CN217994756U - Autonomous underwater cleaning robot for large ship - Google Patents
Autonomous underwater cleaning robot for large ship Download PDFInfo
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- CN217994756U CN217994756U CN202222268249.3U CN202222268249U CN217994756U CN 217994756 U CN217994756 U CN 217994756U CN 202222268249 U CN202222268249 U CN 202222268249U CN 217994756 U CN217994756 U CN 217994756U
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Abstract
The utility model discloses a large ship independently cleans robot under water belongs to cleaning machines people technical field, including robot main part, advancing mechanism, buoyancy control structure and the structure of cleaning, advancing mechanism includes flexible track propulsion structure and wheeled propulsion structure, be provided with a plurality of mounting groove in the robot main part, a plurality of propeller correspondence is installed in the mounting groove, buoyancy control structure includes the first negative pressure turbine of a plurality of and a plurality of second negative pressure turbine, a plurality of first negative pressure turbine and a plurality of second negative pressure turbine all connect in the robot main part, the structure of cleaning is including cleaning first motor, gear, conveying chain and a plurality of brush head. The utility model discloses a set up advancing mechanism, buoyancy control structure, clean structure, position locator, cursory umbilical cable mechanism and image acquisition mechanism of connecting in the robot main part, with the help of mutually supporting of each unit, improve the clean efficiency and the effect of boats and ships.
Description
Technical Field
The utility model belongs to the technical field of cleaning machines people, especially, relate to a large-scale boats and ships independently brush robot under water.
Background
In the process of long-term navigation of the ship, shellfish and rusty spots and the like can be easily attached to the surface of the underwater part of the ship body, the navigation speed and the service life of the ship are seriously influenced, and the consumption of fuel oil is also increased, so that the ship needs to be periodically cleaned by an underwater cleaning robot.
The underwater brushing robot is mainly applied to the brushing operation of attachments on the outer surface of a ship body, and the most basic functions of the underwater brushing robot are an adsorption function and a walking function. Because the working wall surface is the hull surface, the large curvature change and the protruding welding seam exist on the local surface, the underwater working environment is complex, the existing robot cannot keep good obstacle crossing performance in the propelling process, and meanwhile, the system integration level of the existing underwater cleaning robot is not high, and the large ship cannot be cleaned efficiently.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a: the large-scale ship autonomous underwater cleaning robot aims at solving the problems that the existing robot propulsion process cannot keep good obstacle crossing performance, and meanwhile, the system integration level of the existing underwater cleaning robot is not high, and efficient cleaning can not be carried out on a large-scale ship.
In order to realize the purpose, the utility model adopts the following technical scheme: the utility model provides a large-scale boats and ships independently brush robot under water, includes robot main part, advancing mechanism, buoyancy control structure and brushwork structure, advancing mechanism includes flexible track advancing structure and wheeled advancing structure, be provided with a plurality of mounting groove in the robot main part, a plurality of propeller correspondence is installed in the mounting groove, buoyancy control structure includes the first negative pressure turbine of a plurality of and a plurality of second negative pressure turbine, a plurality of first negative pressure turbine and a plurality of second negative pressure turbine all connect in the robot main part, brushwork structure is including brushwork head motor, gear, conveying chain and a plurality of brushwork head.
As a further description of the above technical solution:
a plurality of first negative pressure turbine passes through first link and connects perpendicularly in on the robot main part, a plurality of second negative pressure turbine passes through the second link slope and connects in on the robot main part.
As a further description of the above technical solution:
the flexible crawler propelling structures are rotatably connected to two sides of the robot main body in parallel, and the wheel type propelling structures are rotatably and vertically connected to one side of the robot main body in the advancing direction.
As a further description of the above technical solution:
the flexible crawler propelling structure comprises a first driving motor, a chain and a crawler, wherein a transmission gear is arranged on the first driving motor, the chain is connected to the transmission gear, and the crawler is connected to the chain.
As a further description of the above technical solution:
the wheel type propelling structure comprises a rotating wheel and a second driving motor, and the rotating wheel is connected to the second driving motor.
As a further description of the above technical solution:
the gear is connected on the cleaning head motor, the conveying chain is connected on the gear, and the cleaning head is connected on the conveying chain.
As a further description of the above technical solution:
the robot main body is also provided with a position locator.
As a further description of the above technical solution:
the robot main body is provided with a buoy connecting umbilical cable mechanism and an image acquisition mechanism.
To sum up, owing to adopted above-mentioned technical scheme, the beneficial effects of the utility model are that:
1. the utility model discloses in, through set up advancing mechanism, buoyancy control structure, the structure of brushing, position locator, cursory connection navel cable mechanism and image acquisition mechanism in the robot main part, mutually supporting of each unit, the system integration level is high, realizes the absorption of hull, impels, independently high-efficient the inspection of brushing and brushing the effect, has improved the clean efficiency and the effect of boats and ships greatly.
