CN206856827U - Hull surface cleans climbing robot - Google Patents
Hull surface cleans climbing robot Download PDFInfo
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- CN206856827U CN206856827U CN201720619882.9U CN201720619882U CN206856827U CN 206856827 U CN206856827 U CN 206856827U CN 201720619882 U CN201720619882 U CN 201720619882U CN 206856827 U CN206856827 U CN 206856827U
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Abstract
The utility model discloses a kind of hull surface to clean climbing robot.It includes each one group of driving wheel module of middle mounting bracket and both sides；At mounting bracket rear portion, middle upper portion is provided with washing and cleaning operation module；At mounting bracket rear portion, middle lower portion is provided with universal wheel module；Every group of driving wheel module includes the parallel support frame in two pieces of both sides, one group of drive module, one group of tensioning wheel module, one group of magnetic suck module, the multigroup auxiliary support wheel in both sides；Connecting shaft is provided between the support frame of two pieces of both sides；Two pieces of support frames are provided with drive module, tensioning wheel module, magnetic suck module, auxiliary support wheel.The climbing robot, strong applicability, flexibility is high, and obstacle performance is strong, good to the cleaning performance of hull surface；It is flexibly controllable using the frame mode of two groups of driving wheel modules and one group of universal wheel module, operation；It is good using the synchronous pulley type of belt drive that one rotation shaft of wheel of drive and a tensioning wheel rotate together simultaneously, simple for structure, transmission efficiency, transmission effect.
Description
Technical field
The utility model belongs to climbing robot technical field, is related to a kind of hull surface cleaning climbing robot.
Background technology
Climbing robot belongs to specialized robot, can it is vertical, tilt flexible motion even on curved surface.With entering for technology
Step and research are goed deep into, and climbing robot can carry different apparatus for work, apply in severe, dangerous, the limit occasion, such as more
The detection of large pressurized vessel wall, the cleaning of curtain wall of glass for high building, spraying of large-scale hull surface etc..
In the shipbuilding industry that climbing robot is related to, ship navigates by water in marine environment for a long time, and hull surface is easy
Corroded and adhered to, it is difficult to carry out normal maintaining.Hull surface carries out clean and maintenance not in time, will cause ship
Service life drastically shortens, so, safeguard it is shipbuilding industry urgent problem to be solved for hull surface.
At present, it is still using backward artificial cleaning mostly for the clean and maintenance of hull surface.Due to the ship of maintenance
There is larger difference in structure and size and the degree that is corroded, be difficult to the mechanization and automation of cleaning always for many years.And
And handwork labor intensity is big, works under hard conditions, environmental pollution is serious, and very big damage is also resulted in the health of operator
Evil, especially construction quality is difficult to ensure that, efficiency is also difficult to improve；Meanwhile the inclined wall operation of hull surface part exceeds people
The limit, cleaning can not be completed.Therefore, it is necessary to design a kind of wall-climbing device for specializing in hull surface washing and cleaning operation
People.
Existing magnetic adsorption wall climbing robot has that kinematic dexterity is poor, obstacle performance is poor, applicability is not strong etc. and lacked mostly
Fall into.Climbing robot for washing and cleaning operation must possess three basic functions：Wall adsorption function, be movably walking and (climb wall) work(
Can be with washing and cleaning operation function.Wall adsorption function can be realized by magnetic suck module, mobile row can be realized by driving wheel module
Function is walked and (climb wall), washing and cleaning operation function can be realized by washing and cleaning operation module.Weight of the magnetic suck module as climbing robot
Part is wanted, absorption affinity is provided for robot, it is reliably adsorbed in wall.But climbing robot is inhaled in mobile operation
Attached power turns into its main resistance of motion again；Also, absorption affinity is bigger, the resistance of motion is also bigger, the mobile operation energy of robot
Power is also poorer.The adsorption capacity of magnetic adsorption wall climbing robot and the performance that is movably walking are conflicting, especially in low speed
In the case of operation, kinematic dexterity problem is more notable caused by due to absorption.Further, since washing and cleaning operation module designs
Must be bad, it is bad to also result in cleaning performance.Therefore, it is necessary to design a kind of strong applicability, flexibility is high, obstacle performance is strong, clear
Wash the good hull surface cleaning climbing robot of effect.
Utility model content
The purpose of this utility model is, overcome the deficiencies in the prior art, there is provided a kind of strong applicability, flexibility be high, more
The barrier hull surface that performance is strong, cleaning performance is good cleaning climbing robot.
The purpose of this utility model is achieved by the following technical solution：
A kind of hull surface cleans climbing robot, and it includes middle each one group of driving wheel module of mounting bracket and both sides；
A reinforced shaft is provided with mounting bracket front portion, reinforced shaft both sides respectively connect a connecting shaft, one group of driving wheel is respectively installed in every connecting shaft
Module (i.e. the driving wheel module of both sides is arranged on mounting bracket by a middle reinforced shaft, each connecting shaft in both sides)；Installing
Frame rear portion middle upper portion is provided with washing and cleaning operation module；At mounting bracket rear portion, middle lower portion is provided with universal wheel module.
