CN212046712U

CN212046712U - Wheel used on ship bottom cleaning robot

Info

Publication number: CN212046712U
Application number: CN202020298690.4U
Authority: CN
Inventors: 何伊枫; 闫海强; 周姝伶; 李洁; 丁栅栅
Original assignee: Donghai Science and Technology Colloge of ZJOU
Current assignee: Donghai Science and Technology Colloge of ZJOU
Priority date: 2020-03-11
Filing date: 2020-03-11
Publication date: 2020-12-01
Anticipated expiration: 2030-03-11

Abstract

The utility model provides a be used in wheel on hull bottom cleaning machines people belongs to hull bottom cleaning device field. It has solved current hull bottom clearance robot technical problem such as inconvenient turn of during operation and sideslip. This wheel includes wheel hub, the wheel hub outside is provided with a plurality of telescopic links around the equipartition, every telescopic link is extended along wheel hub radial outside by wheel hub's middle part, the telescopic link periphery is provided with a plurality of deformation subassemblies and the quantity of deformation subassembly is two times of the quantity of telescopic link around the equipartition, the deformation subassembly outer end is provided with a plurality of arcs, connect through the connecting axle between the adjacent deformation subassembly, the cover is equipped with the axle sleeve on the connecting axle, axle sleeve and telescopic link one-to-one set up, the telescopic link links firmly rather than corresponding axle. The wheel can deform in the moving process of the wheel by arranging the deformation assembly, so that the wheel is convenient to turn; and the axle sleeve arranged on the wheel can move along the connecting shaft to enable the wheel to move transversely.

Description

Wheel used on ship bottom cleaning robot

Technical Field

The utility model belongs to the technical field of the hull bottom cleaning device, a wheel that is used for hull bottom cleaning robot is related to.

Background

Hydraulic engineering of various present scales, ocean platform and ship develop rapidly, it has a large amount of marine organisms and silt all to adhere to all kinds of underwater engineering equipment thereupon, be difficult to clear up and seriously influence the problem of equipment work, for example, the water gate guide rail and the rectangle seal frame of offshore drilling platform pump house are in the sea under for a long time, have a large amount of oyster, marine organisms such as marine alga, cause the water gate can't close to target in place or even block, consequently will clear up these underwater debris, now adopt the method of manual cleaning mostly, it is consuming time longer, the risk is higher, along with modern robot's development, the clearance of underwater debris also gradually realizes automaticly.

Chinese patent (publication number: CN 108708419A; publication date: 2018-10-26) discloses a magnetic crawler type underwater cleaning robot, which comprises a top plate, side plates, a bottom plate, a magnetic walking device, a manipulator, a cleaning device, an integrated magnetic pole bar, a camera, a first motor mounting seat, a first motor, a first propeller shield, a second motor mounting seat, a second motor, a second propeller shield and a cabin body, wherein the magnetic walking device is fixed above the top plate, the manipulator is fixed above the bottom plate, and the cleaning device is fixed below the bottom plate.

The magnetic crawler-type underwater cleaning robot in the patent document enables the robot to move close to the bottom of a ship through the magnetic walking device, sundries in water are cleaned through the mechanical arm and the cleaning device, cleaning efficiency is improved, and cleaning effect is enhanced. However, in actual work, the robot is found to be inconvenient to turn and move transversely.

Disclosure of Invention

The utility model discloses according to the above-mentioned problem that prior art exists, a wheel that is used for hull bottom cleaning robot is provided, the utility model aims to solve the technical problem that: how to make the wheel on the ship bottom cleaning robot turn and move transversely conveniently.

The purpose of the utility model can be realized through the following technical scheme:

a wheel used on a ship bottom cleaning robot comprises a wheel hub and is characterized in that a plurality of telescopic rods are uniformly distributed around the outer side of the wheel hub, each telescopic rod extends outwards along the radial direction of the wheel hub from the middle of the wheel hub, a plurality of deformation assemblies are uniformly distributed around the periphery of each telescopic rod, the number of the deformation assemblies is twice that of the telescopic rods, each deformation assembly comprises a plurality of groups of polygonal parallel four-bar mechanisms, planes where the groups of parallel four-bar mechanisms are located are uniformly distributed around the same intersecting line at intervals, first ends of the groups of parallel four-bar mechanisms are connected with each other, opposite second ends of the groups of parallel four-bar mechanisms are also connected with each other, arc-shaped plates are arranged at third ends and fourth ends of the groups of parallel four-bar mechanisms, two adjacent deformation assemblies are connected with each other through a connecting shaft and a universal joint, and a shaft, the shaft sleeves are arranged in one-to-one correspondence with the telescopic rods, and the outer ends of the telescopic rods are fixedly connected with the corresponding shaft sleeves.

