CN209921453U - Master-slave control type metamorphic robot for cleaning marine organisms at bottom of ship - Google Patents
Master-slave control type metamorphic robot for cleaning marine organisms at bottom of ship Download PDFInfo
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- CN209921453U CN209921453U CN201920485245.6U CN201920485245U CN209921453U CN 209921453 U CN209921453 U CN 209921453U CN 201920485245 U CN201920485245 U CN 201920485245U CN 209921453 U CN209921453 U CN 209921453U
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Abstract
A master-slave control type metamorphic robot for cleaning marine organisms at the bottom of a ship belongs to the field of marine organism cleaning equipment at the bottom of the ship. The master-slave control type metamorphic robot for cleaning marine organisms at the bottom of the ship is composed of a platform shell, a straight arm device, a triangular arm device, an air bag, a driving device, a cleaning device, an impact device, a platform cover, a CCD (charge coupled device), a cable joint, an air cylinder, a lifting platform, a protective cover, a towing cable and an air pump. The ship bottom cleaning robot has the beneficial effects that the ship bottom cleaning robot is connected with an operator on a ship through the towing cable, the operator can observe the condition of the robot under water through the CCD, and the platform shell of the robot, the straight arm device and the triangular arm device form different states through fixing and extending, so that the robot is suitable for crawling at the bottom of the ship, obstacle crossing at the bottom of the ship and marine organism cleaning movement; the cleaning device and the impact device are intermittently matched to move, so that not only can the shells of marine organisms at the bottom of the ship be damaged, but also the residual parts of the marine organisms at the bottom of the ship can be cleaned.
Description
Technical Field
The invention relates to a master-slave control type metamorphic robot for cleaning marine organisms at the bottom of a ship, in particular to a master-slave control type metamorphic robot which adopts a triangular arm device and a straight arm device which are provided with magnet blocks, has machine vision for position detection and is formed by a plurality of motors and can clean marine organisms at the bottom of the ship, belonging to the field of marine organism cleaning equipment at the bottom of the ship.
Background
Ships and naval vessels sail and berth in sea water, so that the breeding of marine organisms at the bottom of the ships is difficult to avoid. The ship resistance is greatly increased due to the fouling formed by the adhesion of marine organisms, so that the speed of the ship is reduced, and the oil consumption of the ship is increased. Although researchers have developed various antifouling paints to reduce marine biofouling, such coatings have a relatively low lifetime, ranging from months to three years. For this reason, it is an urgent problem to regularly detect and remove marine organisms on the bottom of a ship.
At present, the mechanism form of the hull cleaning robot at home and abroad mostly adopts an adsorption mode and a moving mode. At present, the adsorption mode of the ship bottom cleaning robot is reliable, but the movement flexibility is poor; the moving mode is flexible in movement, but the adsorption force is small. Therefore, in terms of cleaning marine organisms on the bottom of the ship, a ship bottom cleaning device which has the functions of strong adsorption capacity and flexible motility is urgently needed, but the device is lacking at present.
Disclosure of Invention
In order to overcome the defects, the invention provides a master-slave control type metamorphic robot for cleaning marine organisms on the bottom of a ship.
The invention is realized by the following technical scheme: a master-slave control metamorphic robot for cleaning marine organisms at the bottom of a ship comprises a platform shell, straight arm devices, triangular arm devices, air bags, driving devices, a cleaning device, an impact device, a platform cover, CCDs (charge coupled devices), a cable joint, an air cylinder, a lifting platform, a protective cover, towing cables and an air pump, wherein one ends of the four straight arm devices are respectively connected with two ends of two side surfaces of the platform shell, the other ends of the straight arm devices are connected with one end of the triangular arm devices, two ends of the other two side surfaces of the platform shell are respectively fixedly connected with the air bags, the middles of four side surfaces of the platform shell are respectively connected with the four driving devices, the top surface of the platform shell is fixedly connected with the bottom surface of the platform cover, the four CCDs are fixedly installed on the periphery of the bottom surface of the platform shell, the four CCDs are fixedly installed on the periphery of the top surface of the platform cover, the, connecting the internal parts of the machine, penetrating out through the middle hole on the bottom surface of the platform shell, extending up to the operation platform on the ship, one end of each of the three cylinders is respectively and fixedly connected with the middle inside the platform shell, the other end of each cylinder is fixedly connected with the periphery of the bottom surface of the lifting platform, one end of the air pump is fixedly connected