Every group of driving wheel module includes the parallel support frame in two pieces of both sides, one group of drive module, one group of tensioning wheel module, one
Group magnetic suck module, the multigroup auxiliary support wheel in both sides；Every piece of support frame is that one piece of top, bottom are equipped with the swash plate of perforate；Two
Connecting shaft is provided between the support frame of two pieces of side, connecting shaft both ends pass through from the top perforate of supported on both sides frame；Two pieces of support frames
Drive module, tensioning wheel module and magnetic suck module are provided with, is additionally provided with auxiliary support wheel.
Every group of drive module includes a middle motor, a planetary reduction gear, No.1 worm type of reduction gearing, and
The synchronous pulley of both sides two, the rotation shaft of wheel of both sides two, the wheel hub of both sides two and inflated wheel；Motor connects with planetary reduction gear
Connect；Planetary reduction gear is arranged in the input end flanges of No.1 worm type of reduction gearing；No.1 worm type of reduction gearing is arranged on
Between the support frame of the left and right sides two；The output shaft of No.1 worm type of reduction gearing passes through from the bottom perforate of support frame；One
The output shaft both ends of number worm type of reduction gearing are connected with the synchronous pulley of both sides two respectively；The synchronous pulley of both sides two respectively with
The rotation shaft of wheel connection of both sides two；The rotation shaft of wheel of both sides two is connected with the wheel hub of both sides two and inflated wheel respectively；Inflated wheel
External diameter is more than the external diameter after synchronous pulley parcel transmission belt.
Every group of tensioning wheel module includes the parallel connecting plate in two pieces of both sides, the tensioning wheel of both sides two, a middle tensioning wheel
Rotating shaft, a transmission belt and the regulating bolt of both sides two；Two pieces of both sides connecting plate is arranged on two pieces of both sides branch by screw respectively
On support；The tensioning wheel of both sides two is arranged in a tensioning wheel rotating shaft between the connecting plate of two pieces of both sides；Connecting plate is provided with
Chute, tensioning wheel rotating shaft both ends are arranged in the chute of two pieces of connecting plates；Tensioning wheel is connected by transmission belt with synchronous pulley.
Every group of magnetic suck module includes fan-shaped big magnet and big magnet mounting bracket；Fan-shaped big magnet is permanent magnet, with transmission
Gap is provided between band；Fan-shaped big magnet is arranged on big magnet mounting bracket；Big magnet mounting bracket is arranged on the support of two pieces of both sides
Between frame, below No.1 worm type of reduction gearing；Big magnet mounting bracket is a quadra, its both sides respectively with both sides
The lower end of two pieces of support frames is fixedly connected.
Further, the hull surface cleaning climbing robot, in addition to an arc fender bracket, fender bracket both ends difference
Connect the driving wheel module of both sides two；The centre of fender bracket and the rear end of mounting bracket connect.
Further, it is additionally provided with protective plate on support frame in the outer part；No.1 worm type of reduction gearing has auto-lock function.
Whole climbing robot device is provided with two connecting shafts of the right and left and each two pieces of the right and left (totally four pieces) supports
Frame, i.e.,：A connecting shaft is provided between the parallel support frame in two pieces of the left side one group, between the parallel support frame in two pieces of the right one group
A connecting shaft also is provided with, a reinforced shaft is set between one, left side connecting shaft and one, the right connecting shaft；The company of the right and left
Spindle, one end are fixedly connected by adpting flange with the both ends of reinforced shaft respectively, and the other end passes through the collar and bolt and guarantor respectively
The both ends of retaining frame are fixedly connected.
Further, connecting plate is provided with boss, and regulating bolt is transversely mounted on the boss of connecting plate that (nut is fixed on
On the boss of connecting plate, regulating bolt is horizontally installed in nut), regulating bolt end is withstood in tensioning wheel rotating shaft, regulating bolt
Rotated in nut, tensioning wheel rotating shaft transverse shifting in chute can be made, thus, by rotating regulating bolt, can control transmission
The tightness of band, to ensure the transmission efficiency of transmission belt.
Further, transmission belt includes the timing belt part that both sides are engaged with synchronous pulley, and middle corresponding magnetic suck
The flat belt part of module.
Further, the auxiliary support wheel of both sides point is multigroup is symmetrically mounted on the support frame of both sides respectively；Every group of auxiliary
Support wheel is that rotation shaft of wheel is fixedly connected with the junction of support frame with the bottom of support frame by pole；Each auxiliary support wheel
End withstand on transmission belt timing belt part inner side.
Further, the universal wheel module includes rotation wheel carrier, universal wheel rotating shaft, small magnet mounting bracket, fan-shaped small magnetic
Iron, directive wheel and support wheel；Rotation wheel carrier is fixed on the rear portion middle lower portion position of mounting bracket；Universal wheel rotating shaft is arranged on rotation
Between two holding pieces of wheel carrier bottom；Small magnet mounting bracket is arranged on universal wheel rotating shaft；Fan-shaped small magnet is arranged on small magnetic
On iron mounting bracket；Two directive wheels are separately mounted to fan-shaped small magnet both sides；Support wheel is arranged between the directive wheel of both sides two,
The directive wheel of both sides two and middle support wheel can rotate around universal wheel rotating shaft.
