Fig. 1 is a side view schematically showing the cleaning robot according to the present invention.

Fig. 2 is a schematic view showing the mounting of the integrated circuit board according to the present invention.

Fig. 3 is a schematic view showing the installation of the camera head according to the present invention.

Fig. 4 shows a schematic view of the rotation of the camera head according to the invention.

Fig. 5 is a schematic front view of the cleaning robot in the air duct according to the present invention.

Fig. 6 is a front view schematically showing the structure of the plastic case of the cleaning robot according to the present invention.

Fig. 7 is a side view schematically showing the structure of the plastic case of the cleaning robot according to the present invention.

FIG. 8 is a schematic view of the telescopic arm of the present invention.

Fig. 9 is an enlarged view of the structure of the region M in fig. 8.

Fig. 10 is an enlarged view of the structure of the region I in fig. 8.

Fig. 11 is an enlarged view of the structure of the N region in fig. 10.

Fig. 12 is a schematic view showing the structure of the operation member.

Description of the element reference numerals

1 casing 2 track

3 telescopic arm 4 big wheel

5 small wheel 6 first fixed round shaft

7 plastic box 8 camera

9 induction splint 10 signal antenna

11 battery mounting box 12 electric motor

13 operating part 101 integrated circuit board

102 fixed feet 104 binding post

105 rotating sphere 201 wheel axle

202 telescopic limiting block for bearing 301

302 limit contact 303 first mechanical arm

304 second robot arm 305 third robot arm

310 first sphere 311 first outer rod

312 first inner rod 320 second sphere

321 second inner bar 322 second outer bar

313 second fixed circular shaft 323 third fixed circular shaft

330 third sphere 331 third rod

702 gear shaft 703 second side plate

704 first side plate 705 bottom plate

801 protective housing 802 bottom card slot

803 camera body 901 square stroke rod

902 sliding stopper 903 annular rotating track

904 circular rotating shaft plate 905 driving gear

906 induction module 1101 card slot

1201 motor base 1301 touch type display screen

1302 left side handle 1303 right side handle

1304 first section button 1305 second section button

1306 trackball 1307 reach button

1308 retracting button

Detailed Description

The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention.

As in the detailed description of the embodiments of the present invention, the cross-sectional views illustrating the device structures are not partially enlarged in general scale for convenience of illustration, and the schematic views are only examples, which should not limit the scope of the present invention. In addition, the three-dimensional dimensions of length, width and depth should be included in the actual fabrication.

For convenience in description, spatial relational terms such as "below," "beneath," "below," "under," "over," "upper," and the like may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. It will be understood that these terms of spatial relationship are intended to encompass other orientations of the device in use or operation in addition to the orientation depicted in the figures. Further, when a layer is referred to as being "between" two layers, it can be the only layer between the two layers, or one or more intervening layers may also be present. As used herein, "between … …" is meant to include both endpoints.

In the context of this application, a structure described as having a first feature "on" a second feature may include embodiments in which the first and second features are formed in direct contact, and may also include embodiments in which additional features are formed in between the first and second features, such that the first and second features may not be in direct contact.

It should be noted that the drawings provided in the present embodiment are only for illustrating the basic idea of the present invention, and the drawings only show the components related to the present invention rather than being drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of each component in actual implementation may be changed freely, and the layout of the components may be more complicated.

As more and more crews have more and more requirements on the space of the ship cabin and the design space of the air pipe pipeline used for cabin hiding engineering is smaller and smaller, in the design stage, designers can select the air pipe with small section size as much as possible under the condition of ensuring reasonable air speed in the ventilation air pipe, for example, the diameter of the air pipe is less than 200mm or the section area is less than or equal to 0.035m²So as to ensure the installation construction space outside the air pipe. But to the long and narrow tuber pipe that the length of the tuber pipe of small cross sectional dimension or connection port is greater than 600mm, in case rubbish or the welding piece that appear in the tuber pipe inside is in the same time, when constructor can't reach or can't touch each inside corner of tuber pipe, under the ventilation operating mode, the inside rubbish of tuber pipe or piece will directly be blown and obtain the terminal user of tuber pipe or be inhaled tuber pipe front end equipment department, influence that the user is healthy, ventilation air-out amount of wind and equipment safe operation.

