CN114987713B - Underwater ship bottom cleaning robot - Google Patents
Underwater ship bottom cleaning robot Download PDFInfo
- Publication number
- CN114987713B CN114987713B CN202210509738.5A CN202210509738A CN114987713B CN 114987713 B CN114987713 B CN 114987713B CN 202210509738 A CN202210509738 A CN 202210509738A CN 114987713 B CN114987713 B CN 114987713B
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- Prior art keywords
- arm
- polishing
- frame
- support leg
- shellfish
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- 238000004140 cleaning Methods 0.000 title claims abstract description 45
- 238000005498 polishing Methods 0.000 claims abstract description 64
- 235000015170 shellfish Nutrition 0.000 claims abstract description 30
- 239000000853 adhesive Substances 0.000 claims abstract description 10
- 230000001070 adhesive effect Effects 0.000 claims abstract description 10
- 230000000694 effects Effects 0.000 claims abstract description 3
- 239000000126 substance Substances 0.000 claims abstract description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 25
- 239000013013 elastic material Substances 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 claims description 3
- 241000252254 Catostomidae Species 0.000 description 6
- 238000000034 method Methods 0.000 description 3
- 230000009182 swimming Effects 0.000 description 2
- 244000137852 Petrea volubilis Species 0.000 description 1
- 239000002253 acid Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 238000005034 decoration Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 238000010926 purge Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
Classifications
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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
- B63B59/08—Cleaning devices for hulls of underwater surfaces while afloat
-
- 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
-
- 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
- B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Transportation (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses an underwater ship bottom cleaning robot, wherein a rack is of a square structure with double deck plates, and an upper deck plate and a lower deck plate are connected into a whole through six circular fixed shafts; the six support legs have the same structural principle, the first support leg, the third support leg and the fifth support leg are arranged on the right side of the frame and can swing back and forth, the second support leg, the fourth support leg and the sixth support leg are arranged on the left side of the frame and can swing back and forth, each support leg can be adsorbed and fixed on the surface of the ship body through negative pressure, and the alternate movement of the six support legs can realize the movement of the robot on the surface of the ship body; the turntable is arranged at the center of the frame and can rotate and position, the clearing arm and the polishing arm are arranged at the upper side of the turntable and can rotate and position, the clearing arm can scoop off shellfish attached to the ship body, the polishing arm can remove the residual hardened adhesive substance of the shellfish, so that the ship bottom can be restored to a smooth and clean state, and the camera is arranged at the upper end of the turntable and is used for identifying the distribution condition of the shellfish at the ship bottom and detecting the clearing effect of the shellfish.
Description
Technical Field
The invention relates to the technical field of house decoration, in particular to an underwater ship bottom cleaning robot.
Background
Because the ship body below the waterline of the ship is in water for a long time, the phenomenon that shellfish organisms are adhered to the surface of the ship body is difficult to avoid, the propagation capacity of the shellfish organisms is extremely strong, if the ship body is not cleaned regularly, the more the shellfish organisms are accumulated, the pollution bottom formed by adhesion of a large number of shellfish organisms greatly increases the resistance of the ship, the speed of the ship is reduced, the oil consumption of the ship is increased, in addition, acid corrosions are generated by the organisms, and the ship body is severely corroded, so that the periodic cleaning of the ship bottom is very important.
At present, two commonly adopted schemes for cleaning ship bodies exist: the ship body is towed into the dry dock for cleaning, but the dry dock has high use cost, particularly the large dock is generally used only when the ship is overhauled in a large scale, and the cleaning time in the dock is long, so that the navigation loss of the ship is increased; the other is manual cleaning by divers, the cleaning efficiency of the method is low, the requirements on the divers are high, the underwater cleaning belongs to high-risk operation, and life and property losses can be caused by slight carelessness. Therefore, it is of obvious interest to develop an automated apparatus that can clean the bottom of a ship in water.
Disclosure of Invention
The invention aims to solve the problems of high bottom cleaning cost, long time consumption, high risk coefficient and the like in the prior art.
