CN210416927U

CN210416927U - Hull decontamination robot

Info

Publication number: CN210416927U
Application number: CN201921038984.7U
Authority: CN
Inventors: 黄技; 敖耀良; 赖寿荣; 钟一鸣
Original assignee: Guangdong Ocean University
Current assignee: Guangdong Ocean University
Priority date: 2019-07-04
Filing date: 2019-07-04
Publication date: 2020-04-28
Anticipated expiration: 2029-07-04

Abstract

The utility model relates to a hull cleaning equipment field, more specifically relates to a hull robot of decontaminating, including installing in the drive assembly of the permanent magnetism track subassembly of robot base, drive permanent magnetism track subassembly motion, washing subassembly, being used for the battery of power supply and installing in robot base and being used for assisting the auxiliary motion mechanism that robot base passes through the curved surface. The auxiliary motion mechanism can be adsorbed on the curved surface, so that the adsorption force between the robot and the ship body is increased when the robot runs on the curved surface of the ship body, and the robot can smoothly run on the curved surface of the ship body.

Description

Hull decontamination robot

Technical Field

The utility model relates to a hull cleaning equipment field, more specifically relates to a hull robot of decontaminating.

Background

The ship sails in the environments of strong corrosive seawater and strong-adhesion marine organisms for a long time, and is difficult to carry out normal maintenance, so that barnacles, seaweed and other microorganisms which are difficult to remove are adhered to the surface of the underwater part of the ship body, and some rusts, rusty spots and the like are also adhered. In this case, the speed of the ship is often reduced, and the fuel consumption of the ship is increased.

One of the existing cleaning methods is to perform cleaning work by using a robot capable of underwater operation, and patent document publication No. CN207360541U discloses an energy-saving and environment-friendly underwater cleaning robot capable of performing cleaning work of a hull underwater. However, most of the surface of the hull is a curved surface, the curved surface of the hull and the permanent magnet crawler of the robot form a certain angle, so that the permanent magnet crawler is partially separated from the hull, the adsorption force is reduced, and the robot is difficult to drive in a curved surface area or cannot pass through a curved surface obstacle.

SUMMERY OF THE UTILITY MODEL

The utility model discloses an overcome above-mentioned prior art the robot is difficult to the problem that goes in the curved surface region, provides a hull robot of decontaminating, can smoothly go in the curved surface region.

In order to solve the technical problem, the utility model discloses a technical scheme is: the utility model provides a hull robot of decontaminating, is including all installing in the permanent magnetism track subassembly of robot base, drive the drive assembly, the washing subassembly of permanent magnetism track subassembly motion, be used for the battery of power supply and install in the robot base is used for assisting the robot base passes through the auxiliary movement mechanism of curved surface.

Preferably, the auxiliary movement mechanism comprises swing arms arranged on two sides of the robot body, the swing arms are connected through driving rods penetrating through the robot base, the driving rods are connected with driving devices, and vertical and downward electromagnet suckers are arranged at one ends, far away from the driving rods, of the swing arms. The driving device enables the driving rod to rotate, the driving rod drives the swing arm to swing up and down, when the robot runs on a curved surface, the swing angle of the swing arm can be adjusted, and extra suction is provided for running through guiding and an electromagnet sucker, so that the robot runs smoothly on the curved surface area.

Preferably, one end of the swing arm, which is far away from the driving rod, is provided with a roller which is rotatably connected with the electromagnet sucker. The gyro wheel can the auxiliary robot travel, reduces the resistance of traveling of swing arm.

Preferably, the permanent magnet track assembly comprises a driving wheel, a driven wheel and a permanent magnet track connecting the driving wheel and the driven wheel, the driving wheel is provided with a hollow circular tube penetrating through the side wall of the robot base, and the hollow circular tube is connected with the driving assembly; the driving rod penetrates through the hollow circular tube and rotates in the hollow circular tube; the driving wheel is connected with the roller through the permanent magnet crawler. The hollow circular tube is internally provided with a bearing, and the driving rod is arranged in the hollow circular tube through the bearing and rotates. When the driving assembly drives the driving wheel to rotate, the permanent magnet tracks on the robot base and the swing arms can be enabled to advance simultaneously, so that the contact points attached to the surface of the ship body in the swing arm swing process all have adsorption force, and the robot can run along the curved surface more smoothly.