In view of the fact that construction personnel cannot reach or touch the interior of the narrow air duct, the invention aims to invent the cleaning robot suitable for the narrow air duct of the ship, not only can check whether garbage or welding scraps exist in the narrow air duct, but also can carry out partial garbage, and for the garbage which cannot be cleaned immediately, the position of the garbage can be marked, so that the smoothness of the ventilation air duct of the ship and the sanitation of the interior of the air duct are ensured.

As shown in fig. 1, the present invention provides a cleaning robot for a narrow air duct of a ship, the cleaning robot comprising:

a housing 1, said housing 1 being made of reinforced plastic;

the plastic box 7 is fixed at the rear of the shell 1 through screws;

the roller groups are respectively positioned at the left side and the right side, the roller groups at the left side and the right side respectively and independently operate, each roller group comprises a plurality of large wheels 4 and a plurality of small wheels 5, the plurality of small wheels 5 are positioned at two ends of all the large wheels 4, and the centers of the small wheels 5 are higher than the centers of the large wheels 4;

the crawler belt 2 is sleeved on the peripheries of all the large wheels 4 and the small wheels 5, concave-convex patterns are arranged on the outer surfaces of the large wheels 4 and the small wheels 5 to be meshed with each other, and concave-convex patterns are also arranged on the inner surface of the crawler belt 2 to rotate under the driving of the large wheels 4 and the small wheels 5.

Specifically, the number of the large wheels 4 in the roller group is 4, the number of the small wheels 5 is 2, and the 2 small wheels 5 are arranged at two ends of the 4 large wheels. The diameter of the large wheel 4 is larger than that of the small wheel 5, the combined design of the large wheel 4 and the small wheel 5 can be well adapted to the environment in the air pipe, particularly, obstacles can be well crossed, and the crawler belt 2 can strengthen the friction force between the cleaning robot and the inner wall of the air pipe. The large wheels 4 and the small wheels 5 are made of stainless steel materials to enhance corrosion resistance, and the salt content in the air environment of the ship is higher than that in the land environment; the track 2 is the reinforced plastic material to prevent to produce the scratch to the galvanized surface of tuber pipe inner wall.

As shown in fig. 6, a bearing 202 is sleeved on the wheel shaft 201 of each large wheel 4, the bearing 202 is fixed below the plastic box 7, a gear shaft 702 is coaxially fixed on one end of the wheel shaft 201 far away from the large wheel 4, and the gear shaft 702 is used for transmitting power to drive the large wheels 4 located on the same side to synchronously rotate so as to realize the forward or backward movement of the cleaning robot. The inner diameter of the bearing 202 is 1-2mm larger than the outer diameter of the wheel shaft 201, so that the wheels on the left side and the right side are prevented from being inclined or twisted when not at the same height, and friction is generated on the bearing 202. In addition, because the crawler-type wheels on the left side and the right side of the cleaning robot do not walk on a relatively horizontal interface, the wheels on the left side and the right side cannot share one wheel shaft, and each large wheel 4 is connected by one independent wheel shaft, namely, the roller groups on the left side and the right side respectively and independently run, so that the situation that the robot vehicle cannot climb due to uneven left-right height drop is prevented.

The integrated circuit board 101 is installed in the shell 1, and the camera 8 which is in communication connection with the integrated circuit board 101 is installed on the front side surface of the shell 1.

Specifically, as shown in fig. 2 to 4, the camera 8 includes a protective shell 801, a bottom card slot 802, and a camera body 803. Integrated circuit board 101 through be located the fixed spike 102 on each side of casing 1 with casing 1 fixed connection, integrated circuit board 101's center department installs terminal 104, the terminal is kept away from integrated circuit board 101's one end is equipped with the cave, has the rotary sphere 105 of installation pole install in the cave, rotary sphere 105 can freely rotate in the cave, the installation pole is kept away from rotary sphere 105's one end is equipped with the external screw thread, camera body 803 pass through the external screw thread with installation pole fixed connection, so that camera body 803 passes through rotary sphere 105 realizes 60 free rotations. The camera body 803 is covered with a protective shell 801, and the protective shell 801 is in threaded connection with a bottom clamping groove 802 formed in the surface of the shell 1. The control wires and the signal wires of the integrated circuit board 101 are electrically connected to the terminal 104 by winding, so as to transmit signals to control the operation of the camera body 803.