Further, the washing and cleaning operation module includes swinging module, detection module and operation module；The swing module
It is fixed on mounting bracket rear portion middle upper portion position；The swing module includes oscillating motor, No. two worm type of reduction gearings.It is described
Oscillating motor is arranged on No. two worm type of reduction gearings and inputted in end flanges；No. two worm type of reduction gearings have output
Axle, the output shaft of No. two worm type of reduction gearings are inserted in the jack on the quadra of mounting bracket.
Further, the detection module includes sensor installing plate, proximity transducer, swing rod and swing rod grip block；Pass
The bottom of sensor installing plate is fixed on above No. two worm type of reduction gearings；The top of sensor installing plate is provided with a level
Long fluting, two proximity transducers are arranged in the long fluting on sensor installing plate, the installation position of two proximity transducers
Put adjustable；Swing rod grip block is arranged on the output shaft of No. two worm type of reduction gearings；Swing rod is fixed by swing rod grip block.
Further, the operation module includes water pipe head installing plate, high-pressure hose, spray boom, shower nozzle and spray boom clamping
Block；The water pipe head installing plate is arranged on swing rod grip block；The spray boom grip block is arranged on swing link end part；The high pressure
Flexible pipe connecting water pipe joint installing plate and spray boom；The spray boom is fixed by spray boom grip block；The shower nozzle is arranged on spray boom end
Portion.
The beneficial effects of the utility model：
A kind of hull surface cleaning climbing robot provided by the utility model, transmission efficiency succinct with transmission mechanism
Height, transmission effect is good, strong applicability, and flexibility is high, and obstacle performance is strong, it is good to the cleaning performance of hull surface the features such as.
Hull surface of the present utility model cleans climbing robot, compared with prior art, following advantage：
1st, it is flexibly controllable using the frame mode of two groups of driving wheel modules and one group of universal wheel module, operation.
2nd, two other wheel (rotation shaft of wheel and a tensioning wheel) is driven simultaneously together using by a synchronous pulley
The transmission mechanism and type of belt drive of rotation, transmission mechanism is succinct, transmission efficiency, and transmission effect is good；And set at tensioning wheel
Regulating bolt, by rotating regulating bolt, the tightness of transmission belt is can control, to ensure the transmission efficiency of transmission belt.By
This, further ensures the flexible controllability of climbing robot operation.
3rd, driving wheel module and universal wheel module are respectively provided with magnetic suck module, ensure good absorption property.
4th, magnetic suck module is sector structure, and both sides are respectively mounted support wheel, has good obstacle performance.
5th, using pressure Water Jet Cleaning Operations mode, have that cleaning efficiency is high, cleaning performance it is good with it is environment-friendly excellent
Point.
6th, sensor installing plate is provided with a long fluting, and two proximity transducers are arranged on the length on sensor installing plate
In fluting, the installation site of two proximity transducers can adjust, and by adjusting the installation site of two proximity transducers, can control
The range of movement of swing rod processed, so as to reach the purpose of control washing and cleaning operation scope.
Brief description of the drawings
Fig. 1 is a kind of dimensional structure diagram (normal axomometric drawing) of hull surface cleaning climbing robot of the utility model；
Fig. 2 is the positive structure diagram of hull surface cleaning climbing robot of the present utility model；
Fig. 3 is the overlooking the structure diagram of hull surface cleaning climbing robot of the present utility model；
Fig. 4 is that the driving wheel module 4 in the utility model unloads external structure schematic diagram (the outer side view after protective plate 4-6
Figure)；
Fig. 5 is the internal structure schematic diagram (inner side view) of the driving wheel module 4 in the utility model；
Fig. 6 is the BB ' sectional views (i.e. tensioning wheel module 4-3 BB ' top view in cross-section) in Fig. 5；
Fig. 7 is partial enlarged drawing at A in Fig. 6；
Fig. 8 is the CC ' sectional views (i.e. CC ' the sectional elevation views of universal wheel module) in Fig. 2；
Fig. 9 is the DD ' sectional views (i.e. DD ' the cuttings left view of universal wheel module) in Fig. 2；
Figure 10 is mounting bracket 1 and fender bracket 2, the structural representation of the coupling part of reinforced shaft 3 in the utility model；
Figure 11 is the structural representation of the detection module 6-2 in the washing and cleaning operation module 6 in the utility model；
Figure 12 is the washing and cleaning operation range regulation schematic diagram in the utility model.