with the middle of the bottom surface of the lifting platform, the air pump is connected with an air inlet of the two-position three-way electromagnetic valve through an air pipe, two air outlets of the electromagnetic valve are respectively connected with two three-fork joints through the air pipe, wherein three air outlets of one three-way joint are respectively connected with air inlets of rod cavities of three cylinders, three air outlets of the other three-way joint are respectively connected with air inlets of rodless cavities of three cylinders, one end of each of the three impact devices is fixedly connected with the periphery of the top surface of the lifting platform, one end of each of the cleaning devices is fixedly connected with the middle of the top surface of the lifting platform, and the two protective covers are fixedly arranged on two sides of the interior of the platform shell respectively;
the straight arm device is composed of a straight arm rotating motor, a straight arm motor coupler, a straight arm motor shaft, a straight arm support, a straight arm rotating bearing, straight arm gaskets, straight arm end covers, a straight arm rotating belt, straight arm magnet blocks and straight arm magnet fixing pieces, wherein the straight arm rotating motor is fixedly connected with the straight arm motor coupler, the straight arm motor coupler is fixedly connected with one end of the straight arm motor shaft, the other end of the straight arm motor shaft is fixedly connected with the middle of one end of the straight arm support through a key, the four straight arm rotating bearings are respectively and fixedly arranged on two side surfaces of two ends of the straight arm support, the four straight arm gaskets are respectively and fixedly connected with end surfaces of the four straight arm rotating bearings, the four straight arm end covers are respectively and fixedly connected with end surfaces of the four straight arm gaskets, the straight arm rotating belt is in sliding connection with circumferential surfaces of the four straight arm rotating bearings, and the straight arm rotating belt is positioned around the straight, the straight arm magnet blocks are uniformly arranged on the outer surface of the straight arm rotating belt, the bottom surface of the straight arm magnet fixing piece is fixedly connected with the top surface of the straight arm magnet block, the periphery of the straight arm magnet fixing piece is fixedly connected with the outer surface of the straight arm rotating belt through bolts, and then the straight arm magnet block is fixedly connected with the outer surface of the straight arm rotating belt;
the triangular arm device comprises a triangular arm rotating motor, a triangular arm motor coupler, a triangular arm motor shaft, a triangular arm support, a triangular arm rotating bearing I, a triangular arm gasket, a triangular arm end cover I, a triangular arm rotating belt, a triangular arm rotating bearing II, a triangular arm end cover II, a winding drum device, a triangular arm magnet block and a triangular arm magnet fixing sheet, wherein the triangular arm rotating motor is fixedly arranged in the middle of one end of the straight arm support, the triangular arm rotating motor is fixedly connected with the triangular arm motor coupler, the triangular arm motor coupler is fixedly connected with one end of the triangular arm motor shaft, the other end of the triangular arm motor shaft is fixedly connected with the middle of one end of the triangular arm support through a key, the two triangular arm rotating bearings I are respectively and fixedly arranged on two sides of the pointed end of the triangular arm support, the triangular arm gasket is arranged on one side face of the triangular arm rotating bearing, and the triangular arm bearing end cover I is, the two triangular arm rotating bearings II are fixedly arranged on two side surfaces of one side of the flat end of the triangular arm support respectively, triangular arm end covers II are arranged on two side surfaces of the triangular arm rotating bearings II, the winding drum device is fixedly arranged on the other side of the flat end of the triangular arm support, a triangular arm rotating belt is connected with the winding drum device in a sliding mode around the triangular arm rotating bearing I, the triangular arm rotating bearing II and the winding drum device, the triangular arm rotating belt is located around the triangular arm support, the triangular arm magnet blocks are uniformly arranged on the outer surface of the triangular arm rotating belt, the bottom surface of the triangular arm magnet fixing piece is fixedly connected with the top surface of the triangular arm magnet block, the periphery of the triangular arm magnet fixing piece is fixedly connected with the outer surface of the triangular arm rotating belt through bolts, and the triangular arm magnet block;
the winding drum device comprises a winding drum rotating motor, winding drum motor couplers, winding drum motor shafts and a rotating winding drum, wherein the winding drum rotating motor is fixedly arranged in the middle of one side of the flat end of the triangular arm support, the two winding drum motor couplers are fixedly arranged at two ends of the winding drum rotating motor shafts respectively, one end of each winding drum motor shaft is fixedly connected with the two winding drum motor couplers respectively, the other end of each winding drum motor shaft is fixedly connected with the middle of the two rotating winding drums respectively through a key, and the outer circumferential surface of the rotating winding drum is in contact connection with the inner side surface of the triangular arm rotating belt;