Specifically, the plastic box 7 is made of hard plastic materials with the thickness of 3mm, so as to reduce the overall weight of the robot, the plastic box 7 comprises 2 first side plates 704 respectively located at the left side and the right side, 2 second side plates 703 respectively located at the front side and the rear side, and a bottom plate 705, and the first side plates 704, the second side plates 703 and the bottom plate 705 are fixed in pairs by screws, so that 5 plates are ensured to be stable in the movement of the cleaning robot. The bottom of the first side plate 704 is provided with a plurality of circular holes matching with the bearings 202 to fix the bearings 202, as shown in fig. 7. The plastic box 7 serves as a container for transporting objects, such as refuse, welding scraps, etc. The size of the plastic box 7 is 20mm multiplied by 38mm multiplied by 36mm, the height of the whole cleaning robot is about 55mm, the width of the whole cleaning robot is about 45mm, and the cleaning robot can be suitable for a circular air-conditioning blast pipe or a bathroom exhaust pipe with the diameter of 80mm, as shown in figure 5.

The battery mounting box 11 is located behind the plastic box 7 and is fixedly connected with the plastic box 7 through a clamping groove 1101, an electric motor 12 is fixed at the bottom of the battery mounting box 11, and the electric motor 12 is used for providing power for the roller group. 8 button-type batteries can be installed in the battery installation box 11 to provide electric energy to maintain the operation functions of control signal transmission and reception of forward movement and backward movement of the cleaning robot, expansion of the expansion arm 3, image transmission of the camera 8 and the like.

Specifically, the electric motor 12 is fixed to the bottom of the battery mounting box 11 by the motor base 1201 and gluing, because the button battery is easily short-circuited by screwing, causing electric leakage, and is fixed by gluing with strong glue.

The telescopic arms 3 are respectively installed at the left side and the right side of the plastic box 7, as shown in fig. 8, the telescopic arms 3 comprise a first mechanical arm 303, a second mechanical arm 304 and a third mechanical arm 305 which are connected in sequence, the first robot 303 includes a first ball 310 and a first outer rod 311 fixedly connected to each other, the first ball 310 is installed in the first fixed circular shaft 6 fixed at the left and right sides of the plastic case 7, so as to realize free rotation of 210 degrees, a first inner rod 312 which can slide in the first outer rod 311 is sleeved in the first outer rod 311, an end of the first outer rod 311 away from the first ball 310 is provided with a telescopic stop block 301 and a stop contact 302 to prevent the first inner rod 312 from slipping off, as shown in fig. 9, the telescopic limiting block 301 is used for hard limiting, and the limiting contact 302 is used for sensing and monitoring the position of the first inner rod 312 to prevent exceeding of the limiting; the second mechanical arm 304 comprises a second sphere 320 and a second inner rod 321, which are fixedly connected, a second fixed circular shaft 313 is fixed at one end of the first inner rod 312 close to the second mechanical arm 304, the second sphere 320 is installed in the second fixed circular shaft 313 to realize free rotation of 200 °, a second outer rod 322 capable of sliding along the second inner rod 321 is sleeved outside the second inner rod 321, 3/5 spheres are arranged on the second fixed circular shaft 313 to wrap the second sphere 320, that is, 2/5 of the second sphere 320 is exposed outside; similarly, a telescopic limit block 301 and a limit contact 302 are also arranged at one end of the second outer rod 322 close to the second ball 320 to prevent the second inner rod 321 from slipping; the third mechanical arm 305 includes a third sphere 330 and a third rod 331 that are fixedly connected, one end of the second outer rod 322 close to the third mechanical arm 305 is fixed with a third fixed circular shaft 323, the third sphere 330 is installed in the third fixed circular shaft 323 to realize free rotation of 200 °, as shown in fig. 10-11, a circular rotation track 903 is coaxially fixed at the end of the third rod 331, a circular rotation plate 904 is coaxially and movably connected with the third rod 331, one surface of the circular rotation plate 904 close to the circular rotation track 903 is provided with at least 2 driving gears 905, and the driving gears 905 can travel in the circular rotation track 903, so that the circular rotation plate 904 can rotate around a shaft under the driving of the driving gears 905. A square stroke rod 901 is fixed on one surface, far away from the annular rotating track 903, of the circular rotating shaft plate 904, a sliding groove is formed in the

square stroke rod

901, 2 opposite induction clamping plates 9 are vertically installed in the sliding groove, and the induction clamping plates 9 can slide along the sliding groove. Sliding limiting blocks 902 are installed at two ends and the center of the square stroke rod 901 to prevent the sensing clamping plate 9 from sliding out of a stroke range, sensing modules 906 are installed at the end of the sensing clamping plate 9, an infrared transmitter is arranged in the sensing module 906 of one sensing clamping plate, and an infrared receiver is arranged in the sensing module 906 of the other sensing clamping plate to detect whether an object is clamped or not. The telescopic arm 3 is used for gripping objects, such as garbage, welding scraps, etc., and then is put into the plastic box 7.