In figure：1st, mounting bracket 1-1 quadras 1-1-1 jacks 1-1-2 connecting rods 1-2 connection sheet 1-2-1 openwork parts
2nd, fender bracket 3, reinforced shaft 4, driving wheel module 4-1 support frame 4-2 drive module 4-2-1 motor 4-2-2 planets
Decelerator 4-2-3 No.1 worm type of reduction gearing 4-2-4 synchronous pulley 4-2-5 rotation shaft of wheel 4-2-6 inflated wheels 4-2-7
Wheel hub 4-3 tensioning wheel module 4-3-1 connecting plate 4-3-2 tensioning wheel 4-3-3 tensioning wheel rotating shaft 4-3-4 transmission belts 4-3-4-
1 timing belt part 4-3-4-2 flat belts part 4-3-5 regulating bolt 4-3-6 chute 4-3-7 boss 4-4 magnetic suck modules
The big universal wheels of magnet mounting bracket 4-5 auxiliary support wheels 4-6 protective plates 4-7 connecting shafts 5 of the fan-shaped big magnet 4-4-2 of 4-4-1
Module 5-1 rotation wheel carrier 5-2 universal wheel rotating shaft 5-3 small magnet mounting bracket 5-4 sector small magnet 5-5 directive wheel 5-6 branch
6 washing and cleaning operation module 6-1 of support wheel swing No. bis- worm type of reduction gearing 6-1-3 bis- of module 6-1-1 oscillating motors 6-1-2
The output shaft 6-2 detection module 6-2-1 sensor installing plates 6-2-1-1 length flutings 6-2-2 of number worm type of reduction gearing connects
Nearly sensor 6-2-3 swing rod 6-2-4 swing rod grip block 6-3 operation module 6-3-1 water pipe head installing plate 6-3-2 high pressures
Flexible pipe 6-3-3 spray boom 6-3-4 shower nozzle 6-3-5 spray boom grip blocks
Embodiment
The utility model is further described below in conjunction with drawings and examples.
Embodiment 1
As shown in Figure 1, Figure 2, Figure 3 shows, hull surface cleaning climbing robot of the present utility model, including mounting bracket 1 and guarantor
Retaining frame 2；Reinforced shaft 3 is fixed with mounting bracket 1, one group of driving wheel module 4 is respectively installed in the both sides of reinforced shaft 3；Among the rear portion of mounting bracket 1
Bottom is provided with universal wheel module 5；The rear portion middle upper portion of mounting bracket 1 is provided with washing and cleaning operation module 6；Fender bracket 2 is used to connect
The driving wheel module 4 and mounting bracket 1 of both sides, and play auxiliary and carry function.
As shown in Figure 10, mounting bracket 1 includes one quadra 1-1 of the centre and each a connecting piece 1-2 in both sides；Quadra 1-
1 is provided with the output shaft 6-1-3 for No. two worm type of reduction gearings that can be inserted into washing and cleaning operation module 6 jack 1-1-1, square
Framework 1-1 rear ends are connected provided with a connecting rod 1-1-2 with the midpoint of fender bracket 2；The connection sheet 1-2 of both sides is provided with openwork part 1-
2-1, to mitigate own wt and save material.Fender bracket 2 is curved, the both ends of fender bracket 2 by the connecting shaft 4-7 of both sides with
Reinforced shaft 3 is fixedly connected, and the both ends of reinforced shaft 3 are fixedly connected by adpting flange with the both sides connection sheet 1-2 of mounting bracket 1 front end.
The driving wheel module 4 of both sides is arranged on the connecting shaft 4-7 of both sides.
As shown in Fig. 4, Fig. 5, Fig. 6, every group of driving wheel module 4 include the parallel support frame 4-1 in two pieces of the left and right sides, one group
Drive module 4-2, one group of tensioning wheel module 4-3, one group of magnetic suck module 4-4, multigroup auxiliary support wheel 4-5 and one piece of protection
Plate 4-6.Every piece of support frame 4-1 is that one piece of top, bottom are equipped with the swash plate of perforate.Two pieces of support frame 4-1 are provided with driving mould
Block 4-2, tensioning wheel module 4-3 and magnetic suck module 4-4, are additionally provided with auxiliary support wheel 4-5, on support frame 4-1 in the outer part also
Provided with protective plate 4-6.Supported on both sides frame 4-1 is connected with connecting shaft 4-7, and connecting shaft 4-7 is located between supported on both sides frame 4-1, even
Spindle 4-7 both ends pass through from supported on both sides frame 4-1 top perforate.Whole climbing robot device is provided with the right and left two
Connecting shaft 4-7 and each two pieces of the right and left (totally four pieces) support frame 4-1, i.e.,：Between the parallel support frame 4-1 in two pieces of the left side one group
Provided with a connecting shaft 4-7, a connecting shaft 4-7, one, the left side also are provided between the parallel support frame 4-1 in two pieces of the right one group
A reinforced shaft 3 is set between connecting shaft 4-7 and one, the right connecting shaft 4-7；The connecting shaft 4-7 of the right and left, one end leads to respectively
The both ends that adpting flange is crossed with reinforced shaft 3 are fixedly connected, and the other end is consolidated by the both ends of the collar and bolt and fender bracket 2 respectively
Fixed connection.Multigroup driving wheel module 4 is subjected to independent assortment using connecting shaft 4-7, can also change connecting shaft 4-7 form expires
The functional requirement of sufficient various working.
As shown in Figure 5, Figure 6, every group of drive module 4-2 includes the one motor 4-2-1 in centre, a planetary reduction gear
4-2-2, a No.1 worm type of reduction gearing 4-2-3, and the synchronous pulley 4-2-4 of both sides two, the rotation shaft of wheel 4- of both sides two
2-5, the wheel hub 4-2-7 of both sides two and inflated wheel 4-2-6.Motor 4-2-1 is connected with planetary reduction gear 4-2-2；Planet subtracts
Fast device 4-2-2 is arranged in No.1 worm type of reduction gearing 4-2-3 input end flanges；No.1 worm type of reduction gearing 4-2-3 pacifies
Between the support frame 4-1 of the left and right sides two；No.1 worm type of reduction gearing 4-2-3 output shaft is under support frame 4-1
Passed through in portion's perforate.No.1 worm type of reduction gearing 4-2-3 has auto-lock function, makes total compacter, and performance is more
It is stable.