The technical scheme adopted by the invention is as follows: an underwater bilge cleaning robot, characterized by comprising: the device comprises a frame, a turntable, a first supporting leg, a second supporting leg, a third supporting leg, a fourth supporting leg, a fifth supporting leg, a sixth supporting leg, a cleaning arm, a polishing arm and a camera, wherein the frame is of a square structure of a double deck, an upper deck and a lower deck are connected into a whole through six circular fixing shafts, and an inner gear ring is arranged on the lower deck; the six support legs have the same structural principle, the first support leg, the third support leg and the fifth support leg are arranged on the right side of the frame and can swing back and forth, the second support leg, the fourth support leg and the sixth support leg are arranged on the left side of the frame and can swing back and forth, each support leg can be adsorbed and fixed on the surface of the ship body through negative pressure, and the alternate movement of the six support legs can realize the movement of the robot on the surface of the ship body; the turntable is arranged at the center of the frame and can rotate and position, the clearing arm and the polishing arm are arranged at the upper side of the turntable and can rotate and position, the clearing arm can scoop off shellfish attached to the ship body, the polishing arm can remove the residual hardened adhesive substance of the shellfish, so that the ship bottom can be restored to a smooth and clean state, and the camera is arranged at the upper end of the turntable and is used for identifying the distribution condition of the shellfish at the ship bottom and detecting the clearing effect of the shellfish.
Preferably, the first landing leg mainly include first revolving rack, first arm, second arm, suction pump, spring, sucking disc, water pump motor, wherein first revolving rack is connected with a fixed axle rotation, and first electric putter installs between first revolving rack and frame and can realize the back-and-forth swing of first landing leg, and first arm rotates with first revolving rack to be connected, and the second arm rotates with first arm to be connected, and the sucking disc is installed in the second arm lower extreme and is constituteed the sphere pair, and the suction pump is installed in the second arm lower extreme and with the inside intercommunication of sucking disc.
The suction cup and the second arm form a spherical pair, so that the suction cup can swing in a follow-up manner according to the inclination amplitude of the surface of the ship body, the suction pump can enable negative pressure to be generated inside the suction cup and to be adsorbed on the surface of the ship body, and therefore stable fixation of the robot on the surface of the ship body is realized, and the robot can clean shellfish at the bottom of the ship conveniently.
Preferably, the lower end of the sucker is provided with a rubber ring made of elastic materials.
The bottom of the sucker can be sealed with the surface of the ship body through the rubber ring, so that a closed space is formed inside the sucker, and negative pressure is generated inside the sucker after the water pump pumps water conveniently.
Preferably, the three springs are uniformly distributed and installed between the lower end of the second arm and the sucker in the circumferential direction.
The position of the sucker can automatically return to the middle through the arrangement of the three springs, so that the sucker can automatically swing along with the shape when contacting with the surface of the ship body.
Preferably, a heightening upright post is arranged in the middle of the upper side of the turntable, and the heightening upright post can enable the camera to have a good visual field.
Preferably, the cleaning arm mainly comprises a second rotating frame, a third arm, a fourth arm, a shovel plate motor and a swinging wheel, wherein the second rotating frame is arranged on the upper side of the rotating table and can rotate and position, the third arm is rotationally connected with the second rotating frame, the fourth arm is rotationally connected with the third arm, the shovel plate is arranged at the lower end of the fourth arm and forms a revolute pair, and the shovel plate motor is fixedly arranged at the rear side of the lower end of the fourth arm and can realize periodical left-right swinging of the shovel plate through the swinging wheel.
The cleaning arm can rotate left and right and can swing upwards, and the shovel plate can swing left and right and swing upwards, so that the shellfish in the circumferential direction of the robot can be cleaned conveniently.
Preferably, the front end of the shovel plate is provided with saw teeth, and the saw teeth can facilitate the cleaning of shellfish.
Preferably, the polishing arm mainly comprises a fifth arm, a second rotating frame, a third arm, a polishing motor, a polishing head and a polishing sheet, wherein the connection relation among the fifth arm, the second rotating frame and the third arm is the same as that in the cleaning arm, and the polishing motor is fixedly arranged at the lower end of the fifth arm and realizes the rotation of the polishing sheet through the polishing head.
The polishing arm can polish and clean the hardened adhesive remained on the shellfish, so that the ship bottom is restored to a smooth and clean state.
