CN210912812U

CN210912812U - Take hull trash-cleaning robot of spiral thrust

Info

Publication number: CN210912812U
Application number: CN201921862736.4U
Authority: CN
Inventors: 闫东旭; 黄技; 敖耀良; 王重凯
Original assignee: Guangdong Ocean University
Current assignee: Guangdong Ocean University
Priority date: 2019-10-31
Filing date: 2019-10-31
Publication date: 2020-07-03
Anticipated expiration: 2029-10-31

Abstract

The utility model relates to a hull cleaning equipment field, more specifically relates to a hull decontamination robot with screw thrust, which comprises a vehicle body framework, wherein the vehicle body framework is provided with a motion component, a drive component for driving the motion of the motion component, a decontamination component and a magnetic adsorption device, the decontamination component is arranged at the central position of the vehicle body framework, a plurality of propeller components are uniformly distributed on the vehicle body framework, each propeller component comprises a paddle and a shell connected with the paddle, and a power source for driving the paddle to rotate is arranged in the shell; the shell is connected with a driving mechanism for driving the shell to rotate. The utility model discloses a set up screw assembly on the automobile body framework, when wasing or passing through the curved surface, through the thrust that screw assembly produced for the automobile body framework is laminated more on the hull, avoids the automobile body framework to break away from the hull, and can't effectively wash or travel.

Description

Take hull trash-cleaning robot of spiral thrust

Technical Field

The utility model relates to a hull cleaning equipment field, more specifically relates to a take hull of spiral thrust 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 with publication number "CN 110254661A" discloses a curved surface cleaning robot, which moves to a target area by driving the robot through front driving wheels and rear driving wheels mounted on a square frame of a vehicle body, and then is adsorbed on a hull by a magnetic adsorption device of the square frame of the vehicle body, and then the hull is cleaned by the cleaning device. However, when cleaning, the robot is only attached to the ship body through the magnetic adsorption device, and the robot cannot be attached to the ship body due to the buoyancy of water, so that a good cleaning effect is difficult to achieve.

SUMMERY OF THE UTILITY MODEL

The utility model discloses an overcome among the above-mentioned prior art problem that cleaning robot can't keep with the laminating of hull, provide a take spiral thrust's hull trash cleaning robot, produce reverse thrust and combine magnetic adsorption power through the screw for trash cleaning robot and hull are laminated more.

In order to solve the technical problem, the utility model discloses a technical scheme is: a ship body decontamination robot with spiral thrust comprises a vehicle body framework, wherein the vehicle body framework is provided with a moving component, a driving component for driving the moving component to move, a decontamination component and a magnetic adsorption device, the decontamination component is arranged at the central position of the vehicle body framework, a plurality of propeller components are uniformly distributed on the vehicle body framework, each propeller component comprises a blade and a shell connected with the blade, and a power source for driving the blade to rotate is arranged in the shell; the shell is connected with a driving mechanism for driving the shell to rotate.

The propeller assembly rotates so that the vehicle body frame generates a downward thrust. When the vehicle body framework is adsorbed on the ship body through the adsorption force of the magnetic adsorption device, the thrust and the adsorption force generated by the blades act together, so that the vehicle body framework is attached to the ship body more closely. Actuating mechanism can drive the casing and rotate for the screw subassembly produces not equidirectional thrust, when the automobile body framework is located the curved surface, can adjust the thrust direction of screw subassembly, makes the automobile body framework more laminate the hull. Meanwhile, the propeller component can be rotated to different directions to serve as a power source for movement, and after the vehicle body framework is separated from the ship body, the vehicle body framework can flexibly move under the action of the propeller component.

Preferably, the propeller assemblies are arranged at four end corners of the vehicle body frame. The screw subassembly sets up at four end angles for the thrust that the screw subassembly produced more evenly acts on the automobile body framework, and it is inhomogeneous to avoid the atress of automobile body framework, takes place the skew, leads to the position to remove.