Preferably, one end of the swing arm close to the roller is recessed towards one side close to the driving wheel, and the roller and the driving wheel are located on the same plane. The roller and the driving wheel are connected through the permanent magnet crawler belt, and the roller and the driving wheel are kept horizontal to be beneficial to the stable motion of the permanent magnet crawler belt.

Preferably, the cleaning assembly is mounted on one side of the robot base, which is close to the auxiliary movement mechanism, and includes at least two horizontally arranged first telescopic rods and a vertically arranged second telescopic rod rotatably connected to the first telescopic rods, and the second telescopic rod is connected to a brush disk and a motor for driving the brush disk to rotate. First telescopic link realizes the rotatory different angles of brush head of decontaminating through a pole extension and a pole shrink, and the displacement of brush dish vertical direction is realized to the second telescopic link, realizes through the motor that the brush dish rotates the filth of clearance hull.

Preferably, the cleaning assembly further comprises a robot arm which is arranged at the top of the robot base and is provided with a water gun and a camera device, and the robot arm is a mechanical arm with three rotating shafts. The squirt passes through the control of machine arm structure realization angle, when the place that clearance screw, rudder isotructure are complicated and the automobile body can't arrive, can stretch the screw as far as possible to the squirt, dirt clearance is carried out on the surface of rudder isotructure.

Preferably, the robot base is internally provided with an annular water pipe and a water pump, the robot is externally provided with a water tank, one end of the annular water pipe is connected with the water tank, and the other end of the annular water pipe is connected with the water tank through the water pump. In order to prevent the storage battery from being overheated, a surface contact water pipe is adopted, heat generated by the battery is transferred into water through a cooling pipe in surface contact, then the water flows back to the water tank outside the base through a water pump, and then the heat is also transferred into the water tank, and the water tank is wrapped by seawater with relatively low temperature around due to the fact that the water tank is installed outside the base, so that the heat is also transferred into the seawater, and then the whole cooling effect is achieved.

Preferably, the robot base is provided with an ultraviolet germicidal lamp. And the ultraviolet lamp light is used for killing bacteria left after the cleaning assembly cleans the surface of the ship body.

Preferably, a magnetic device is arranged on the bottom surface of the robot base, and the magnetic device is an electromagnet. The robot is prevented from being separated from the surface of the ship body due to insufficient magnetic adsorption force.

Compared with the prior art, the beneficial effects are: the auxiliary motion mechanism can be adsorbed on the curved surface, so that the adsorption force between the robot and the ship body is increased when the robot runs on the curved surface of the ship body, and the robot can smoothly run on the curved surface of the ship body.

Drawings

Fig. 1 is a schematic structural view of embodiment 1 of the present invention;

fig. 2 is an internal plan view of embodiment 1 of the present invention;

fig. 3 is a schematic structural view of a swing arm according to embodiment 1 of the present invention;

fig. 4 is a schematic structural view of a cleaning assembly according to embodiment 2 of the present invention;

fig. 5 is a schematic structural view of a robot arm according to embodiment 2 of the present invention;

fig. 6 is a schematic bottom structure diagram of embodiment 2 of the present invention;

fig. 7 is a schematic bottom structure diagram according to embodiment 2 of the present invention.

Wherein: 1. a robot base; 2. a permanent magnet track assembly; 201. a driving wheel; 202. a driven wheel; 203. a permanent magnet crawler; 204. a hollow circular tube; 3. a drive assembly; 4. cleaning the assembly; 401. a first telescopic rod; 402. a second telescopic rod; 403. brushing a disc; 404. a motor; 405. a water gun; 406. a camera device; 407. a robot arm; 5. swinging arms; 6. a drive rod; 7. a drive device; 8. an electromagnet chuck; 9. a roller; 10. an annular water pipe; 11. a water tank; 12. a water pump; 13. an ultraviolet germicidal lamp; 14. a magnetic device.

Detailed Description

The drawings are for illustrative purposes only and are not to be construed as limiting the patent; for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted. The positional relationships depicted in the drawings are for illustrative purposes only and are not to be construed as limiting the present patent.

The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if there are the terms "upper", "lower", "left", "right", "long", "short", etc. indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore the terms describing the positional relationship in the drawings are only for illustrative purposes and are not to be construed as limiting the present patent, and those skilled in the art will understand the specific meaning of the terms according to their specific circumstances.