The working principle is as follows: in the working process of the wheel, the length of the telescopic rod is adjusted, and the diameter of the wheel is changed to a proper length; the arc-shaped plate on the deformation assembly is contacted with the bottom surface of the ship and moves on the bottom surface of the ship, so that the wheels move on the bottom surface of the ship; when the wheel met the barrier, the deformation subassembly produced deformation, and a plurality of arcs homoenergetic on every deformation subassembly can form the gyro wheel to drive the wheel and turn round or the sideslip. The wheels can turn and transversely move on the bottom surface of the ship, and convenience is provided for the cleaning robot.

In the wheel for the ship bottom cleaning robot, each deformation assembly comprises three groups of parallel four-bar mechanisms which are encircled to form a polygon, and each group of parallel four-bar mechanisms comprises four movable bars; the universal joints are arranged at two ends of the connecting shaft, the two universal joints are symmetrically arranged, end pieces are connected to the outer sides of the universal joints, the end pieces are of hexagonal ring structures, one end part of the movable rod is movably connected to the end pieces, and the other end part of the movable rod is fixedly connected with the arc-shaped plate through a connecting rod; and a connecting plate is fixedly connected to the outer side of the end piece and is movably connected with the universal joint. The movable rod, the end piece and the universal joint can move, so that the deformation assembly can deform according to the condition of the bottom surface of the ship.

In the wheel used on the ship bottom cleaning robot, the telescopic rod comprises a fixed sleeve fixedly arranged in the middle of the wheel hub and a connecting rod, one end of the connecting rod is slidably inserted in the fixed sleeve, the other end of the connecting rod is fixedly connected with the shaft sleeve, and the connecting rod has elasticity. The buffer function can be achieved, and the wheels are prevented from being damaged by external force.

In the above wheel for use in the boat bottom cleaning robot, the arc-shaped plate is a magnetic plate. The arc-shaped plate of magnetism can adsorb at the hull bottom, prevents that the robot from dropping.

In foretell wheel of being used in hull bottom cleaning machines people, the arc is followed the center of end spare is encircleed the equipartition and is set up, the cross-section between the both sides of arc and between the both ends all is the arcwall face. The arc-shaped plate can roll on the bottom surface of the ship to drive the wheels to move.

In foretell wheel of being used in on ship bottom cleaning machines people, the arc inboard is provided with the buckle, connecting rod one end is provided with the draw-in groove, buckle and draw-in groove link firmly through the pin. The fixed connection of the arc-shaped plate and the connecting rod is ensured.

In the above-mentioned wheel that is used in hull bottom cleaning machines people, universal joint one end is the arc end, the universal joint other end is the rectangle end, the end connection of connecting axle is in the rectangle end, the arc end with the connecting plate rotates and is connected. The adjacent deformation components can move relatively through the rotating fit of the arc-shaped end of the universal joint and the connecting plate.

In the wheel used on the ship bottom cleaning robot, the wheel is further provided with a motor for driving the connecting shaft to move. The wheel can be driven by a motor to move transversely.

Compared with the prior art, the wheels used on the ship bottom cleaning robot can deform according to the condition of the ship bottom surface by arranging the deformation assembly, so that the wheels are driven to turn; the motor drives the shaft sleeve to move along the connecting shaft to drive the wheels to transversely move; and through setting up the arc of taking magnetism, adsorb and move on the hull bottom with the hull bottom to drive the wheel and stably move at the hull bottom.

Drawings

Fig. 1 is a schematic structural view of a wheel used in the bottom cleaning robot.

Fig. 2 is a schematic structural view of a deforming assembly.

Fig. 3 is a schematic cross-sectional view at a-a in fig. 1.

Fig. 4 is an enlarged schematic view at B in fig. 1.

Fig. 5 is an enlarged schematic view at C in fig. 3.