Preferably, the driving mechanism comprises a driving cam, a driven cam, a connecting rod and a first motor for driving the driving cam to rotate; the driven cam is connected with the shell, and the driving cam is connected with the driven cam through a connecting rod. The first motor drives the driving cam to rotate to drive the driven cam to rotate, and the cam can rotate at a full angle, so that the propeller assembly can also rotate at the full angle.

Preferably, the moving assembly includes track assemblies provided at four end corners of the body frame. The cleaning assembly is arranged at the center of the vehicle body and can generate reverse acting force when being cleaned, the crawler assemblies are arranged at four end corners of the vehicle body frame, and the four end corners can generate downward acting force. The reverse acting force acting on the center of the vehicle body framework is more easily counteracted by the acting forces of the four end angles, and the avoided reverse acting force pushes the vehicle body framework away from the ship body.

Preferably, the crawler assembly comprises a magnetic crawler, a driving wheel for driving the magnetic crawler to roll, a first V-shaped connecting frame and a driven wheel assembly; the center point of the first V-shaped connecting frame is rotationally connected with the driving wheel, and two groups of driven wheel assemblies are arranged and are respectively rotationally connected with two ends of the first V-shaped connecting frame. The V-shaped connecting rod can swing around a central point, and when the crawler runs on a curved surface, the driven wheel assembly can swing, so that the crawler can be more attached to the curved surface of the ship body, and the crawler can run on the curved surface more easily.

Preferably, the driving assembly is arranged at one end of the vehicle body framework and comprises a second motor and a gearbox which are respectively arranged at two sides of the vehicle body framework, and the second motor is connected with the driving wheel through the gearbox. The driving assembly is arranged at the rear end of the vehicle body framework, and the vehicle body framework is driven by a rear wheel. Through the difference of the output rotating speed of the second motor, the crawler assemblies on the two sides are subjected to differential speed, and therefore steering is achieved.

Preferably, the driven wheel assembly comprises a second V-shaped connecting frame and two driven wheels, the middle point of the second V-shaped connecting frame is rotatably connected with the two ends of the first V-shaped connecting frame, and the driven wheels are respectively mounted at the two ends of the second V-shaped connecting frame. When the swing of the first V-shaped connecting frame cannot enable the caterpillar to be attached to the shape of the curved surface, the second V-shaped connecting frame swings around the middle point, the driven wheel swings at a certain angle, and the caterpillar changes the shape again to be attached to the shape of the curved surface of the ship body.

Preferably, the track assembly further comprises a connecting plate connecting all of the rotational connection points of the first and second V-shaped links. The connecting plate can avoid first V type link and second V type link to take place the motion skew of other directions when the pendulum.

Preferably, the magnetic adsorption device is arranged on two sides of the vehicle body framework and comprises an electromagnet and a telescopic rod assembly for driving the electromagnet to move. When the vehicle body framework passes through a steeper curved surface of the ship body, the telescopic rod component drives the electromagnet to be close to the ship body, and accordingly adsorption force is generated.

Preferably, the dirt cleaning assembly comprises a fixing frame, an electric telescopic rod, a third motor, a brush disc and an elastic part arranged between the third motor and the electric telescopic rod; the electric telescopic rod is connected with the fixing frame, a push rod of the electric telescopic rod is connected with the third motor, the third motor drives the brush disc to rotate, and the elastic piece buffers the impact force between the third motor and the electric telescopic rod. When the ship body cleaning device reaches a cleaning position, the electric telescopic rod pushes the third motor and the brush disc to move downwards, after the brush disc contacts with the ship body, the elastic piece buffers impact force generated in the moment when the brush disc contacts with the ship body, and the third motor drives the brush disc to rotate to clean the ship body.

Compared with the prior art, the beneficial effects are: 1. the utility model discloses a set up the screw subassembly on the automobile body framework, when wasing or passing through the curved surface, through the thrust that the screw subassembly produced, make the automobile body framework laminate more on the hull, avoid the automobile body framework to break away from the hull, and can't wash effectively or go; 2. the propeller assembly can be used as a moving assembly, so that the vehicle body framework can run in water under the condition of not contacting with the ship body.

