CN209870691U

CN209870691U - Underwater robot

Info

Publication number: CN209870691U
Application number: CN201920281972.0U
Authority: CN
Inventors: 袁培银; 赵宇; 刘杨
Original assignee: Chongqing Jiaotong University
Current assignee: Chongqing Jiaotong University
Priority date: 2019-03-06
Filing date: 2019-03-06
Publication date: 2019-12-31
Anticipated expiration: 2029-03-06

Abstract

The utility model discloses an underwater robot, including the robot, the robot includes telecontrol equipment, cleaning device and power device, and the telecontrol equipment is including encircleing track 15 on track drive wheel 17. A power device, a cleaning device and a feeding and discharging device are arranged above the crawler 15 through a mounting shaft, the power device comprises a first power device 2 for driving the crawler to rotate and a second power device for driving the cleaning device to work, and the cleaning device comprises a quick return device 6 and a cleaning device; the self-rescue device is arranged, so that the robot can be conveniently retrieved and repaired when an accident happens.

Description

Underwater robot

Technical Field

The invention relates to an underwater robot, and belongs to the technical field of robot manufacturing.

Background

Seawater is highly corrosive, shellfish and seaweed which are difficult to remove are attached to the surface of a ship body due to a large number of plankton in the seawater, and a large number of rusts and rusty spots are generated at the bottom of the ship body and other parts of the ship due to the plankton. In order to prolong the service life of the ship and ensure the economical and safe operation of the ship, the ship must be periodically docked for maintenance, which greatly increases the cost of shipbuilding and generates a lot of additional workload. For example, a large amount of strong attachments such as shellfish, seaweed, rusty spots and the like are attached to underwater parts such as some marine drilling platform supports, marine buoys, marine workstations and the like, so that the buildings are corroded and damaged, and the normal service life is influenced.

Cleaning and brushing the surface of a ship body in the market are mainly divided into in-dock cleaning and underwater cleaning. The general working flow of cleaning and brushing in the dock is that after part of anticorrosive paint of ten thousand tons of giant wheel ship bodies is corroded by seawater, the giant wheel ship bodies are pulled into the dock, workers stand on a high-altitude vehicle of dozens of meters to hold special equipment, copper slag is used for removing rust of the ship bodies with rust spots, the field dust is large, the noise is harsh, and the working environment is severe. The manual underwater cleaning is that a diver cleans underwater, the efficiency is low and labor is wasted, the cost is high, the risk is high, and the rust slag can pollute seawater.

At present, the underwater robot is used for carrying out ship bottom flaw detection, conventional detection and cleaning, and the underwater robot becomes the first choice of people. Most of the existing underwater robots have complex structures, single functions and low operability.

Disclosure of Invention

The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides an underwater robot, which adopts the design that an offset slider-crank mechanism is connected with a shellfish shoveling device and a group of brush cleaners are arranged at the bottom of a robot body, and can safely and effectively clean ships.

The technical scheme is as follows: in order to solve the technical problem, the underwater robot comprises a robot body, wherein the robot body comprises a moving device, a cleaning device and a power device, the moving device comprises a crawler belt 15 which is wound on a crawler belt driving wheel 17, the underwater robot mainly moves by the rotation of the crawler belts which are arranged on the left side and the right side of the robot, the main shell materials of the crawler belts on the two sides are aluminum alloy, the materials are light and portable, a magnet is arranged in each crawler belt and used for adsorption, and the robot is driven to move along with the rotation of the crawler belts. Power device is installed through the installation axle in the top of track 15, cleaning device and give row device, power device includes the second power device of the first power device 2 of drive track pivoted and drive cleaning device work, cleaning device includes quick return device 6 and cleaning device, quick return device is for shoveling the ware 7 for the shellfish of being connected through biasing slider-crank mechanism and robot body tip, cleaning device is including setting up a set of brush cleaner 5 in robot body bottom, the bin outlet of brush cleaner is connected with the garbage collection device 1 who sets up at the robot body middle part, garbage collection device is used for collecting and storing filterable debris, and can dismantle the replacement.