Preferably, the polishing head is of a disc-shaped structure with elasticity, and the elasticity of the polishing head is convenient for the self-adaptive pressure of the polishing sheet.
Preferably, the polishing sheet upper side and the polishing head are connected by adopting a magic tape structure, so that the polishing sheet is convenient to detach and replace.
The invention has the beneficial effects that:
(1) The robot can clean the ship body below the waterline of the ship in water, can clean the shellfish attached to the ship bottom and the hardened adhesive of the shellfish, does not need to haul the ship to a dry dock, particularly for large ships, greatly reduces the cost of cleaning the ship bottom, reduces the labor intensity of workers, and even in the process of low-speed sailing of the ship or loading and unloading of a port, the ship bottom cleaning equipment can complete the cleaning work of the ship bottom, so that the influence of the ship bottom cleaning work on the shipping period of the ship is reduced.
(2) The robot is fixed on the target ship body through the six suckers, shellfish outside the ship body is removed through the removing arm, and the residual hardening adhesive of the shellfish is removed through the polishing arm, so that the ship body can be restored to a smooth and clean state.
(3) The robot adopts six landing legs, and three landing legs provide support all the time in the moving process of the robot, and the six landing legs simultaneously provide support when the robot stops moving, so that the stability of the robot is improved.
(4) The turntable can rotate and position by 360 degrees, so that the positions of the cleaning arm and the polishing arm can be exchanged, the flexibility of the robot is improved, and the working space of the robot is also increased.
Drawings
Fig. 1 is a schematic diagram of the overall structure of the present invention.
Fig. 2 is a schematic view of the overall structure of the present invention with the removal arm and the sharpening arm removed.
Fig. 3 is a schematic structural view of the first leg.
Fig. 4 is an enlarged schematic view in partial cross-section of the suction cup position.
Fig. 5 is an enlarged schematic cross-sectional view of the turret position.
Fig. 6 is a schematic view of the structure of the purge arm.
FIG. 7 is an enlarged schematic view in partial cross-section of the blade position.
Reference numerals: 1 frame, 1.1 fixed shaft, 1.2 push rod shaft, 1.3 inner gear ring, 2 rotary table, 2.1 heightened column, 3 first leg, 4 second leg, 5 third leg, 6 fourth leg, 7 fifth leg, 8 sixth leg, 9 clear arm, 10 grinding arm, 11 fifth arm, 12 grinding motor, 13 grinding head, 14 grinding sheet, 15 camera, 16 first electric push rod, 17 first motor, 18 second motor, 19 third motor, 20 gear, 21 crossed roller bearing, 22 first rotary frame, 22.1 rotary lug, 23 second electric push rod, 24 third electric push rod, 25 first arm, 26 second arm, 27 suction pump, 28 spring, 29 suction cup, 29.1 ball head, 29.2 rubber ring, 30 water pump motor, 30.1 blade, 31 second rotary frame, 32 third arm, 33 fourth electric push rod, 34 fifth electric push rod, 35 fourth arm, 36 shovel plate, 36.1 long groove, 37 shovel plate motor, 38 wheel, 38.1 rocker.
Detailed Description
The invention will be further described with reference to specific examples, illustrative examples and illustrations of which are provided herein to illustrate the invention, but are not to be construed as limiting the invention.
As shown in fig. 1-7, the underwater ship bottom cleaning robot mainly comprises a frame 1, a turntable 2, a first supporting leg 3, a second supporting leg 4, a third supporting leg 5, a fourth supporting leg 6, a fifth supporting leg 7, a sixth supporting leg 8, a cleaning arm 9, a polishing arm 10 and a camera 15, wherein the frame 1 is of a square structure of a double-deck, an upper deck and a lower deck are connected into a whole through six circular fixing shafts 1.1, the six fixing shafts 1.1 are distributed in a bilateral symmetry manner, six push rod shafts 1.2 are fixedly arranged between the two decks, an annular gear 1.3 is arranged on the upper side of the middle position of a lower layer of clamping plate, and a round hole is formed in the upper layer of the deck and is coaxial with the annular gear 1.3.