Drawings

Fig. 1 is a schematic structural view of a cleaning robot with spiral thrust according to embodiment 1 of the present invention;

fig. 2 is a schematic view of the internal structure of the cleaning robot with screw thrust according to embodiment 1 of the present invention;

FIG. 3 is a partial enlarged view of the location A of FIG. 2;

fig. 4 is a left side structural schematic view of the cleaning robot with screw thrust according to embodiment 1 of the present invention;

fig. 5 is a schematic structural view of a magnetic force adsorption apparatus according to embodiment 2 of the present invention;

fig. 6 is a schematic structural view of a decontamination assembly according to embodiment 2 of the present invention.

Wherein: 1. a vehicle body frame; 101. a lighting device; 102. a high-definition camera; 103. a cable; 104. a shackle; 2. a motion assembly; 201. a magnetic crawler; 202. a driving wheel; 203. a first V-shaped connecting frame; 204. a driven wheel assembly; 205. a second V-shaped connecting frame; 206. a driven wheel; 3. a drive assembly; 301. a second motor; 302. a gearbox; 4. a decontamination assembly; 401. a fixed mount; 402. an electric telescopic rod; 403. a third motor; 404. brushing a disc; 405. an elastic member; 406. nylon wool; 407. a scraper; 5. a magnetic adsorption device; 501. an electromagnet; 502. a telescopic rod assembly; 6. a propeller assembly; 601. a paddle; 602. a housing; 7. a drive mechanism; 701. a driving cam; 702. a driven cam; 703. a connecting rod; 704. a first motor.

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. 1-4, an embodiment of a hull dirt-removing robot with a screw thrust includes a vehicle body frame 1, the vehicle body frame 1 is provided with a moving component 2, a driving component 3 for driving the moving component 2 to move, a dirt-removing component 4, and a magnetic adsorption device 5, the dirt-removing component 4 is installed at a central position of the vehicle body frame 1, four propeller components 6 are uniformly distributed on the vehicle body frame 1, the propeller components 6 include blades 601 and a housing 602 connected with the blades 601, and a power source for driving the blades 601 to rotate is installed in the housing 602; the housing 602 is connected to a drive mechanism 7 for driving the housing 602 to rotate. The vehicle body frame 1 is provided with a control module, a lighting device 101 is arranged at the front part of the vehicle body frame, a high-definition camera 102, a cable 103 which is connected with the control module and provides power and a shackle 104 are arranged at the top end of the vehicle body frame, and the shackle 104 can be used for connecting a recovery line, preventing loss and facilitating recovery.

Specifically, the propeller assemblies 6 are provided at four end corners of the vehicle body frame 1. The screw subassembly sets up at four end angles for the thrust that the screw subassembly produced more evenly acts on the automobile body framework, and it is inhomogeneous to avoid the atress of automobile body framework, takes place the skew, leads to the position to remove.

The driving mechanism 7 comprises a driving cam 701, a driven cam 702, a connecting rod 703 and a first motor 704 for driving the driving cam 701 to rotate; the driven cam 702 is connected to the housing 602, and the driving cam 701 is connected to the driven cam 702 via a connecting rod 703. The first motor 704 drives the driving cam 701 to rotate, which drives the driven cam 702 to rotate, and the cam can rotate at a full angle, so that the propeller assembly can also rotate at a full angle.

Specifically, the moving assembly 2 includes track assemblies provided at four end corners of the vehicle body frame 1. The cleaning assembly is arranged at the center of the vehicle body and can generate reverse acting force when being cleaned, the crawler assemblies are arranged at four end corners of the vehicle body frame, and the four end corners can generate downward acting force. The reverse acting force acting on the center of the vehicle body framework is more easily counteracted by the acting forces of the four end angles, and the avoided reverse acting force pushes the vehicle body framework away from the ship body.