As shown in Figure 5, Figure 6, the output shaft both ends of the No.1 worm type of reduction gearing 4-2-3 are same with both sides two respectively
Walk belt wheel 4-2-4 connection (i.e. central shafts of the No.1 worm type of reduction gearing 4-2-3 output shaft both ends from the synchronous pulley of both sides
Passed through in hole)；The synchronous pulley 4-2-4 of both sides two is connected (rotation shaft of wheel 4-2-5 with the rotation shaft of wheel 4-2-5 of both sides two respectively
One end the central shaft hole surrounding of synchronous pulley is fixed on by screw)；The rotation shaft of wheel 4-2-5 of both sides two with respectively with
The wheel hub 4-2-7 of both sides two and inflated wheel 4-2-6 connections；Inflated wheel 4-2-6 external diameter is more than synchronous pulley 4-2-4 parcel transmissions
With the external diameter after 4-3-4, prevent transmission belt 4-3-4 from being contacted with work wall, produce abrasion.
As shown in Fig. 4, Fig. 5, Fig. 6, every group of tensioning wheel module 4-3 includes the parallel connecting plate 4-3-1 in two pieces of both sides, both sides
Two tensioning wheel 4-3-2, centre a piece tensioning wheel rotating shaft 4-3-3, a transmission belt 4-3-4 and the regulating bolt 4-3- of both sides two
5.Two pieces of both sides connecting plate 4-3-1 is arranged on the support frame 4-1 of two pieces of both sides by screw respectively；The tensioning wheel 4-3- of both sides two
2 are arranged on a tensioning wheel rotating shaft 4-3-3 between the connecting plate 4-3-1 of two pieces of both sides；Connecting plate 4-3-1 is provided with chute 4-
3-6, tensioning wheel rotating shaft 4-3-3 both ends are arranged in two pieces of connecting plate 4-3-1 chute 4-3-6.Tensioning wheel 4-3-2 passes through biography
Dynamic band 4-3-4 is connected with synchronous pulley 4-2-4.
As shown in Fig. 4, Fig. 6, connecting plate 4-3-1 is provided with boss 4-3-7, and regulating bolt 4-3-5 is arranged on connecting plate 4-
(nut is fixed on the boss of connecting plate, and regulating bolt is horizontally installed in nut), regulating bolt 4- on 3-1 boss 4-3-7
3-5 end is withstood on tensioning wheel rotating shaft 4-3-3, and regulating bolt 4-3-5 rotates in nut, can make tensioning wheel rotating shaft 4-3-3
The transverse shifting in chute 4-3-6, thus, by rotating regulating bolt 4-3-5, it can control transmission belt 4-3-4 elastic journey
Degree, to ensure the transmission efficiency of transmission belt.
As shown in fig. 7, transmission belt 4-3-4 includes the timing belt part 4-3-4-1 that both sides are engaged with synchronous pulley 4-2-4,
And middle corresponding magnetic suck module 4-4 flat belt part 4-3-4-2, such structure cause magnetic suck module 4-4 and work
The gap for making wall reduces, and improves magnetic adsorbability as far as possible.The transmission belt 4-3-4 not only acts as gearing, moreover it is possible to protects
Internal structure.
The transmission operation principle of transmission mechanism in climbing robot of the present utility model is：Motor 4-2-1 drives
Planetary reduction gear 4-2-2, No.1 worm type of reduction gearing 4-2-3 are rotated；No.1 worm type of reduction gearing 4-2-3 is rotated to be driven again
Both sides synchronous pulley 4-2-4 is rotated；Because synchronous pulley 4-2-4 is connected with rotation shaft of wheel 4-2-5, therefore, synchronous pulley 4-
2-4 is rotated has driven rotation shaft of wheel 4-2-5 to rotate again；Because rotation shaft of wheel 4-2-5 and wheel hub 4-2-7 and inflated wheel 4-2-6 connects
Connect, therefore, rotation shaft of wheel 4-2-5 is rotated has driven wheel hub 4-2-7 and inflated wheel 4-2-6 to rotate together again.Due to tensioning wheel 4-
3-2 is connected by transmission belt 4-3-4 with synchronous pulley 4-2-4, and therefore, synchronous pulley 4-2-4 is rotated has driven tensioning again simultaneously
Wheel 4-3-2 is rotated together.That is, a synchronous pulley 4-2-4 can drive two other wheel simultaneously, (wheel turns
An axle 4-2-5 and tensioning wheel 4-3-2) rotate together.The design of this transmission mechanism, there is simple for structure, transmission efficiency,
The advantages of effect is good is driven, further ensures the flexible controllability of climbing robot operation.