As shown in fig. 2 and 3, the first leg 3 includes a first electric push rod 16, a first rotating frame 22, a second electric push rod 23, a third electric push rod 24, a first arm 25, a second arm 26, a water pump 27, a spring 28, a suction cup 29, and a water pump motor 30, where the first leg 3 is mounted at the front end of the right side of the frame 1 and can swing back and forth, a round hole is vertically disposed in the first rotating frame 22, a rotating ear 22.1 is disposed at the right side of the first leg 22, the first rotating frame 22 is rotatably connected with a fixed shaft 1.1 at the front end of the right side of the frame 1, the first electric push rod 16 has a waterproof function, the top end of the first electric push rod 16 is rotatably connected with the rotating ear 22.1, the tail end of the first electric push rod 16 is rotatably connected with a push rod shaft 1.2, so that the first electric push rod 16 can swing back and forth through telescopic control the first arm 25, the second electric push rod 23 has a waterproof function, the tail end of the second electric push rod 23 is rotatably connected with the first electric push rod 25 through the middle arm 26, and the tail end of the second electric push rod is rotatably connected with the first electric push rod 24 through the upper end of the second electric push rod 24.
As shown in fig. 3 and 4, a ball socket is arranged in the lower end of the second arm 26, a through horn mouth with a downward opening is arranged at the lower end of the ball socket, and a through round hole is vertically arranged at the upper end of the ball socket; the inside of sucking disc 29 be hollow and link up from top to bottom the structure, sucking disc 29 lower extreme is equipped with the rubber ring 29.2 of elastic material, sucking disc 29 upper end is equipped with a bulb 29.1, bulb 29.1 installs in the ball and socket of second arm 26 lower extreme and constitutes spherical pair to sucking disc 29 can swing for second arm 26, is connected with three spring 28 between sucking disc 29 and the second arm 26 lower extreme, and three spring 28 become circumference evenly distributed, and three spring 28 can make sucking disc 29's position return to the middle position.
The suction pump 27 is fixedly arranged on the upper side of the ball socket at the lower end of the second arm 26 and is communicated with a round hole at the upper end of the ball socket, a motor bin is arranged inside the suction pump 27, a gap is formed between the motor bin and the casing of the suction pump 27 for water to flow through, the motor bin and the casing of the suction pump 27 are connected into a whole through three vertically arranged plates, the water pump motor 30 is fixedly arranged in the motor bin, the blade 30.1 is arranged on an output shaft at the lower end of the water pump motor 30, and accordingly the water pump motor 30 can drive the blade 30.1 to rotate, so that water flows enter the suction pump 27 from the lower end of the sucker 29 under the action of centrifugal force and is discharged from the upper end of the suction pump 27 through the gap between the motor bin and the casing.
As shown in fig. 2, the second leg 4, the third leg 5, the fourth leg 6, the fifth leg 7, and the sixth leg 8 have the same structural principle as the first leg 3, the second leg 4 is mounted at the front end position of the left side of the frame 1 and can swing back and forth, the third leg 5 is mounted at the middle position of the right side of the frame 1 and can swing back and forth, the fourth leg 6 is mounted at the middle position of the left side of the frame 1 and can swing back and forth, the fifth leg 7 is mounted at the rear end position of the right side of the frame 1 and can swing back and forth, and the sixth leg 8 is mounted at the rear end position of the left side of the frame 1 and can swing back and forth.
As shown in fig. 2 and 5, the turntable 2 is in a cylindrical structure, the turntable 2 is rotationally connected with the outer side of the annular gear 1.3 through a crossed roller bearing 21, an encoder and a brake are integrated in the third motor 19, the encoder can detect the rotation angle of an output shaft, the brake can lock the rotation of the output shaft, the third motor 19 is fixedly arranged in the turntable 2, the gear 20 is coaxially and fixedly connected with the output shaft of the third motor 19, and the gear 20 is meshed with the annular gear 1.3 to form a gear transmission structure, so that the third motor 19 can realize accurate angle rotation and positioning of the turntable 2; the middle position of the upper side of the turntable 2 is provided with a heightening upright post 2.1, the camera 15 has a waterproof function, the camera 15 is provided with a light supplementing device, the camera 15 can rotate by 360 degrees and can swing up and down, and the lower end of the camera 15 is fixedly arranged at the top end of the heightening upright post 2.1, so that the camera 15 has a good visual field; the first motor 17 and the second motor 18 have waterproof functions, the inside of the first motor 17 and the inside of the second motor 18 are integrated with an encoder and a brake, the first motor 17 is fixedly arranged on the right side inside the turntable 2, and the second motor 18 is fixedly arranged on the left side inside the turntable 2.