The first power device 2 is a brushless motor, which is generally installed on equipment with higher control requirements and higher rotating speed, and strictly controls the rotating speed of the motor, usually digital frequency conversion control, and has strong controllability, and the control can be easily realized from several revolutions per minute to several tens of thousands of revolutions per minute. The direct current motor has good speed regulation performance, stronger overload capacity and small influence of electromagnetic interference. The principle of the offset slider-crank mechanism is as follows: in the four-bar mechanism, when the crank rotates at a constant speed as a driving part, the reciprocating swing stroke and the reciprocating speed of a rocker of the driven part are different, the return stroke is faster than the forward stroke, and the motion characteristic is called as a quick return characteristic. The quick return motion characteristic is widely applied to practical production, the average speed of the working stroke is small, the working stroke is stable, the speed of the non-working stroke is increased, the non-working time is shortened, and the aim of improving the working efficiency is fulfilled. The shellfish shoveling device consists of a stainless steel arm and a stainless steel shovel at the top end of the stainless steel arm and is used for shoveling microorganisms and garbage such as seaweed and the like attached to the surface of a ship body.

Further, the bottom of robot body is provided with for arranging device 3, gives and arranges the device and is arranged in will mixing with the water suction pump of rust and debris, filters through the filter screen to the discharge. The water supply and discharge device 3 comprises a micro water pump and a filter screen, the micro water pump comprises a driving part and a pump body, the pump body comprises a water inlet 4 and a water outlet 10, and the filter screen is coated at the water inlet 4.

Further, the tip of robot body is provided with self-rescue device 12, and self-rescue device 12 includes positioner and pressure-sensitive device. The positioning device is arranged, so that the robot can be positioned and retrieved when falling off accidentally underwater; in addition, when the robot is abnormal, the crawler electromagnetic adsorption device can be disconnected through the inductor program, so that the air bag is popped up, the robot is enabled to float out of the water, and the robot is convenient to recover and repair.

Further, a crawler belt electromagnetic adsorption device 16 is installed at the bottom of the robot body, and a certain adsorption distance is formed between the crawler belt electromagnetic adsorption device 16 and the crawler belt. The crawler electromagnetic adsorption device is positioned at the bottom of the robot and connected with the crawler, but keeps a certain adsorption distance, is very reliable when being applied to a ferromagnetic surface, and can generate strong adhesion in a very small space.

Further, the brush cleaner 5 is mounted on the robot body through a bottom mounting shaft 11, and the brush cleaner 5 is driven by a brush cleaner power device 8.

Further, on the robot body, the end opposite to the self-rescue device is provided with a remote intelligent control device 9, and the remote intelligent control device 9 comprises a camera 13 and a lighting device 14. The steering of confession camera head and the switch of lighting device and the intensity size of adjusting are operated to the confession operator remote.

Has the advantages that: (1) the shellfish shoveling device is connected by adopting an offset crank sliding block mechanism, and the design of a group of brush cleaners arranged at the bottom of the robot body can safely and effectively clean ships; (2) the self-rescue device is arranged, so that the robot can be conveniently recovered and repaired when an accident happens; (3) the ship cleaning work can be directly carried out when the ship is anchored or parked at a wharf, so that the problems of insufficient docks, particularly serious insufficient docks can be solved; (4) the ship cleaning device does not need to be docked reversely when a ship is cleaned, and time and cost are saved.

Drawings

Fig. 1 is a schematic structural diagram of an embodiment of the present invention.

Fig. 2 is an offset slider-crank mechanism of the present invention.

FIG. 3 is a schematic view of a portion of a power plant in an embodiment of the present invention.

FIG. 4 is a schematic view of a part of a cleaning apparatus according to an embodiment of the present invention.

Fig. 5 is a schematic view of a self-rescue device in an embodiment of the invention.

FIG. 6 is a schematic diagram of a motion device according to an embodiment of the present invention.

1 garbage collection device, 2 first power device, 3 feeding and discharging device, 4 water inlets, 5 brush cleaners, 6 quick return device, 7 shellfish shoveling device, 8 brush cleaner power device, 9 remote intelligent control device, 10 water outlets, 11 bottom installation shaft, 12 self-rescue device, 13 camera, 14 lighting device, 15 crawler, 16 crawler electromagnetic adsorption device, 17 crawler transmission wheel, 18 crank-slider mechanism, 18-1 crank and 18-2 slider.

Detailed Description

The present invention will be further described with reference to the accompanying drawings.