the driving device consists of propeller rotating motors, propeller motor couplers, propeller motor shafts and driving propellers, wherein the four propeller rotating motors are symmetrically and fixedly arranged inside the platform shell in pairs;
the cleaning device consists of a brush head and a cleaning motor, the cleaning motor is fixedly arranged in the middle of the top surface of the lifting platform, and one end of the brush head is fixedly connected with the cleaning motor;
the impact device consists of an impact block, an electromagnet shell, springs, a fixed block and an isolation pad, wherein one end of the impact block is fixedly connected with one ends of the two springs, the other ends of the two springs are fixedly connected with the top surface of the fixed block, the bottom surface of the fixed block is fixedly connected with the top surface of the isolation pad, the top surface inside the electromagnet shell is connected with the bottom surface of the impact block, and the electromagnet shell is fixedly connected with the top surface of the lifting platform;
the electromagnet shell consists of a flange, a hollow shell, a guide block and two limit blocks, wherein the flange is positioned at one end of the hollow shell, the two limit blocks are positioned at two sides of the other end of the hollow shell, and the two limit blocks are positioned in the middle of two inner side surfaces of the hollow shell;
the straight arm rotating motor, the triangular arm rotating motor, the winding drum rotating motor, the propeller rotating motor and the cleaning motor are all waterproof motors;
the straight arm magnet block and the triangular arm magnet block are rubidium magnets.
The device has the advantages that: the ship bottom cleaning robot is connected with an operator on a ship through a towing cable, the operator can observe the condition of the robot under water through the CCD, and the robot dives under the pushing of a propeller; when the outlets of the propellers face to the water bottom, the robot can move upwards; when the propeller outlets on the two opposite sides of the robot rotate to the horizontal position, the robot can move and turn transversely; when the robot moves and the orientation of the propellers also changes, the posture change and the curvilinear motion of the robot can be realized, so that the omnibearing and full-posture motion of the ship bottom cleaning robot in water is realized by controlling the four propellers;
the four air bags arranged on the outer side of the platform shell play an important role in the work of the robot, on one hand, the buoyancy generated by the air bags can balance the weight of the robot, so that the self weight of the robot is offset with the buoyancy of water borne by the robot, and the driving power of a propeller is reduced; on the other hand, the air bags are arranged at four corners of the platform shell, so that the collision between the robot and other objects can be effectively reduced, and the aim of protecting the robot is fulfilled;
the straight arm device and the triangular arm device play an important role in the movement of the ship bottom cleaning robot, and the platform shell of the robot, the straight arm device and the triangular arm device form different states through fixing and stretching, so that the robot is suitable for the movement of crawling at the ship bottom, obstacle crossing at the ship bottom and marine organism cleaning;
the cleaning device and the impact device are in intermittent matching movement, so that not only can the outer shell of marine organisms at the bottom of the ship be damaged, but also the residual part of the marine organisms at the bottom of the ship can be cleaned;
rubidium magnet is selected for use to straight arm magnet piece and triangle arm magnet piece, has guaranteed the adsorption efficiency of robot at the hull bottom.
Drawings
FIG. 1 is an axial schematic view of state one of the present invention;
FIG. 2 is a schematic axial view of state two of the present invention;
FIG. 3 is a schematic axial view of state three of the present invention;
FIG. 4 is a schematic axial view of state four of the present invention;
FIG. 5 is a front view of the present invention;
FIG. 6 is a front view of the connection of the lift platform;
FIG. 7 is a schematic view of the cylinder and platform housing connection;
FIG. 8 is a schematic view of the internal connection of the impulsive unit;
FIG. 9 is a front view of the straight arm device connected to the triangular arm device;
FIG. 10 is a cross-sectional view A-A of the junction of the straight arm device and the triangular arm device;
FIG. 11 is a partial sectional view A-A of the junction of the straight arm device and the triangular arm device;
FIG. 12 is an enlarged partial schematic view of FIG. 11;
FIG. 13 is a front view of the triangular arm apparatus;
FIG. 14 is a cross-sectional view of the triangular arm apparatus A-A;
FIG. 15 is an enlarged partial schematic view of a cross-sectional view of the triangular arm apparatus A-A;
FIG. 16 is a schematic view of the internal mechanism of the present invention;
FIG. 17 is a schematic view of the shield internal connection;
fig. 18 is a schematic view of the structure of the electromagnet protection case.