As shown in Figure 5, Figure 6, the magnetic suck module 4-4 includes fan-shaped big magnet 4-4-1 and big magnet mounting bracket 4-4-
2.Fan-shaped big magnet 4-4-1 is provided with gap between permanent magnet, with transmission belt 4-3-4；Fan-shaped big magnet 4-4-1 is arranged on big
On magnet mounting bracket 4-4-2；Big magnet mounting bracket 4-4-2 is arranged between the support frame 4-1 of two pieces of both sides, positioned at No.1 worm gear snail
Below bar decelerator 4-2-3；Big magnet mounting bracket 4-4-2 is a quadra, its both sides respectively with two pieces of both sides support frame
4-1 lower end is fixedly connected.
As shown in fig. 6, on 4-5 points of multigroup support frame 4-1 for being symmetrically mounted on both sides respectively of the auxiliary support wheel of both sides, it is right
Booster action is played in transmission belt 4-3-4 tensioning.Every group of auxiliary support wheel 4-5 (including auxiliary support wheel and pole) passes through branch
Bar and support frame 4-1 bottom (i.e. rotation shaft of wheel 4-2-5 with support frame 4-1 junction) are fixedly connected.Each Auxiliary support
The end of wheel withstands on the timing belt part 4-3-4-1 of transmission belt inner side.
As Figure 1 and Figure 4, the protective plate 4-6 is located on the support frame 4-1 in outside installed in the right and left, plays anti-
Shield acts on.
As shown in Fig. 3, Fig. 8, Fig. 9, the universal wheel module 5 includes rotation wheel carrier 5-1, universal wheel rotating shaft 5-2, small magnet
Mounting bracket 5-3, fan-shaped small magnet 5-4, directive wheel 5-5 and support wheel 5-6.Rotation wheel carrier 5-1 is fixed among the rear portion of mounting bracket 1
Lower position；Universal wheel rotating shaft 5-2 is arranged between two holding pieces of rotation wheel carrier 5-1 bottoms；Small magnet mounting bracket 5-3 pacifies
On universal wheel rotating shaft 5-2；Fan-shaped small magnet 5-4 is arranged on small magnet mounting bracket 5-3；Two directive wheel 5-5 pacify respectively
Mounted in fan-shaped small magnet 5-4 both sides；Support wheel 5-6 is arranged between the directive wheel 5-5 of both sides two, the directive wheel 5-5 of both sides two
It can be rotated with the support wheel 5-6 of centre around universal wheel rotating shaft 5-2.Support wheel 5-6 plays protection and is mounted in the directive wheel of both sides two
The fan-shaped small magnet 5-4 of interior volume between 5-5 and support wheel 5-6 effect.
As shown in Figure 1, Figure 2, Figure 3 shows, the washing and cleaning operation module 6 includes swinging module 6-1, detection module 6-2 and operation
Module 6-3.Swing module 6-1 and be fixed on the rear portion middle upper portion position of mounting bracket 1；Swinging module 6-1 includes oscillating motor 6-1-
1st, No. two worm type of reduction gearing 6-1-2.Oscillating motor 6-1-1 is arranged on No. two worm type of reduction gearing 6-1-2 input
On flange；No. two worm type of reduction gearing 6-1-2 have output shaft, the output shaft 6-1-3 insertions of No. two worm type of reduction gearings
In jack 1-1-1 on the quadra 1-1 of mounting bracket 1.
As shown in Fig. 1, Fig. 3, Figure 11, Figure 12, the detection module 6-2 includes sensor installing plate 6-2-1, close sensing
Device 6-2-2, swing rod 6-2-3 and swing rod grip block 6-2-4.Sensor installing plate 6-2-1 is arranged on No. two worm type of reduction gearings
On 6-1-2, a long fluting which is provided with；Sensor installing plate 6-2-1 is one piece of two bending plate, and two bending angles are straight
Angle, sensor installing plate 6-2-1 bottom plate are fixed by screws in above No. two worm type of reduction gearing 6-1-2, sensor peace
Loading board 6-2-1 upper plate is provided with fluting 6-2-1-1 one long；Two proximity transducer 6-2-2 are arranged on sensing by bolt
On device installing plate 6-2-1 long fluting 6-2-1-1, two proximity transducer 6-2-2 installation site is can adjust, to control swing rod
6-2-3 range of movement；Swing rod grip block 6-2-4 is arranged on the output shaft 6-1-3 of No. two worm type of reduction gearings；Swing rod 6-
2-3 is fixed by swing rod grip block 6-2-4, can change job area by adjusting swing rod 6-2-3 clip position.
As shown in figure 1, the operation module 6-3 includes water pipe head installing plate 6-3-1, high-pressure hose 6-3-2, spray boom 6-
3-3, shower nozzle 6-3-4 and spray boom grip block 6-3-5.The water pipe head installing plate 6-3-1 is arranged on swing rod grip block 6-2-4
On；The spray boom grip block 6-3-5 is arranged on swing rod 6-2-3 ends；The high-pressure hose 6-3-2 connecting water pipes joint installing plate
6-3-1 and spray boom 6-3-3；The spray boom 6-3-3 is fixed by spray boom grip block 6-3-5, can be by adjusting spray boom 6-3-3 folder
Hold position and change job area；The shower nozzle 6-3-4 is arranged on spray boom 6-3-3 ends, and shower nozzle 6-3-4 can use cylindricality, sector
Etc. diversified forms.