Examples

The utility model provides an underwater robot, including the robot, the robot includes telecontrol equipment, cleaning device and power device, the telecontrol equipment is including encircleing track 15 on crawler drive wheel 17, underwater robot's motion mainly depends on the rotation of installing the track in the robot left and right sides to accomplish the removal, the main shell material of both sides track is the aluminum alloy, this kind of material is lighter, the inside magnet that contains a block of track is used for adsorbing, the removal that drives the robot along with the rotation of track. A power device, a cleaning device and a feeding and discharging device are arranged above the crawler 15 through a mounting shaft, the power device comprises a first power device 2 for driving the crawler to rotate and a second power device for driving the cleaning device to work, the cleaning device comprises a quick return device 6 and a cleaning device, the quick return device is a shellfish shoveling device 7 connected with the end part of the robot body through an offset slider-crank mechanism, and the slider-crank mechanism 18 comprises a crank 18-1 and a slider 18-2; the cleaning device comprises a group of brush cleaners 5 arranged at the bottom of the robot body, the discharge port of each brush cleaner is connected with a garbage collection device 1 arranged at the middle part of the robot body, and the garbage collection device is used for collecting and storing filtered sundries and can be detached for replacement.

The bottom of robot body is provided with gives row device 3, gives row device and is arranged in will mixing the water suction pump of rust and debris, filters through the filter screen to the discharge. The water supply and discharge device 3 comprises a micro water pump and a filter screen, the micro water pump comprises a driving part and a pump body, the pump body comprises a water inlet 4 and a water outlet 10, and the filter screen is coated at the water inlet 4. The end of the robot body is provided with a self-rescue device 12, and the self-rescue device 12 comprises a positioning device and a pressure sensing device. The positioning device is arranged, so that the robot can be positioned and retrieved when falling off accidentally underwater; in addition, when the robot is abnormal, the crawler electromagnetic adsorption device can be disconnected through the inductor program, so that the air bag is popped up, the robot is enabled to float out of the water, and the robot is convenient to recover and repair. The bottom of robot body installs track electromagnetic adsorption device 16, has certain adsorption distance between track electromagnetic adsorption device 16 and the track. The crawler electromagnetic adsorption device is positioned at the bottom of the robot and connected with the crawler, but keeps a certain adsorption distance, is very reliable when being applied to a ferromagnetic surface, and can generate strong adhesion in a very small space. The brush cleaner 5 is mounted on the robot body through a bottom mounting shaft 11, and the brush cleaner 5 is driven by a brush cleaner power device 8. On the robot body, the one end relative with the device of saving oneself is provided with remote intelligent control device 9, and remote intelligent control device 9 includes camera 13 and lighting device 14.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It should be understood by those skilled in the art that the above embodiments do not limit the present invention in any way, and all technical solutions obtained by using equivalent alternatives or equivalent variations fall within the scope of the present invention.

Claims

1. An underwater robot, comprising a robot body including a moving device, a cleaning device and a power device, the moving device including a crawler belt (15) wound around a crawler belt driving wheel (17), the power device, the cleaning device and a feeding and discharging device being installed above the crawler belt (15) through a mounting shaft, characterized in that: the power device comprises a first power device (2) for driving a track to rotate and a second power device for driving a cleaning device to work, wherein the cleaning device comprises a quick return device (6) and a cleaning device, the quick return device is a shellfish shoveling device (7) connected with the end part of the robot body through a biasing slider-crank mechanism, the cleaning device comprises a group of brush cleaners (5) arranged at the bottom of the robot body, and discharge ports of the brush cleaners are connected with a garbage collecting device (1) arranged at the middle part of the robot body.

2. An underwater robot as claimed in claim 1, wherein: the bottom of robot body is provided with for drainage device (3), for drainage device (3) including miniature pump and filter screen, miniature pump includes drive division and the pump body, the pump body includes water inlet (4) and delivery port (10), the cladding of water inlet (4) department has the filter screen.

3. An underwater robot as claimed in claim 1, wherein: the end part of the robot body is provided with a self-rescue device (12), and the self-rescue device (12) comprises a positioning device and a pressure sensing device.

4. An underwater robot as claimed in claim 1, wherein: the robot is characterized in that a crawler belt electromagnetic adsorption device (16) is installed at the bottom of the robot body, and a certain adsorption distance is reserved between the crawler belt electromagnetic adsorption device (16) and a crawler belt.

5. An underwater robot as claimed in claim 1, wherein: the brush cleaner (5) is installed on the robot body through a bottom installation shaft (11), and the brush cleaner (5) is driven by a brush cleaner power device (8).

6. An underwater robot as claimed in claim 1, wherein: on the robot body, the end opposite to the self-rescue device is provided with a remote intelligent control device (9), and the remote intelligent control device (9) comprises a camera (13) and a lighting device (14).