In the figure, 1, a stage housing, 2, a straight arm device, 201, a straight arm rotating motor, 202, a straight arm motor coupling, 203, a straight arm motor shaft, 204, a straight arm support, 205, a straight arm rotating bearing, 206, a straight arm spacer, 207, a straight arm end cover, 208, a straight arm rotating belt, 209, a straight arm magnet block, 210, a straight arm magnet fixing piece, 3, a triangular arm device, 301, a triangular arm rotating motor, 302, a triangular arm motor coupling, 303, a triangular arm motor shaft, 304, a triangular arm support, 305, a triangular arm rotating bearing I, 306, a triangular arm spacer, 307, a triangular arm end cover I, 308, a triangular arm rotating belt, 309, a triangular arm rotating bearing II, 310, a triangular arm end cover II, 311, a reel device, 31101, a reel rotating motor, 31102, a reel motor coupling, 31103, a reel motor shaft, 31104, a rotating reel, 312, a triangular arm magnet block, 313, 31103, a triangular arm rotating reel motor shaft, a, Triangle arm magnet fixing sheet, 4, gasbag, 5, drive arrangement, 501, screw rotation motor, 502, screw motor coupling, 503, screw motor shaft, 504, drive screw, 6, cleaning device, 601, brush head, 602, cleaning motor, 7, percussion device, 701, impact block, 702, electromagnet housing, 70201, flange, 70202, hollow shell, 70203, guide block, 70204, stopper, 703, spring, 704, fixed block, 705, isolation pad, 8, platform cover, 9, CCD, 10, cable joint, 11, cylinder, 12, lifting platform, 13, protective cover, 14, towing cable, 15, air pump.
Detailed Description
A master-slave control type metamorphic robot for cleaning marine organisms at the bottom of a ship is composed of a platform shell 1, straight arm devices 2, triangular arm devices 3, air bags 4, driving devices 5, a cleaning device 6, an impact device 7, a platform cover 8, a CCD9, a cable joint 10, an air cylinder 11, a lifting platform 12, a protective cover 13 and a towing cable 14, wherein one ends of the four straight arm devices 2 are respectively connected with two ends of two side surfaces of the platform shell 1, the other ends of the straight arm devices 2 are connected with one end of the triangular arm devices 3, two ends of the other two side surfaces of the platform shell 1 are respectively fixedly connected with the air bags 4, the middles of the four side surfaces of the platform shell 1 are respectively connected with the four driving devices 5, the top surface of the platform shell 1 is fixedly connected with the platform cover 8, four CCD9 are fixedly installed on the periphery of the bottom surface of the platform shell 1, four CCD9 are fixedly installed on, the middle of the bottom surface of a platform shell 1 is fixedly connected with a cable joint 10, a towing cable 14 is positioned in the middle of the bottom of a robot, and is connected with internal parts of a machine, penetrates out of a middle hole in the bottom surface of the platform shell 1 and extends up to an operation platform on a ship, one end of each of three cylinders 11 is fixedly connected with the middle inside the platform shell 1, the other end of each cylinder 11 is fixedly connected with the periphery of the bottom surface of a lifting platform 12, one end of an air pump 15 is fixedly connected with the middle of the bottom surface of the lifting platform 12, the air pump 15 is connected with an air inlet of a two-position three-way electromagnetic valve through an air pipe, two air outlets of the electromagnetic valve are respectively connected with two three trifurcate joints through air pipes, three air outlets of one trifurcate joint are respectively connected with rod cavity air connecting ports of the three cylinders 11, three air outlets of the other trifurcate joint are respectively, one end of the cleaning device 6 is fixedly connected with the middle of the top surface of the lifting platform 12, and the two protective covers 13 are respectively and fixedly arranged on two sides in the platform shell 1;
the straight arm device 2 is composed of a straight arm rotating motor 201, a straight arm motor coupler 202, a straight arm motor shaft 203, a straight arm support 204, a straight arm rotating bearing 205, a straight arm gasket 206, a straight arm end cover 207, a straight arm rotating belt 208, a straight arm magnet block 209 and a straight arm magnet fixing piece 210, wherein the straight arm rotating motor 201 is fixedly connected with the straight arm motor coupler 202, the straight arm motor coupler 202 is fixedly connected with one end of the straight arm motor shaft 203, the other end of the straight arm motor shaft 203 is fixedly connected with the middle of one end of the straight arm support 204 through a key, the four straight arm rotating bearings 205 are respectively and fixedly arranged on two side surfaces of two ends of the straight arm support 204, the four straight arm gaskets 206 are respectively and fixedly connected with end surfaces of the four straight arm rotating bearings 205, the four straight arm end covers 207 are respectively and fixedly connected with end surfaces of the four straight arm gaskets 206, the straight arm rotating belt 208 is in sliding connection with circumferential surfaces of the four straight, the straight arm rotating belt 208 is positioned around the straight arm support 204, the straight arm magnet blocks 209 are uniformly arranged on the outer surface of the straight arm rotating belt 208, the bottom surface of the straight arm magnet fixing plate 210 is fixedly connected with the top surface of the straight arm magnet block 209, the periphery of the straight arm magnet fixing plate 210 is fixedly connected with the outer surface of the straight arm rotating belt 208 through bolts, and then the straight arm magnet block 209 is fixedly connected with the outer surface of the straight arm rotating belt 208;