As shown in fig. 6, the cleaning arm 9 includes a second rotating frame 31, a third arm 32, a fourth electric push rod 33, a fifth electric push rod 34, a fourth arm 35, a shovel 36, a shovel motor 37 and a swinging wheel 38, wherein a round hole is formed in the second rotating frame 31, the rear end of the third arm 32 is rotatably connected with the lower end of the front side of the second rotating frame 31, the fourth electric push rod 33 has a waterproof function, the top end of the fourth electric push rod 33 is rotatably connected with the middle position of the upper side of the third arm 32, and the tail end of the fourth electric push rod 33 is rotatably connected with the upper end of the front side of the second rotating frame 31, so that the fourth electric push rod 33 can control the up-down swinging of the third arm 32 through telescopic control; the fourth arm 35 is rotatably connected with the front end of the third arm 32, the top end of the fifth electric push rod 34 is rotatably connected with the upper end of the fourth arm 35, and the tail end of the fifth electric push rod 34 is rotatably connected with the middle position of the upper side of the third arm 32, so that the fifth electric push rod 34 can control the forth-back swing of the fourth arm 35 through expansion and contraction.
As shown in fig. 6 and 7, the shovel 36 is of a T-shaped plate structure, the front end of the shovel is provided with saw teeth, the saw teeth can facilitate the cleaning of shellfish, the rear end of the shovel 36 is provided with a vertically through long groove 36.1, the middle position of the upper side of the shovel 36 is rotationally connected with the lower end of the fourth arm 35, the shovel motor 37 has a waterproof function, the shovel motor 37 is fixedly arranged at the rear side of the lower end of the fourth arm 35, an output shaft of the shovel motor 37 is fixedly connected with the left side of the shaking wheel 38, a rocker 38.1 is arranged at the lower side of the shaking wheel 38, the rocker 38.1 is biased to the right side of the shaking wheel 38, so that an eccentric distance exists between the output shaft of the shovel motor 37 and the rocker 38.1, and the rocker 38.1 is positioned in the long groove 36.1, the shovel motor 37 can drive the shaking wheel 38 to rotate, and the rocker 38.1 periodically swings the shovel 36 left and right through the long groove 36.1, thereby facilitating the removal of shellfish from the bottom of a ship.
As shown in fig. 1, the polishing arm 10 includes a fifth arm 11, a second rotating frame, a third arm, a fourth electric push rod, a fifth electric push rod, a polishing motor 12, a polishing head 13, and a polishing piece 14, wherein the connection relationship among the second rotating frame, the third arm, the fourth electric push rod, and the fifth electric push rod is the same as that in the cleaning arm 9, the fifth arm 11 is rotatably connected with the front end of the third arm in the polishing arm 10, and the top end of the fifth electric push rod in the polishing arm 10 is rotatably connected with the upper end of the fifth arm 11, so that the fifth electric push rod in the polishing arm 10 can swing back and forth through telescopic control of the fifth arm 11; the polishing motor 12 has a waterproof function, the polishing motor 12 is fixedly arranged at the front side of the lower end of the fifth arm 11, the polishing head 13 is of a disc-shaped structure, the polishing head 13 is elastic, the upper side of the polishing head 13 is coaxially and fixedly connected with the output shaft of the polishing motor 12, the upper side of the polishing sheet 14 can be connected with the polishing head 13 by adopting a magic tape structure, the polishing sheet 14 is convenient to detach and replace, the lower side of the polishing sheet 14 is a sand paper surface, and accordingly the polishing motor 12 can drive the polishing sheet 14 to rotate through the polishing head 13, so that the polishing sheet 14 can polish and clean the shellfish residual hardening adhesive.