And the operating component 13 is used for sending a control signal and transmitting the control signal to the signal antenna 10 arranged at the top of the shell 1 through Bluetooth, and the signal output of the Bluetooth transmission is a linear distance of 10 meters. The signal antenna 10 is in communication connection with the integrated circuit board 101, so that the control of the camera 8, the electric motor 12 and the telescopic arm 3 is realized.

As shown in fig. 12, the operating unit 13 includes a touch display screen 1301, a left handle 1302, and a right handle 1303, where the left handle 1302 and the right handle 1303 are used to control the scroll wheel set on the left side and the scroll wheel set on the right side, respectively, and the handles are pushed forward, so that the robot moves forward; the handle is pushed backwards and the robot moves backwards. In order to prevent misoperation, the left handle 1302 and the right handle 1303 cannot move in two different directions simultaneously, and the handles are provided with locking devices.

The content displayed by the touch display screen 1301 is generated according to a real-time image shot by the camera 8, so that a constructor can judge whether foreign matters and garbage exist in the air duct. The camera 8 can rotate 60 degrees in a fixed-axis mode in situ, the camera body 803 of the camera 8 rotates by performing point length pressing on the touch display screen 1301 for 4 seconds, performing sliding operation when a sliding circular frame appears, and performing double-click on the touch display screen 1301 when the touch display screen exits.

Specifically, the cleaning robot is controlled by the operating part 13, when the sensing clamp plate 9 picks up garbage or welding debris, the infrared ray in the sensing module 906 is blocked, the fetching signal switch in the integrated circuit board 101 is triggered, and the switching value signal is transmitted back to the touch display screen 1301 of the operating part 13 through the signal antenna 10, so as to inform that the object is obtained. And then the garbage and welding debris which are clamped and taken are placed into the plastic box 7 through the telescopic and rotary operation of the telescopic arm 3. The left handle 1302 and the right handle 1303 are further used for switching and selecting the telescopic arms 3 on the two sides, respectively, the operating component 13 further includes a first section button 1304 and a second section button 1305, the first section button 1304 and the second section button 1305 are respectively used for switching and selecting the first mechanical arm 303 and the second mechanical arm 304, when the first section button 1304 is pressed, an indicator light located below the first section button 1304 is turned on to indicate that the indicator light is located below the operating node of the first mechanical arm 303 at the moment, then the telescopic operation of the first mechanical arm 303 is realized through a forward extending button 1307 or a backward retracting button 1308, when the current extension contacts the limit contact 302, the extension operation is stopped, and the extension operation of the second mechanical arm 304 is similar. The rotation operation of the robot arm is controlled by the rotation of the trackball 1306, and the trackball 1306 is also used to control the rotation of the circular shaft plate 904, wherein any position on the surface of the trackball 1306 is mapped to the position of the circular rotation orbit 903 and the fixed circular shaft, thereby realizing the rotation control.

In summary, the present invention provides a cleaning robot for a narrow air duct of a ship to complete inspection and cleaning work in the narrow air duct. The robot is placed in the air-supply line by constructor from an tuber pipe port, through crawler-type wheel with can carry out 60 rotatory flexible cameras, inspects and cleaning work along arranging the trend of tuber pipe, advances to next air outlet, accomplishes the inside cleanness and the inspection work of one section narrow and small tuber pipe promptly. The robot body is provided with a telescopic arm capable of rotating by 210 degrees, and the telescopic arm is used for carrying out partial solid garbage in a picking mode and putting the solid garbage into a plastic box carried by the robot. If the robot meets the garbage with larger size and clamped in the air pipe, the robot informs constructors by marking the number and the traveling distance of the section of the air pipe where the robot is located. Thereby get rid of rubbish and the welding piece in narrow and small tuber pipe, reduce clean rubbish and clastic manual work and cost, ensure ventilation volume, personnel's comfort level and the safe operation of front end equipment in the terminal cabin of ventilation simultaneously.