Claims (10)
1. a kind of hull surface cleans climbing robot, it is characterised in that it includes middle each one group of drive of mounting bracket and both sides
Driving wheel module；A reinforced shaft is provided with mounting bracket front portion, reinforced shaft both sides respectively connect a connecting shaft, one is respectively installed in every connecting shaft
Group driving wheel module；At mounting bracket rear portion, middle upper portion is provided with washing and cleaning operation module；At mounting bracket rear portion, middle lower portion is installed
There is universal wheel module；
Every group of driving wheel module includes the parallel support frame in two pieces of both sides, one group of drive module, one group of tensioning wheel module, one group of magnetic
Adsorption module, the multigroup auxiliary support wheel in both sides；Every piece of support frame is that one piece of top, bottom are equipped with the swash plate of perforate；Both sides two
Connecting shaft is provided between block support frame, connecting shaft both ends pass through from the top perforate of supported on both sides frame；Set on two pieces of support frames
There are drive module, tensioning wheel module and magnetic suck module, be additionally provided with auxiliary support wheel；
Every group of drive module includes a middle motor, a planetary reduction gear, No.1 worm type of reduction gearing, and both sides
Two synchronous pulleys, the rotation shaft of wheel of both sides two, the wheel hub of both sides two and inflated wheel；Motor is connected with planetary reduction gear；
Planetary reduction gear is arranged in the input end flanges of No.1 worm type of reduction gearing；No.1 worm type of reduction gearing is arranged on left and right
Between the support frame of both sides two；The output shaft of No.1 worm type of reduction gearing passes through from the bottom perforate of support frame；No.1 snail
The output shaft both ends of worm and gear decelerator are connected with the synchronous pulley of both sides two respectively；The synchronous pulley of both sides two respectively with both sides
Two rotation shaft of wheel connections；The rotation shaft of wheel of both sides two is connected with the wheel hub of both sides two and inflated wheel respectively；The external diameter of inflated wheel
The external diameter after transmission belt is wrapped up more than synchronous pulley；
Every group of tensioning wheel module include the parallel connecting plate in two pieces of both sides, the tensioning wheel of both sides two, a middle tensioning wheel rotating shaft,
One transmission belt and the regulating bolt of both sides two；Two pieces of both sides connecting plate is arranged on two pieces of both sides support frame by screw respectively
On；The tensioning wheel of both sides two is arranged in a tensioning wheel rotating shaft between the connecting plate of two pieces of both sides；Connecting plate is provided with chute,
Tensioning wheel rotating shaft both ends are arranged in the chute of two pieces of connecting plates；Tensioning wheel is connected by transmission belt with synchronous pulley；
Every group of magnetic suck module includes fan-shaped big magnet and big magnet mounting bracket；Fan-shaped big magnet is permanent magnet, with transmission belt it
Between be provided with gap；Fan-shaped big magnet is arranged on big magnet mounting bracket；Big magnet mounting bracket be arranged on two pieces of both sides support frame it
Between, below No.1 worm type of reduction gearing；Big magnet mounting bracket is a quadra, its both sides respectively with two pieces of both sides
The lower end of support frame is fixedly connected.
2. hull surface as claimed in claim 1 cleans climbing robot, it is characterised in that connecting plate is provided with boss, adjusts
Section bolt is transversely mounted on the boss of connecting plate, i.e., nut is fixed on the boss of connecting plate, and regulating bolt is horizontally installed in spiral shell
In mother；Regulating bolt end is withstood in tensioning wheel rotating shaft, and regulating bolt rotates in nut, can make tensioning wheel rotating shaft in chute
Transverse shifting.
3. hull surface as claimed in claim 1 or 2 cleans climbing robot, it is characterised in that the hull surface cleaning
Climbing robot, in addition to an arc fender bracket, fender bracket both ends connect the driving wheel module of both sides two respectively；In fender bracket
Between be connected with the rear end of mounting bracket.
4. hull surface as claimed in claim 1 or 2 cleans climbing robot, it is characterised in that on support frame in the outer part
It is additionally provided with protective plate；No.1 worm type of reduction gearing has auto-lock function.
5. hull surface as claimed in claim 1 or 2 cleans climbing robot, it is characterised in that transmission belt include both sides with
The timing belt part of synchronous pulley engagement, and the flat belt part of middle corresponding magnetic suck module.
6. hull surface as claimed in claim 5 cleans climbing robot, it is characterised in that the auxiliary support wheel of both sides point is more
Group is symmetrically mounted on the support frame of both sides respectively；Every group of auxiliary support wheel is rotation shaft of wheel by the bottom of pole and support frame
It is fixedly connected with the junction of support frame；The end of each auxiliary support wheel withstands on the inner side of the timing belt part of transmission belt.
7. hull surface as claimed in claim 1 or 2 cleans climbing robot, it is characterised in that the universal wheel module bag
Include rotation wheel carrier, universal wheel rotating shaft, small magnet mounting bracket, fan-shaped small magnet, directive wheel and support wheel；Rotation wheel carrier is fixed on peace
The rear portion middle lower portion position shelved；Universal wheel rotating shaft is arranged between two holding pieces of rotation wheel carrier bottom；Small magnet is pacified
Shelve on universal wheel rotating shaft；Fan-shaped small magnet is arranged on small magnet mounting bracket；Two directive wheels are separately mounted to fan
Shape small magnet both sides；Support wheel is arranged between the directive wheel of both sides two, the directive wheel of both sides two and middle support wheel
Rotated around universal wheel rotating shaft.