the triangular arm device 3 is composed of a triangular arm rotating motor 301, a triangular arm motor coupler 302, a triangular arm motor shaft 303, a triangular arm support 304, a triangular arm rotating bearing I305, a triangular arm gasket 306, a triangular arm end cover I307, a triangular arm rotating belt 308, a triangular arm rotating bearing II 309, a triangular arm end cover II 310, a reel device 311, a triangular arm magnet block 312 and a triangular arm magnet fixing piece 313, wherein the triangular arm rotating motor 301 is fixedly arranged in the middle of one end of the straight arm support 204, the triangular arm rotating motor 301 is fixedly connected with the triangular arm motor coupler 302, the triangular arm motor coupler 302 is fixedly connected with one end of the triangular arm motor shaft 303, the other end of the triangular arm motor shaft 303 is fixedly connected with the middle of one end of the triangular arm support 304 through a key, the two triangular arm rotating bearings I305 are respectively and fixedly arranged on two sides of the tip end of the triangular arm support 304, a triangular arm pad 306 is arranged on the side surface of the first triangular arm rotating bearing 305, a first triangular arm bearing end cover is fixedly arranged on one side surface of the triangular arm pad 306, two second triangular arm rotating bearings 309 are respectively and fixedly arranged on the two side surfaces of one side of the flat end of the triangular arm support 304, a second triangular arm end cover 310 is arranged on the side surface of the second triangular arm rotating bearing 309, the reel device 311 is fixedly arranged on the other side of the flat end of the triangular arm support 304, a triangular arm rotating belt 308 is in sliding connection with the reel device 311 around the first triangular arm rotating bearing 305, the second triangular arm rotating bearing 309 and the triangular arm rotating belt 308 are positioned around the triangular arm support 304, the triangular arm magnet blocks 312 are uniformly arranged on the outer surface of the triangular arm rotating belt 308, the bottom surface of the triangular arm magnet fixing plate 313 is fixedly connected with the top surface of the triangular arm magnet block 312, and the periphery of the triangular arm magnet fixing plate 313 is fixedly, the triangular arm magnet block 312 is further fixedly connected with the outer surface of the triangular arm rotating belt 308;
the winding drum device 311 is composed of a winding drum rotating motor 31101, a winding drum motor coupler 31102, a winding drum motor shaft 31103 and a rotating winding drum 31104, the winding drum rotating motor 31101 is fixedly installed in the middle of one side of the flat end of the triangular arm support 304, the two winding drum motor couplers 31102 are fixedly installed at two ends of the shaft of the winding drum rotating motor 31101 respectively, one end of each of the two winding drum motor shafts 31103 is fixedly connected with the two winding drum motor couplers 31102 respectively, the other end of each of the two winding drum motor shafts 31103 is fixedly connected with the middle of the two rotating winding drums 31104 through a key respectively, and the outer circumferential surface of the rotating winding drum 31104 is in contact connection with the inner side surface of the triangular;
the driving device 5 is composed of propeller rotating motors 501, propeller motor couplers 502, propeller motor shafts 503 and driving propellers 504, the four propeller rotating motors 501 are symmetrically and fixedly arranged inside the platform shell 1 in pairs, the propeller rotating motors 501 extend out of the shafts and are fixedly provided with the propeller motor couplers 502, one ends of the propeller motor shafts 503 are fixedly arranged with the propeller motor couplers 502, the middle of the propeller motor shafts 503 penetrates through a through hole of the platform shell 1, and then the other ends of the propeller motor shafts 503 are fixedly connected with the circumferential surface of the driving propellers 504;
the cleaning device 6 is composed of a brush head 601 and a cleaning motor 602, the cleaning motor 602 is fixedly arranged in the middle of the top surface of the lifting platform 12, and one end of the brush head 601 is fixedly connected with the cleaning motor 602;
the impact device 7 is composed of an impact block 701, an electromagnet shell 702, springs 703, a fixed block 704 and an isolation pad 705, wherein one end of the impact block 701 is fixedly connected with one ends of the two springs 703, the other ends of the two springs 703 are fixedly connected with the top surface of the fixed block 704, the bottom surface of the fixed block 704 is fixedly connected with the top surface of the isolation pad 705, the top surface inside the electromagnet shell 702 is connected with the bottom surface of the impact block 701, and the electromagnet shell 702 is fixedly connected with the top surface of the lifting platform 12;
the electromagnet shell 702 is composed of a flange 70201, a hollow shell 70202, a guide block 70203 and two limit blocks 70204, wherein the flange 70201 is positioned at one end of the hollow shell 70202, the two limit blocks 70204 are positioned at two sides of the other end of the hollow shell 70202, and the two limit blocks 70204 are positioned in the middle of two inner side surfaces of the hollow shell 70202;
the straight arm rotating motor 201, the triangular arm rotating motor 301, the winding drum rotating motor 31101, the propeller rotating motor 501 and the cleaning motor 602 are all waterproof motors;
the straight arm magnet block 209 and the triangular arm magnet block 312 are both rubidium magnets.