The technical solution of the present invention is further described in detail by the following specific embodiments in combination with the accompanying drawings:

example 1

As shown in fig. 1-3, a ship hull decontamination robot comprises a permanent magnet crawler belt assembly 2, a driving assembly 3, a cleaning assembly 4, a storage battery and an auxiliary movement mechanism, wherein the permanent magnet crawler belt assembly 2 is arranged on a robot base 1, the driving assembly 3 drives the permanent magnet crawler belt assembly 2 to move, the storage battery is used for supplying power, and the auxiliary movement mechanism is arranged on the robot base and is used for assisting the robot base to pass through a curved surface.

Specifically, the auxiliary motion mechanism including install in the swing arm 5 of robot body both sides, swing arm 5 is connected through the actuating lever 6 that runs through robot base 1, and actuating lever 6 is connected with drive arrangement 7, and the one end that actuating lever 6 was kept away from to swing arm 5 is provided with vertical decurrent electromagnet suction cup 8. The driving device enables the driving rod to rotate, the driving rod drives the swing arm to swing up and down, when the robot runs on a curved surface, the swing angle of the swing arm can be adjusted, and extra suction is provided for running through guiding and an electromagnet sucker, so that the robot runs smoothly on the curved surface area.

Wherein, swing arm 5 is kept away from the one end of connecting actuating lever 6 and is provided with gyro wheel 9, the center department of gyro wheel 9 rotates with electromagnet suction cup 8 and is connected. The gyro wheel can the auxiliary robot travel, reduces the resistance of traveling of swing arm.

Specifically, the permanent magnet crawler assembly 2 comprises a driving wheel 201, a driven wheel 202 and a permanent magnet crawler 203 connecting the driving wheel 201 and the driven wheel 202, the driving wheel 201 is provided with a hollow circular tube 204 penetrating through the side wall of the robot base 1, and the hollow circular tube 204 is connected with the driving assembly 3; the driving rod 6 penetrates through the hollow circular tube 204 and rotates in the hollow circular tube 204; the driving wheel 201 is connected with the roller 9 through another permanent magnet crawler. A bearing is arranged in the hollow circular tube 204, and the driving rod 6 is installed in the hollow circular tube 204 through the bearing and rotates. When the driving assembly drives the driving wheel to rotate, the permanent magnet tracks on the robot base and the swing arms can be enabled to advance simultaneously, so that the contact points attached to the surface of the ship body in the swing arm swing process all have adsorption force, and the robot can run along the curved surface more smoothly. One end of the swing arm close to the roller is sunken towards one side close to the driving wheel, and the roller and the driving wheel are located on the same plane. The roller and the driving wheel are connected through the permanent magnet crawler belt, and the roller and the driving wheel are kept horizontal to be beneficial to the stable motion of the permanent magnet crawler belt.

The utility model discloses a theory of operation or work flow: the robot passes through permanent magnetism track absorption at the hull, and operating personnel makes the robot motion through control drive assembly 3 drive permanent magnetism track, and when the robot moved the hull curved surface region, make actuating lever 6 rotate through operation drive arrangement 7 for 5 luffing motions of swing arm form certain angle laminating hull curved surface. The swing arm 5 is attached to the curved surface through the permanent magnet crawler and the electromagnet sucker 8, so that the robot keeps good adsorption force when passing through the curved surface and can be guided to advance.

The utility model has the advantages that: the auxiliary motion mechanism can be adsorbed on the curved surface, so that the adsorption force between the robot and the ship body is increased when the robot runs on the curved surface of the ship body, and the robot can smoothly run on the curved surface of the ship body.

Example 2

The difference between this embodiment and embodiment 1 is that, as shown in fig. 4-5, the base of the cleaning assembly erector in this embodiment, near one side of the auxiliary exercise mechanism, includes at least two first telescopic rods 401 arranged horizontally and a second telescopic rod 402 connected with the first telescopic rods 401 in a rotatable manner and arranged vertically, and the second telescopic rod 402 is connected with a brush plate 403 and a motor 404 for driving the brush plate 403 to rotate. And a robot arm 407 which is provided with a water gun 405 and an image pickup device 406 and is arranged on the top of the robot base 1, wherein the robot arm 407 is a mechanical arm with three-axis rotation. First telescopic link realizes the rotatory different angles of brush head of decontaminating through a pole extension and a pole shrink, and the displacement of brush dish vertical direction is realized to the second telescopic link, realizes through the motor that the brush dish rotates the filth of clearance hull.

Wherein, brush plate 403 adopts and scrapes the brush and combines the toper brush head, and the toper brush head realizes scraping hull surface hard attachment, like the barnacle, and scrapes the brush and then can be more careful clear up hull surface, realize the marine organism clearance to hull surface.