As shown in fig. 1, the second rotating frame 31 in the cleaning arm 9 is fixedly connected with the output shaft of the first motor 17, so that the first motor 17 can realize the left-right swing and positioning of the cleaning arm 9; the second rotating frame in the polishing arm 10 is fixedly connected with the output shaft of the second motor 18, so that the second motor 18 can swing and position the polishing arm 10 left and right.
Principle of movement: when the sucker 29 contacts the surface of the ship body, the water pump motor 30 is started to pump water corresponding to the sucker 29, so that negative pressure is formed in the sucker 29 and the sucker 29 is tightly adsorbed on the ship body; when the robot starts to walk, the suckers on the second supporting leg 4, the third supporting leg 5 and the sixth supporting leg 8 are firstly adsorbed on the surface of the ship body, the suckers on the first supporting leg 3, the fourth supporting leg 6 and the fifth supporting leg 7 are loosened, the corresponding suckers are adsorbed on the surface of the ship body after the first supporting leg 3, the fourth supporting leg 6 and the fifth supporting leg 7 swing forwards by a certain amplitude, the suckers on the second supporting leg 4, the third supporting leg 5 and the sixth supporting leg 8 are loosened, the corresponding suckers are adsorbed on the surface of the ship body after the second supporting leg 4, the third supporting leg 5 and the sixth supporting leg 8 swing forwards by a certain amplitude, and the cleaning robot can move on the surface of the ship body through the alternate actions.
The robot also has a certain swimming capability in water, and the water suction pump 27 can spray and discharge the water flow in the sucker 29 upwards, so that the robot can move in the opposite direction of the water flow under the counter force of the water flow, and the robot can swim in the water; the jet direction of the water flow can be adjusted through the supporting legs, so that the swimming direction of the robot in the water is changed.
Cleaning principle: firstly, sucking discs on six supporting legs are tightly adsorbed on the surface of a ship body, the robot is fixed, a camera 15 can identify the distribution condition of shellfish at the bottom of the ship, then a shovel motor 37 is started to enable a shovel 36 to swing left and right in a reciprocating manner, and the first motor 17, a fourth electric push rod 33 and a fifth electric push rod 34 act together to enable saw teeth at the front end of the shovel 36 to be aligned with the bottom of the shellfish and to be shoveled off.
When the shell is cleaned, the hardened adhesive between the shell and the hull still adheres to the hull, at this time, the polishing motor 12 is started and rotates the polishing sheet 14, the polishing sheet 14 is aligned with the hardened adhesive under the combined action of the second motor 18 and the fourth and fifth electric push rods in the polishing arm 10, and the hardened adhesive is removed under the friction action of the polishing sheet 14.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (7)
1. An underwater bilge cleaning robot, mainly comprising: frame (1), revolving stage (2), first landing leg (3), second landing leg (4), third landing leg (5), fourth landing leg (6), fifth landing leg (7), sixth landing leg (8), clear away arm (9), arm of polishing (10), camera (15), its characterized in that: the frame (1) is of a square structure of a double deck, the upper deck and the lower deck are connected into a whole through six round fixed shafts (1.1), and an annular gear (1.3) is arranged on the lower splint; the first support leg (3) mainly comprises a first rotating frame (22), a first arm (25), a second arm (26), a suction pump (27), a spring (28), a suction cup (29) and a water pump motor (30), wherein the first rotating frame (22) is rotationally connected with a fixed shaft (1.1), a first electric push rod (16) is arranged between the first rotating frame (22) and the frame (1) and can swing back and forth of the first support leg (3), the first arm (25) is rotationally connected with the first rotating frame (22), the second arm (26) is rotationally connected with the first arm (25), the suction cup (29) is arranged at the lower end of the second arm (26) and is communicated with the interior of the suction cup (29), and the suction pump (27) can enable the interior of the suction cup (29) to generate negative pressure and be adsorbed on the surface of a ship body; the six support legs have the same structural principle, the first support leg (3), the third support leg (5) and the fifth support leg (7) are arranged on the right side of the frame (1) and can swing back and forth, the second support leg (4), the fourth support leg (6) and the sixth support leg (8) are arranged on the left side of the frame (1) and can swing back and forth, each support leg can be adsorbed and fixed on the surface of the ship body through negative pressure, and the alternate movement of the six support legs can realize the movement of the robot on the surface of the ship body; the rotary table (2) is arranged at the center of the frame (1) and can rotate and position, the cleaning arm (9) mainly comprises a second rotary frame (31), a third arm (32), a fourth arm (35), a shovel plate (36), a shovel plate motor (37) and a shaking wheel (38), wherein the second rotary frame (31) is arranged at the upper side of the rotary table (2) and can rotate and position, the third arm (32) is rotationally connected with the second rotary frame (31), the fourth arm (35) is rotationally connected with the third arm (32), the shovel plate (36) is arranged at the lower end of the fourth arm (35) and forms a revolute pair, and the shovel plate motor (37) is fixedly arranged at the rear side of the lower end of the fourth arm (35) and can realize periodical left-right swinging of the shovel plate (36) through the shaking wheel (38); the polishing arm (10) mainly comprises a fifth arm (11), a second rotating frame, a third arm, a polishing motor (12), a polishing head (13) and a polishing sheet (14), wherein the connection relation among the fifth arm (11), the second rotating frame and the third arm is the same as that in the cleaning arm (9), and the polishing motor (12) is fixedly arranged at the lower end of the fifth arm (11) and realizes the rotation of the polishing sheet (14) through the polishing head (13); the cleaning arm (9) and the polishing arm (10) are arranged on the upper side of the rotary table (2) and can rotate and position, the cleaning arm (9) can scoop off shellfish attached to a ship body, the polishing arm (10) can remove residual hardened adhesive substances of the shellfish, so that the ship bottom can be restored to a smooth and clean state, and the camera (15) is arranged on the upper end of the rotary table (2) and is used for identifying the distribution condition of the shellfish at the ship bottom and detecting the cleaning effect of the shellfish.
2. An underwater bilge cleaning robot as claimed in claim 1, wherein: the lower end of the sucker (29) is provided with a rubber ring (29.2) made of elastic materials.
3. An underwater bilge cleaning robot as claimed in claim 1, wherein: the three springs (28) are circumferentially and uniformly arranged between the lower end of the second arm (26) and the sucker (29).
4. An underwater bilge cleaning robot as claimed in claim 1, wherein: the middle position of the upper side of the turntable (2) is provided with a heightening stand column (2.1), and the heightening stand column (2.1) can enable the camera (15) to have a good visual field.
5. An underwater bilge cleaning robot as claimed in claim 1, wherein: the front end of the shovel plate (36) is provided with saw teeth which can facilitate the cleaning of shellfish.
6. An underwater bilge cleaning robot as claimed in claim 1, wherein: the polishing head (13) is of a disc-shaped structure with elasticity.
7. An underwater bilge cleaning robot as claimed in claim 1, wherein: the upper side of the polishing sheet (14) is connected with the polishing head (13) by a magic tape structure, so that the polishing sheet (14) is convenient to detach and replace.
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| CN202210509738.5A CN114987713B (en) | 2022-05-11 | 2022-05-11 | Underwater ship bottom cleaning robot |
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| CN202210509738.5A CN114987713B (en) | 2022-05-11 | 2022-05-11 | Underwater ship bottom cleaning robot |
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| CN114987713B true CN114987713B (en) | 2024-05-03 |
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| CN115489686B (en) * | 2022-10-27 | 2024-04-26 | 广东海洋大学 | Bionic jellyfish and spider type ship bottom trash cleaning robot |
| CN116750151B (en) * | 2023-07-31 | 2024-03-12 | 江苏科技大学 | Underwater cleaning robot for ship bottom |
| CN117485504B (en) * | 2023-12-28 | 2024-05-14 | 威海博航智能科技有限公司 | Cleaning equipment for ship body attachments |
| CN117963039B (en) * | 2024-04-02 | 2024-07-19 | 湖南千智机器人科技发展有限公司 | Structure surface adsorption and movement stepping mechanism and adsorption stepping method |
| CN118275165B (en) * | 2024-06-03 | 2024-08-20 | 中国科学院烟台海岸带研究所 | Soil sampling device for repairing soil of suaeda salsa planting substrate of wetland |
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