When the device is applied, the robot is placed in water, the motion of the robot in the water is realized under the pushing of the driving propeller 504, the position of the ship bottom is searched through the CCD9, after the position of the ship bottom is determined, the robot is driven to move to the position near the ship bottom, the towing cable 14 of the robot is positioned below under the pushing of the driving propeller 504, and the triangular arm device 3 is adsorbed on the ship bottom under the rotation of the triangular arm rotating motor 301; when the robot crawls on the surface of a ship body, the position of the straight arm device 2 is correspondingly fixed with that of the platform shell 1, so that the straight arm device 2 becomes an extension part of the platform shell 1 of the robot, and the triangular arm device 3 becomes a main component for the motion of the robot; when the robot climbs a wavy-line-shaped slope, the robot straight-arm device 2 is released, so that the robot becomes a horizontally-placed multi-joint mechanism, similar to a snake-shaped robot, the robot straight-arm device 2 and the triangular-arm device 3 are close to the climbed surface, and the winding drum is driven to rotate under the rotation of the winding drum motor, so that the triangular-arm belt is driven to rotate, and the robot is driven to crawl on the bottom surface of the ship; when the robot crosses the obstacle, the triangular arm device 3 and the platform shell 1 are in a vertical state, the platform shell 1 is far away from the surface of the ship bottom, at the moment, three legs of two straight arm devices 2 and two triangular arm devices 3 of the robot can be fixed with the ship body at the same time, the other leg crosses the obstacle, and after the four legs sequentially cross the obstacle, the robot carries out structural metamorphic again; when the robot cleans marine organisms on the surface of a ship body, two straight arm devices 2 and two triangular arm devices 3 of the robot are folded in a triangular shape, the triangular arm magnet blocks 312 at the bottoms of the triangular arm devices 3 are fixed with the surface of the ship body, at the moment, the air cylinder 11 extends to push the lifting platform 12 to rise from the inside of the platform shell 1 to the top, so that the impact device 7 and the cleaning device 6 extend out of the platform shell 1 under the support of the lifting platform 12, the impact device 7 and the cleaning device 6 do intermittent motion, the impact block 701 does translational telescopic motion firstly to destroy marine organism shells on the ship body, the brush head 601 does rotary motion under the drive of the cleaning motor 602 to remove residual marine organisms adhered to the ship body and crushed by the impact block 701 until the marine organisms at the bottom of the ship are completely removed; when the robot is separated from the surface of the ship body, the motion of the robot can be dragged by the towing cable 14 or driven by the driving propellers 504 arranged around the robot platform to operate, and when the robot floats to the water surface, an operator moves the robot onto the ship to finish the bottom marine organism cleaning work.
It will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in the embodiments described above without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims.