The crawler assembly comprises a magnetic crawler 201, a driving wheel 202 for driving the magnetic crawler 201 to roll, a first V-shaped connecting frame 203 and a driven wheel assembly 204; the center point of the first V-shaped connecting frame 203 is rotatably connected with the driving wheel 202, and two groups of driven wheel assemblies 204 are arranged and respectively rotatably connected with two ends of the first V-shaped connecting frame 203. The V-shaped connecting rod 203 can swing around a central point, and when the crawler runs on a curved surface, the driven wheel assembly can swing, so that the crawler can be more attached to the curved surface of the hull, and the crawler can run on the curved surface more easily. The driven wheel assembly 204 comprises a second V-shaped connecting frame 205 and two driven wheels 206, the midpoint position of the second V-shaped connecting frame 205 is rotatably connected with the two ends of the first V-shaped connecting frame 203, and the driven wheels 206 are respectively installed at the two ends of the second V-shaped connecting frame 205. When the swing of the first V-shaped connecting frame 203 cannot make the caterpillar track fit the curved surface, the second V-shaped connecting frame 205 swings around the midpoint position, the driven wheel 206 swings at a certain angle, and the caterpillar track changes shape again to fit the curved surface of the ship body.

Specifically, the driving assembly 3 is disposed at one end of the vehicle body frame 1, the driving assembly 3 includes a second motor 301 and a transmission 302 respectively disposed at two sides of the vehicle body frame 3, and the second motor 301 is connected to the driving wheel 202 through the transmission 302. The driving assembly is arranged at the rear end of the vehicle body framework, and the vehicle body framework is driven by a rear wheel. Through the difference of the output rotating speed of the second motor, the crawler assemblies on the two sides are subjected to differential speed, and therefore steering is achieved.

Additionally, the track assembly further includes a link plate 207, the link plate 207 connecting all of the rotational attachment points of the first and second V-shaped attachment frames 203, 205. The connecting plate 207 can prevent the first V-shaped connecting frame and the second V-shaped connecting frame from moving and deviating in other directions when swinging.

The utility model discloses a theory of operation or work flow: after the cleaning robot is started, an operator is connected with the robot through the cable 103 to drive the robot to start working, and then the robot moves. When passing through a relatively steep area such as a hull curved surface, the magnetic attraction device 5 is supplied with power to generate attraction force so as not to drop the vehicle body. The electromagnet 501 is stretched by the telescopic rod assembly 502 to be closer to the surface of the ship body to generate larger adsorption force, then the angle of the paddle 601 is changed by controlling the rotation of the shell 602, so that the propeller is in the vertical direction and then rotates, thrust adsorption is generated, and the propeller and the magnetic track perform adsorption together. After the ship reaches the decontamination area, the decontamination of the ship body is carried out through the decontamination assembly 4. By controlling the rotation of the housing 602 and thus changing the angle of the blades 601, the vehicle body frame 1 can travel even when not in contact with the hull.

The utility model has the advantages that: 1. the utility model discloses a set up the screw subassembly on the automobile body framework, when wasing or passing through the curved surface, through the thrust that the screw subassembly produced, make the automobile body framework laminate more on the hull, avoid the automobile body framework to break away from the hull, and can't wash effectively or go; 2. the propeller assembly can be used as a moving assembly, so that the vehicle body framework can run in water under the condition of not contacting with the ship body.

Example 2

The difference between this embodiment and embodiment 1 is that, as shown in fig. 5 to 6, the magnetic adsorption device 5 is disposed on both sides of the vehicle body frame 1, and includes an electromagnet 501 and a telescopic rod assembly 502 for driving the electromagnet 501 to move, where the telescopic rod assembly may be an electric telescopic rod or a hydraulic telescopic rod. When the vehicle body framework passes through a steeper curved surface of the ship body, the telescopic rod component drives the electromagnet to be close to the ship body, and accordingly adsorption force is generated.

In addition, the cleaning assembly 4 comprises a fixed frame 401 fixed on the vehicle body frame 1, an electric telescopic rod 402, a third motor 403, a brush disc 404 and an elastic member 405 arranged between the third motor 403 and the electric telescopic rod 402; the electric telescopic rod 402 is connected with the fixed frame 401, a push rod of the electric telescopic rod 402 is connected with the third motor 403, the third motor 403 drives the brush disc 404 to rotate, and the elastic part 405 buffers the impact force between the third motor 403 and the electric telescopic rod 402. When the ship reaches the cleaning position, the electric telescopic rod 402 pushes the third motor 403 and the brush disc 404 to move downwards, after the brush disc 404 contacts the ship body, the elastic piece 405 buffers impact force generated at the moment that the brush disc 404 contacts the ship body, and the third motor 403 drives the brush disc 404 to rotate to clean the ship body. The brush plate is provided with nylon bristles 406 and a scraper 407.