The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

Claims

1. A cleaning robot for a marine small air duct, comprising:

the rear part of the shell is fixedly provided with a plastic box;

2. The cleaning robot according to claim 1, further comprising:

3. The cleaning robot as claimed in claim 1, wherein a bearing is sleeved on a wheel shaft of each cart wheel, the bearing is fixed below the plastic box, a gear shaft is coaxially fixed at one end of the wheel shaft, which is far away from the cart wheels, the gear shaft is used for transmitting power to drive the cart wheels on the same side to synchronously rotate so as to realize forward or backward movement of the cleaning robot, and the inner diameter of the bearing is 1-2mm larger than the outer diameter of the wheel shaft.

4. The cleaning robot as claimed in claim 3, wherein the plastic box is made of hard plastic with a thickness of 3mm, the plastic box comprises 2 first side plates respectively located at the left and right sides, 2 second side plates respectively located at the front and rear sides, and a bottom plate, the first side plates, the second side plates and the bottom plate are fixed in pairs by screws, and a plurality of round holes matched with the bearings are formed in the bottoms of the first side plates to fix the bearings.

5. The cleaning robot as claimed in claim 1, wherein the camera includes a protective case, a bottom slot, and a camera body, the integrated circuit board is fixedly connected to the housing through a fixed arm on each side of the housing, a terminal is installed at the center of the integrated circuit board, a cavity is formed at an end of the terminal far from the integrated circuit board, a rotary sphere with an installation rod is installed in the cavity, the rotary sphere can freely rotate in the cavity, an external thread is formed at an end of the installation rod far from the rotary sphere, the camera body is fixedly connected to the installation rod through the external thread, so that the camera body can freely rotate through the rotary sphere, the camera body is covered with the protective case, and the protective case is in threaded connection with the bottom slot on the surface of the housing, and a control wire and a signal wire of the integrated circuit board are electrically connected with the wiring terminal in a winding mode, so that signals are transmitted to control the operation of the camera body.

6. The cleaning robot according to claim 1, further comprising:

7. The cleaning robot according to claim 1, wherein:

the first mechanical arm comprises a first ball body and a first outer rod which are fixedly connected, the first ball body is arranged in a first fixed circular shaft fixed on the left side and the right side of the plastic box so as to realize free rotation, a first inner rod capable of sliding in the first outer rod is sleeved in the first outer rod, and a telescopic limiting block and a limiting contact are arranged at one end, far away from the first ball body, of the first outer rod so as to prevent the first inner rod from slipping; the second arm includes fixed connection's second spheroid and interior pole of second, first interior pole is close to the one end of second arm is fixed with the fixed round axle of second, the second spheroid install in the fixed round axle of second to realize the free rotation, the overcoat has and follows the gliding second outer pole of pole in the second, the fixed round axle of second is 3/5 spheroids, in order to wrap up the second spheroid, the outer pole of second is close to the spheroidal one end of second also is equipped with flexible stopper and spacing contact, in order to prevent the pole slippage in the second, the outer pole of second is close to the one end of third arm is fixed with the fixed round axle of third, the third spheroid install in the fixed round axle of third to realize the free rotation.

8. The cleaning robot according to claim 1, wherein:

the circular rotating shaft plate is far away from one side of the annular rotating track, a square stroke rod is fixed on the side of the circular rotating shaft plate, a sliding groove is formed in the square stroke rod, 2 opposite induction clamping plates are vertically installed in the sliding groove, and the induction clamping plates can slide along the sliding groove. The both ends and the center department of square stroke pole are equipped with the slip stopper to prevent response splint roll-off stroke scope, the response module is installed to the tip of response splint, is equipped with infrared emitter in the response module of one of them response splint, is provided with infrared receiver in the response module of another response splint to whether the clamp is got in the detection and has been got the object.

9. The cleaning robot according to claim 1, further comprising:

the operating component is used for sending a control signal and transmitting the control signal to a signal antenna arranged at the top of the shell through Bluetooth, and the signal antenna is in communication connection with the integrated circuit board, so that the control over the camera, the telescopic arm and the electric motor is realized.

10. The cleaning robot according to claim 1, wherein:

the operating component comprises a touch display screen, a left handle and a right handle, the left handle and the right handle are used for respectively controlling the roller group positioned on the left side and the roller group positioned on the right side, and the left handle and the right handle can not move towards two different directions simultaneously so as to prevent misoperation;