Claims (8)
1. The utility model provides a bilge and sea living beings clearance master-slave control formula metamorphic robot, is by platform casing, straight arm device, triangle arm device, gasbag, drive arrangement, cleaning device, impact device, platform lid, CCD, hawser joint, cylinder, lift platform, protection casing, tow cable and air pump are constituteed, its characterized in that: one end of each of the four straight arm devices is respectively connected with two ends of two side surfaces of the platform shell, the other end of each of the straight arm devices is connected with one end of each of the triangular arm devices, two ends of the other two side surfaces of the platform shell are respectively fixedly connected with the air bags, the middle of each of the four side surfaces of the platform shell is respectively connected with the four driving devices, the top surface of the platform shell is fixedly connected with the bottom surface of the platform cover, four CCDs are fixedly installed on the periphery of the bottom surface of the platform shell, four CCDs are fixedly installed on the periphery of the top surface of the platform cover, the middle of the bottom surface of the platform shell is fixedly connected with the cable connector, the cable is positioned in the middle of the bottom of the robot, is connected with the internal parts of the machine, penetrates through the middle hole in the bottom surface of the platform shell and extends to the shipboard operation platform, one end of each of the three air, the air pump passes through the trachea with two three way solenoid valve air inlets and is connected, and two gas outlets of solenoid valve are respectively through trachea and two trident articulate, and one of them trident articulate three gas outlet connect the gas mouth with the pole chamber that has of three cylinder respectively and be connected, and another trident articulate three gas outlet connects the gas mouth with the no pole chamber of three cylinder respectively and is connected, three impact device one end respectively with lift platform top surface fixed connection all around, the middle fixed connection of cleaning device one end and lift platform top surface, two protection casings respectively fixed mounting in the inside both sides of platform casing.
2. The master-slave control type metamorphic robot for cleaning marine organisms on the bottom of a ship as claimed in claim 1, wherein: the straight arm device is composed of a straight arm rotating motor, a straight arm motor coupler, a straight arm motor shaft, a straight arm support, a straight arm rotating bearing, straight arm gaskets, straight arm end covers, a straight arm rotating belt, straight arm magnet blocks and straight arm magnet fixing pieces, wherein the straight arm rotating motor is fixedly connected with the straight arm motor coupler, the straight arm motor coupler is fixedly connected with one end of the straight arm motor shaft, the other end of the straight arm motor shaft is fixedly connected with the middle of one end of the straight arm support through a key, the four straight arm rotating bearings are respectively and fixedly arranged on two side surfaces of two ends of the straight arm support, the four straight arm gaskets are respectively and fixedly connected with end surfaces of the four straight arm rotating bearings, the four straight arm end covers are respectively and fixedly connected with end surfaces of the four straight arm gaskets, the straight arm rotating belt is in sliding connection with circumferential surfaces of the four straight arm rotating bearings, and the straight arm rotating belt is positioned around the straight, the straight arm magnet blocks are uniformly arranged on the outer surface of the straight arm rotating belt, the bottom surface of the straight arm magnet fixing piece is fixedly connected with the top surface of the straight arm magnet block, the periphery of the straight arm magnet fixing piece is fixedly connected with the outer surface of the straight arm rotating belt through bolts, and then the straight arm magnet block is fixedly connected with the outer surface of the straight arm rotating belt; the straight arm rotating motor is a waterproof motor; the straight arm magnet block is a rubidium magnet.
3. The master-slave control type metamorphic robot for cleaning marine organisms on the bottom of a ship as claimed in claim 1, wherein: the triangular arm device comprises a triangular arm rotating motor, a triangular arm motor coupler, a triangular arm motor shaft, a triangular arm support, a triangular arm rotating bearing I, a triangular arm gasket, a triangular arm end cover I, a triangular arm rotating belt, a triangular arm rotating bearing II, a triangular arm end cover II, a winding drum device, a triangular arm magnet block and a triangular arm magnet fixing sheet, wherein the triangular arm rotating motor is fixedly arranged in the middle of one end of the straight arm support, the triangular arm rotating motor is fixedly connected with the triangular arm motor coupler, the triangular arm motor coupler is fixedly connected with one end of the triangular arm motor shaft, the other end of the triangular arm motor shaft is fixedly connected with the middle of one end of the triangular arm support through a key, the two triangular arm rotating bearings I are respectively and fixedly arranged on two sides of the pointed end of the triangular arm support, the triangular arm gasket is arranged on one side face of the triangular arm rotating bearing, and the triangular arm bearing end cover I is, the two triangular arm rotating bearings II are fixedly arranged on two side surfaces of one side of the flat end of the triangular arm support respectively, triangular arm end covers II are arranged on two side surfaces of the triangular arm rotating bearings II, the winding drum device is fixedly arranged on the other side of the flat end of the triangular arm support, a triangular arm rotating belt is connected with the winding drum device in a sliding mode around the triangular arm rotating bearing I, the triangular arm rotating bearing II and the winding drum device, the triangular arm rotating belt is located around the triangular arm support, the triangular arm magnet blocks are uniformly arranged on the outer surface of the triangular arm rotating belt, the bottom surface of the triangular arm magnet fixing piece is fixedly connected with the top surface of the triangular arm magnet block, the periphery of the triangular arm magnet fixing piece is fixedly connected with the outer surface of the triangular arm rotating belt through bolts, and the triangular arm magnet block; the triangular arm rotating motor is a waterproof motor; the triangular arm magnet blocks are all rubidium magnets.