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 ship body decontamination robot with the screw thrust comprises a vehicle body framework (1), wherein a moving component (2), a driving component (3) for driving the moving component (2) to move, a decontamination component (4) and a magnetic adsorption device (5) are mounted on the vehicle body framework (1), the decontamination component (4) is mounted at the central position of the vehicle body framework (1), the ship body decontamination robot is characterized in that a plurality of propeller components (6) are uniformly distributed on the vehicle body framework (1), each propeller component (6) comprises a paddle (601) and a shell (602) connected with the paddle (601), and a power source for driving the paddle (601) to rotate is mounted in the shell (602); the shell (602) is connected with a driving mechanism (7) for driving the shell (602) to rotate.

2. The hull decontaminating robot with screw thrust according to claim 1, wherein the propeller assemblies (6) are provided at four end corners of the vehicle body frame (1).

3. The hull decontaminating robot with spiral thrust according to claim 1, wherein the driving mechanism (7) comprises a driving cam (701), a driven cam (702), a connecting rod (703) and a first motor (704) for driving the driving cam (701) to rotate; the driven cam (702) is connected with the shell (602), and the driving cam (701) is connected with the driven cam (702) through a connecting rod (703).

4. The hull decontaminating robot with screw thrust according to claim 1, wherein the moving assembly (2) comprises track assemblies disposed at four end corners of the body frame (1).

5. The hull decontamination robot with spiral thrust according to claim 4, wherein the track assembly comprises a magnetic track (201), a driving wheel (202) for driving the magnetic track (201) to roll, a first V-shaped connecting frame (203), and a driven wheel assembly (204); the center point of the first V-shaped connecting frame (203) is rotationally connected with the driving wheel (202), and two groups of driven wheel assemblies (204) are arranged and are respectively rotationally connected with two ends of the first V-shaped connecting frame (203).

6. The hull cleaning robot with the spiral thrust according to claim 5, characterized in that the driving component (3) is arranged at one end of the vehicle body frame (1), the driving component (3) comprises a second motor (301) and a gearbox (302) which are respectively arranged at two sides of the vehicle body frame (1), and the second motor (301) is connected with the driving wheel (202) through the gearbox (302).

7. The hull decontaminating robot with spiral thrust according to claim 5, wherein the driven wheel assembly (204) comprises a second V-shaped connecting frame (205) and two driven wheels (206), the middle point of the second V-shaped connecting frame (205) is rotatably connected with the two ends of the first V-shaped connecting frame (203), and the driven wheels (206) are respectively mounted on the two ends of the second V-shaped connecting frame (205).

8. The hull decontaminating robot with screw thrust according to claim 7, wherein said track assembly further comprises a link plate (207), said link plate (207) connecting all the rotational connection points of said first and second V-shaped link frames (203, 205).

9. The hull decontaminating robot with spiral thrust according to claim 1, wherein the magnetic adsorption device (5) is disposed on both sides of the vehicle body frame (1) and comprises an electromagnet (501) and a telescopic rod assembly (502) for driving the electromagnet (501) to move.

10. The hull dirt removing robot with the spiral thrust according to claim 1, characterized in that the dirt removing assembly (4) comprises a fixed frame (401), an electric telescopic rod (402), a third motor (403), a brush disc (404) and an elastic member (405) arranged between the third motor (403) and the electric telescopic rod (402); the electric telescopic rod (402) is connected with the fixing frame (401), a push rod of the electric telescopic rod (402) is connected with the third motor (403), the third motor (403) drives the brush disc (404) to rotate, and the elastic piece (405) buffers the impact force between the third motor (403) and the electric telescopic rod (402).