8. hull surface as claimed in claim 1 or 2 cleans climbing robot, it is characterised in that the washing and cleaning operation module
Including swinging module, detection module and operation module；Swing module and be fixed on mounting bracket rear portion middle upper portion position；Swing module
Including oscillating motor, No. two worm type of reduction gearings；Oscillating motor is arranged on No. two worm type of reduction gearings and inputted in end flanges；
In jack on the quadra of the output shaft insertion mounting bracket of No. two worm type of reduction gearings.
9. hull surface as claimed in claim 8 cleans climbing robot, it is characterised in that the detection module includes sensing
Device installing plate, proximity transducer, swing rod and swing rod grip block；The bottom of sensor installing plate is fixed on No. two worm and gears and slowed down
Above device；The top of sensor installing plate is provided with a horizontal long fluting, and two proximity transducers are pacified installed in sensor
In long fluting in loading board, the installation site of two proximity transducers can adjust；Swing rod grip block is arranged on No. two worm and gears
On the output shaft of decelerator；Swing rod is fixed by swing rod grip block.
10. hull surface as claimed in claim 1 or 2 cleans climbing robot, it is characterised in that the operation module includes
Water pipe head installing plate, high-pressure hose, spray boom, shower nozzle and spray boom grip block；The water pipe head installing plate presss from both sides installed in swing rod
Hold on block；The spray boom grip block is arranged on swing link end part；The high-pressure hose connecting water pipe joint installing plate and spray boom；It is described
Spray boom is fixed by spray boom grip block；The shower nozzle is arranged on spray boom end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720619882.9U CN206856827U (en) | 2017-05-31 | 2017-05-31 | Hull surface cleans climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720619882.9U CN206856827U (en) | 2017-05-31 | 2017-05-31 | Hull surface cleans climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206856827U true CN206856827U (en) | 2018-01-09 |
Family
ID=60825765
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720619882.9U Active CN206856827U (en) | 2017-05-31 | 2017-05-31 | Hull surface cleans climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206856827U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107200104A (en) * | 2017-05-31 | 2017-09-26 | 中科新松有限公司 | A kind of hull surface cleans climbing robot |
| CN108964599A (en) * | 2018-07-02 | 2018-12-07 | 安徽工程大学 | A kind of stable mobile chassis of big inclined-plane photovoltaic panel |
| CN109454563A (en) * | 2018-12-21 | 2019-03-12 | 江苏水能金属科技有限公司 | A kind of rotary high pressure water spray derusting device |
| CN112027012A (en) * | 2020-09-14 | 2020-12-04 | 陈波 | Underwater robot for cleaning ship bottom |
| CN112265590A (en) * | 2020-10-27 | 2021-01-26 | 苏州热工研究院有限公司 | Integrated crawling robot adaptive to ultrahigh pressure/cavitation water jet and airless spraying module, derusting robot and paint spraying robot |
| CN113799889A (en) * | 2021-10-20 | 2021-12-17 | 中信重工机械股份有限公司 | Ship cleaning magnetic wall-climbing robot suitable for complex curved surface |
| CN114750907A (en) * | 2022-04-21 | 2022-07-15 | 中海油能源发展股份有限公司 | Offshore oil jacket platform washs underwater robot with scanning swing arm |
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2017
- 2017-05-31 CN CN201720619882.9U patent/CN206856827U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107200104A (en) * | 2017-05-31 | 2017-09-26 | 中科新松有限公司 | A kind of hull surface cleans climbing robot |
| CN107200104B (en) * | 2017-05-31 | 2019-09-17 | 中科新松有限公司 | A kind of hull surface cleaning climbing robot |
| CN108964599A (en) * | 2018-07-02 | 2018-12-07 | 安徽工程大学 | A kind of stable mobile chassis of big inclined-plane photovoltaic panel |
| CN109454563A (en) * | 2018-12-21 | 2019-03-12 | 江苏水能金属科技有限公司 | A kind of rotary high pressure water spray derusting device |
| CN109454563B (en) * | 2018-12-21 | 2024-03-26 | 江苏水能金属科技有限公司 | Rotary high-pressure water spraying rust removing device |
| CN112027012A (en) * | 2020-09-14 | 2020-12-04 | 陈波 | Underwater robot for cleaning ship bottom |
| CN112265590A (en) * | 2020-10-27 | 2021-01-26 | 苏州热工研究院有限公司 | Integrated crawling robot adaptive to ultrahigh pressure/cavitation water jet and airless spraying module, derusting robot and paint spraying robot |
| CN113799889A (en) * | 2021-10-20 | 2021-12-17 | 中信重工机械股份有限公司 | Ship cleaning magnetic wall-climbing robot suitable for complex curved surface |
| CN114750907A (en) * | 2022-04-21 | 2022-07-15 | 中海油能源发展股份有限公司 | Offshore oil jacket platform washs underwater robot with scanning swing arm |
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