4. The master-slave control type metamorphic robot for cleaning marine organisms on the bottom of a ship as claimed in claim 3, wherein: the winding drum device comprises a winding drum rotating motor, winding drum motor couplers, winding drum motor shafts and a rotating winding drum, wherein the winding drum rotating motor is fixedly arranged in the middle of one side of the flat end of the triangular arm support, the two winding drum motor couplers are fixedly arranged at two ends of the winding drum rotating motor shafts respectively, one end of each winding drum motor shaft is fixedly connected with the two winding drum motor couplers respectively, the other end of each winding drum motor shaft is fixedly connected with the middle of the two rotating winding drums respectively through a key, and the outer circumferential surface of the rotating winding drum is in contact connection with the inner side surface of the triangular arm rotating belt; the winding drum rotating motor is a waterproof motor.
5. The master-slave control type metamorphic robot for cleaning marine organisms on the bottom of a ship as claimed in claim 1, wherein: the driving device consists of propeller rotating motors, propeller motor couplers, propeller motor shafts and driving propellers, wherein the four propeller rotating motors are symmetrically and fixedly arranged inside the platform shell in pairs; the propeller rotation motor is a waterproof motor.
6. The master-slave control type metamorphic robot for cleaning marine organisms on the bottom of a ship as claimed in claim 1, wherein: the cleaning device consists of a brush head and a cleaning motor, the cleaning motor is fixedly arranged in the middle of the top surface of the lifting platform, and one end of the brush head is fixedly connected with the cleaning motor; the cleaning motor is a waterproof motor.
7. The master-slave control type metamorphic robot for cleaning marine organisms on the bottom of a ship as claimed in claim 1, wherein: the impact device comprises an impact block, an electromagnet shell, springs, a fixing block and an isolation pad, wherein one end of the impact block is fixedly connected with one ends of the two springs, the other ends of the two springs are fixedly connected with the top surface of the fixing block, the bottom surface of the fixing block is fixedly connected with the top surface of the isolation pad, the top surface inside the electromagnet shell is connected with the bottom surface of the impact block, and the electromagnet shell is fixedly connected with the top surface of the lifting platform.
8. The master-slave control type metamorphic robot for cleaning marine organisms on the bottom of a ship as claimed in claim 7, wherein: the electromagnet shell is composed of a flange, a hollow shell, a guide block and a limiting block, wherein the flange is located at one end of the hollow shell, the two limiting blocks are located on two sides of the other end of the hollow shell, and the two limiting blocks are located in the middle of two inner side faces of the hollow shell.
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| CN201920485245.6U CN209921453U (en) | 2019-04-11 | 2019-04-11 | Master-slave control type metamorphic robot for cleaning marine organisms at bottom of ship |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109941365A (en) * | 2019-04-11 | 2019-06-28 | 山东建筑大学 | A kind of hull bottom marine growth cleaning master-slave control type Bian Bao robot |
| CN112536300A (en) * | 2020-11-19 | 2021-03-23 | 中国石油大学(华东) | Aquarium pond belt cleaning device |
| CN112849356A (en) * | 2021-03-19 | 2021-05-28 | 上海应用技术大学 | Underwater wall-climbing ship cleaning robot |
| EP4108563A1 (en) * | 2021-06-17 | 2022-12-28 | Mobile Robot Technologies LLC | Mobile robot |
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2019
- 2019-04-11 CN CN201920485245.6U patent/CN209921453U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109941365A (en) * | 2019-04-11 | 2019-06-28 | 山东建筑大学 | A kind of hull bottom marine growth cleaning master-slave control type Bian Bao robot |
| CN112536300A (en) * | 2020-11-19 | 2021-03-23 | 中国石油大学(华东) | Aquarium pond belt cleaning device |
| CN112536300B (en) * | 2020-11-19 | 2022-12-09 | 中国石油大学(华东) | Aquarium pond belt cleaning device |
| CN112849356A (en) * | 2021-03-19 | 2021-05-28 | 上海应用技术大学 | Underwater wall-climbing ship cleaning robot |
| EP4108563A1 (en) * | 2021-06-17 | 2022-12-28 | Mobile Robot Technologies LLC | Mobile robot |
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