In the figure, 1, a hub; 2. a telescopic rod; 3. a deformation assembly; 4. an arc-shaped plate; 5. a connecting shaft; 6. a shaft sleeve; 7. a connecting rod; 8. a connecting plate; 9. buckling; 10. a card slot; 11. a pin; 31. a tip member; 32. a movable rod; 33. a universal joint; 331. an arcuate end; 332. a rectangular end.

Detailed Description

The following is a detailed embodiment of the present invention and is further described with reference to the accompanying drawings, but the present invention is not limited to the following embodiment.

As shown in fig. 1, 2 and 4, the wheel used on the ship bottom cleaning robot comprises a wheel hub 1, a plurality of telescopic rods 2 are uniformly distributed around the outer side of the wheel hub 1, each telescopic rod 2 extends from the middle part of the wheel hub 1 radially outwards along the wheel hub 1, a plurality of deformation assemblies 3 are uniformly distributed around the periphery of each telescopic rod 2, the number of the deformation assemblies 3 is twice that of the telescopic rods 2, each deformation assembly 3 comprises a plurality of groups of polygonal parallel four-bar mechanisms, planes where the groups of parallel four-bar mechanisms are located are uniformly distributed around the same intersecting line at intervals, first ends of the groups of parallel four-bar mechanisms are connected with each other, opposite second ends of the groups of parallel four-bar mechanisms are also connected with each other, arc-shaped plates 4 are arranged on third ends and fourth ends of the groups of the parallel four-bar mechanisms, and two adjacent deformation assemblies 3 are connected with each other through a connecting shaft 5, the connecting shaft 5 is sleeved with a shaft sleeve 6, the shaft sleeve 6 and the telescopic rod 2 are arranged in a one-to-one correspondence mode, and the outer end of the telescopic rod 2 is fixedly connected with the shaft sleeve 6 corresponding to the outer end of the telescopic rod. Each deformation assembly 3 comprises three groups of parallel four-bar mechanisms which are encircled to form a polygon, and each group of parallel four-bar mechanisms comprises four movable bars 32; the universal joints 33 are arranged at two ends of the connecting shaft 5, the two universal joints 33 are symmetrically arranged, the outer side of each universal joint 33 is connected with a head piece 31, each head piece 31 is of a hexagonal ring structure, one end part of each movable rod 32 is movably connected to the corresponding head piece 31, and the other end part of each movable rod 32 is fixedly connected with the arc-shaped plate 4 through a connecting rod 7; the outer side of the end head piece 31 is fixedly connected with a connecting plate 8, and the connecting plate 8 is movably connected with the universal joint 33; further, the telescopic rod 2 comprises a fixed sleeve fixedly arranged in the middle of the hub 1 and a connecting rod with one end slidably inserted in the fixed sleeve, the other end of the connecting rod is fixedly connected with the shaft sleeve 6, and the connecting rod has elasticity; one end of the universal joint 33 is an arc-shaped end 331, the other end of the universal joint 33 is a rectangular end 332, the end part of the connecting shaft 5 is connected to the rectangular end 332, and the arc-shaped end 331 is rotatably connected with the connecting plate 8; the hub 1 is also provided with a motor for driving the connecting shaft 5 to move.

Specifically, the telescopic rod 2 is telescopic, so that the diameter of the wheel can be changed to a proper length; an arc-shaped plate 4 connected with the outer end of the deformation component 3 is contacted with the bottom surface of the ship and drives wheels to move on the bottom surface of the ship; the motor drives the shaft sleeve 6 to move along the connecting shaft 5, so that the wheels can transversely move; when the wheel encounters an obstacle, the head piece 31 and the movable rod 32 move, the deformable members 3 deform, and the arc-shaped end 331 of the universal joint 33 also rotates around the connecting plate 8, so that the adjacent deformable members 3 move relative to each other, and the wheel turns.

As shown in fig. 3 and 5, the arc-shaped plate 4 in the present embodiment is preferably a magnetic plate; the sections between the two sides and between the two ends of the arc-shaped plate 4 are arc-shaped surfaces; the arc plates 4 are arranged around the center of the end piece 31. The buckle 9 is arranged on the inner side of the arc-shaped plate 4, the clamping groove 10 is arranged at one end of the connecting rod 7, and the buckle 9 and the clamping groove 10 are fixedly connected through a pin 11. Buckle 9 and draw-in groove 10 cooperation and connect through pin 11 to couple together connecting rod 7 and arc 4, arc 4 removes on the ship bottom surface, thereby drives the wheel and removes on the ship bottom surface, and arc 4 has the adsorption of action with the ship bottom surface, can prevent that cleaning robot from dropping.