In addition, as shown in fig. 6, the present embodiment further includes a circulating cooling device, specifically, an annular water pipe 10 is disposed inside the robot base, a water tank 11 is disposed outside the robot base 1, one end of the annular water pipe 10 is connected to the water tank 11, and the other end is connected to the water tank 11 through a water pump 12. The battery is for placing the slabby battery in the hull bottom, in order to prevent that the battery is overheated, adopts surface contact water pipe, and the heat that the battery produced passes through surface contact's cooling tube, makes heat transfer aquatic, and then water passes through the water pump and realizes flowing, flows back to the outside water tank of base, and then the heat also transmits the water tank, and the water tank is because of installing in the outside of base, has the sea water parcel that the temperature is lower relatively around, and the heat just also transmits the sea water in, and then realizes whole cooling effect.

As shown in fig. 7, an ultraviolet germicidal lamp 13 is attached to the front end of the bottom surface of the robot base 1. And the ultraviolet lamp light is used for killing bacteria left after the cleaning assembly cleans the surface of the ship body.

The bottom surface of the robot base 1 is provided with a magnetic device 14, and the magnetic device is electromagnets distributed on the bottom surface of the robot base 1. The robot is prevented from being separated from the surface of the ship body due to insufficient magnetic adsorption force.

The remaining features and working principle of this embodiment are consistent with embodiment 1.

It is obvious that the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not limitations to the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. The utility model provides a hull robot of decontaminating, is including all installing in permanent magnetism track subassembly (2) of robot base (1), drive assembly (3), cleaning assembly (4) and the battery that is used for the power supply of permanent magnetism track subassembly (2) motion, its characterized in that still including install in robot base (1) and be used for assisting robot base (1) passes through the auxiliary movement mechanism of curved surface.

2. The hull decontamination robot according to claim 1, characterized in that the auxiliary movement mechanism comprises swing arms (5) mounted on both sides of the robot base, the swing arms (5) are connected by a driving rod (6) penetrating the robot base (1), the driving rod (6) is connected with a driving device (7), and one end of the swing arm (5) far away from the driving rod (6) is provided with a vertically downward electromagnet chuck (8).

3. The hull decontamination robot according to claim 2, characterized in that the end of the swing arm (5) remote from the drive rod (6) is provided with rollers (9) rotatably connected to the electromagnet suction cups (8).

4. The hull decontamination robot according to claim 3, characterized in that the permanent magnet track assembly (2) comprises a driving wheel (201), a driven wheel (202) and a permanent magnet track (203) connecting the driving wheel (201) and the driven wheel (202), the driving wheel (201) is provided with a hollow circular tube (204) penetrating through the side wall of the robot base (1), the hollow circular tube (204) is connected with the driving assembly (3); the driving rod (6) penetrates through the hollow circular tube (204) and rotates in the hollow circular tube (204); the driving wheel (201) is connected with the roller (9) through a permanent magnet crawler.

5. The hull decontamination robot according to claim 4, characterized in that the end of the swing arm (5) near the roller (9) is recessed to the side near the driving wheel (201), and the roller (9) and the driving wheel (201) are in the same plane.

6. The hull decontamination robot according to any one of claims 1-5, characterized in that the cleaning assembly (4) is mounted on the side of the robot base close to the auxiliary movement mechanism, and comprises at least two horizontally arranged first telescopic rods (401) and a vertically arranged second telescopic rod (402) rotatably connected to the first telescopic rods (401), and the second telescopic rod (402) is connected to a brush plate (403) and a motor (404) for driving the brush plate (403) to rotate.

7. The hull decontaminating robot of claim 6, wherein said cleaning assembly (4) further comprises a robot arm (407) provided with a water gun (405) and a camera (406), said robot arm (407) being a three-axis rotary robotic arm.

8. The hull decontamination robot according to any one of claims 1-5, characterized in that an annular water pipe (10) passing through the storage battery is arranged inside the robot base (1), a water tank (11) is arranged outside the robot base (1), one end of the annular water pipe (10) is communicated with the water tank (11), and the other end is communicated with the water tank (11) through a water pump (12).

9. The hull decontamination robot according to any one of claims 1-5, characterized in that the robot base (1) is equipped with UV germicidal lamps (13).

10. The hull decontamination robot according to any one of claims 1-5, characterized in that the bottom surface of the robot base (1) is provided with magnetic means (14).