Although more 1, hub is used herein; 2. a telescopic rod; 3. a deformation assembly; 4. an arc-shaped plate; 5. a connecting shaft; 6. a shaft sleeve; 7. a connecting rod; 8. a connecting plate; 9. buckling; 10. a card slot; 11. a pin; 31. a tip member; 32. a movable rod; 33. a universal joint; 331. an arcuate end; 332. rectangular ends, etc., but does not exclude the possibility of using other terms. These terms are used merely to more conveniently describe and explain the nature of the present invention; they are to be construed as being without limitation to any additional limitations that may be imposed by the spirit of the present invention.

Claims

1. The wheel for the ship bottom cleaning robot comprises a wheel hub (1) and is characterized in that a plurality of telescopic rods (2) are uniformly distributed around the outer side of the wheel hub (1), each telescopic rod (2) extends outwards along the radial direction of the wheel hub (1) from the middle of the wheel hub (1), a plurality of deformation assemblies (3) are uniformly distributed around the periphery of each telescopic rod (2), the number of the deformation assemblies (3) is twice that of the telescopic rods (2), each deformation assembly (3) comprises a plurality of groups of parallel four-bar mechanisms which are polygonal in a surrounding mode, planes in which the plurality of groups of parallel four-bar mechanisms are located are uniformly distributed at intervals around the same intersecting line, first ends of the plurality of groups of parallel four-bar mechanisms are mutually connected, opposite second ends of the plurality of groups of parallel four-bar mechanisms are also mutually connected, and arc-shaped plates (4) are arranged at the third ends and the fourth ends of, two adjacent be connected through connecting axle (5) and universal joint (33) between deformation subassembly (3), the cover is equipped with axle sleeve (6) on connecting axle (5), axle sleeve (6) with telescopic link (2) one-to-one sets up just the outer end of telescopic link (2) rather than corresponding axle sleeve (6) link firmly.

2. Wheel for use on a bilge cleaning robot according to claim 1, characterized in that each deformation assembly (3) comprises three sets of four-parallel-bar linkages surrounding in a polygonal shape, each set of four-parallel-bar linkages comprising four movable bars (32); the universal joints (33) are arranged at two ends of the connecting shaft (5), the two universal joints (33) are symmetrically arranged, the outer side of each universal joint (33) is connected with a head piece (31), each head piece (31) is of a hexagonal ring structure, one end part of each movable rod (32) is movably connected to each head piece (31), and the other end part of each movable rod is fixedly connected with the arc-shaped plate (4) through a connecting rod (7); the outer side of the end piece (31) is fixedly connected with a connecting plate (8), and the connecting plate (8) is movably connected with the universal joint (33).

3. The wheel for a ship bottom cleaning robot as claimed in claim 1 or 2, wherein the telescopic rod (2) comprises a fixed sleeve fixed in the middle of the wheel hub (1) and a connecting rod with one end slidably inserted in the fixed sleeve, the other end of the connecting rod is fixedly connected with the shaft sleeve (6), and the connecting rod has elasticity.

4. Wheel for use on a boat bottom clearing robot according to claim 1 or 2, characterized in that the arc-shaped plate (4) is a magnetic plate.

5. Wheel for a bottom clearing robot according to claim 1 or 2 characterized in that the cross section between the two sides and between the two ends of the arc plate (4) is arc shaped.

6. The wheel used on the ship bottom cleaning robot is characterized in that a buckle (9) is arranged on the inner side of the arc-shaped plate (4), a clamping groove (10) is arranged at one end of the connecting rod (7), and the buckle (9) and the clamping groove (10) are fixedly connected through a pin (11).

7. The wheel for a bottom clearing robot according to claim 2, characterized in that the universal joint (33) has an arc-shaped end (331) at one end and a rectangular end (332) at the other end, the end of the connecting shaft (5) is connected to the rectangular end (332), and the arc-shaped end (331) is rotatably connected to the connecting plate (8).