2. The utility model discloses in, through setting up advancing mechanism, advancing mechanism includes flexible track advancing structure and wheeled advancing structure, and the advancing mechanism system of robot and hull adopts flexible track mechanism + wheeled advancing mechanism, and good mobility is guaranteed to the wheeled, and the crawler-type guarantees good obstacle crossing nature, can ensure to accomplish the operating requirement in complicated changeable unknown environment, and wear-resisting corrosion-resistant rubber coating protection is all done to the contact surface, avoids damaging the ship lacquer. The front and rear wheel transmission shaft mechanisms are matched with a forward and reverse driving system, and the forward and reverse movement of the robot can be freely controlled.
3. The utility model discloses in, through installing the driver in the robot main part, the upper end is realized the robot attitude adjustment by 4 sets of negative pressure turbine group (buoyancy control structure) cooperation gyroscope systems, realizes that the backstepping adsorbs in the hull surface to ensure to continue to impel and backstepping to adsorb in the hull surface, guarantee the attitude control of robot system aquatic.
4. The utility model discloses in, the structure of scrubbing includes the first motor of scrubbing, the gear, the head is scrubbed to conveying chain and a plurality of, make the robot main part at the in-process that removes, the first motor drive connecting axle of scrubbing rotates, thereby it rotates to drive the gear, make the head of scrubbing to scrub the boats and ships surface, wherein position sensor assists intelligent control algorithm to realize the underwater navigation location and the path planning of robot, image acquisition mechanism adopts the degree of depth camera, multi-beam sonar detection system, realize the image acquisition discernment of attachment before scrubbing under water, image real time monitoring in the scrubbing in-process, and image acquisition after scrubbing, multi-beam sonar system is used for enlarging visual field detection under water, realize the target detection under the muddy situation, discernment, search, real-time tracking. This robot can also realize that boats and ships week environment is surveyd, the hull paint finish is damaged, damage defects such as crack carry out image acquisition discernment, the design of navel cable mechanism fastening formula docking mechanism is connected to the cursory, ensure cooperation operation between cursory and the robot, cursory integrated system provides effective power supply for robot integrated system, communication, functions such as data transmission, the structure of brushing, position sensor, image acquisition mechanism and cursory mutually supporting of connecting navel cable mechanism, the realization carries out route planning to the boats and ships surface, survey, communication transmission and effective brushing, ensure the high efficiency of brushing.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a first perspective view of an autonomous underwater cleaning robot for a large ship.
Fig. 2 is a second perspective view of the autonomous underwater cleaning robot for the large ship.
Fig. 3 is a bottom view of an autonomous underwater cleaning robot for a large ship.
Illustration of the drawings:
1-a robot body; 2-a propulsion mechanism; 21-a flexible track propulsion structure; 211-a first drive motor; 212-a chain; 213-crawler belt; 22-a wheeled propulsion structure; 221-a rotating wheel; 222-a second drive motor; 3-a buoyancy control structure; 31-a first negative pressure turbine; 32-a second negative pressure turbine; 4-a brushing structure; 41-a brush head motor; 42-gear; 43-a conveyor chain; 44-a clean brush head; 5-mounting grooves; 6-a propeller; 7-a first connecting frame; 8-a second link; 9-a position locator; 10-a buoy umbilical cable connecting mechanism; 11-an image acquisition mechanism; 12-transmission gear.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the embodiments of the present invention, it should be noted that the directions or positional relationships indicated by the terms "upper", "inner", etc. are based on the directions or positional relationships shown in the drawings, or the directions or positional relationships usually placed when the utility model is used, and are only for convenience of description and simplification of the description, but not for indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be construed as limiting the present invention.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1-3, the present invention provides a technical solution: the utility model provides a large vessel is independently robot of brushing under water, includes robot main part 1, advancing mechanism 2, buoyancy control structure 3 and brushing structure 4, advancing mechanism 2 includes flexible track propulsion structure 21 and wheeled propulsion structure 22, be provided with a plurality of mounting groove 5 on the robot main part 1, a plurality of propeller 6 is corresponding to be installed in mounting groove 5, buoyancy control structure 3 includes the first negative pressure turbine 31 of a plurality of and a plurality of second negative pressure turbine 32, a plurality of first negative pressure turbine 31 and a plurality of second negative pressure turbine 32 all connects in the robot main part 1 is last, brushing structure 4 is including brushing head motor 41, gear 42, conveying chain 43 and a plurality of brush head 44.
Wherein the propeller is a negative pressure turbine.
The structure of brushing is located the head of robot main part for carry out the brush to the hull, robot main part bottom still is provided with thin brush subassembly, brushes slightly earlier then, improves the effect of brushing.
A plurality of first negative pressure turbine 31 is vertically connected on the robot main body 1 through a first connecting frame 7, and a plurality of second negative pressure turbine 32 is obliquely connected on the robot main body 1 through a second connecting frame 8.
The flexible crawler propelling structures 21 are rotatably connected in parallel to two sides of the robot main body 1 in the traveling direction, and the wheel propelling structures 22 are rotatably connected to one side of the robot main body 1 in the traveling direction.
The flexible track propelling structure 21 comprises a first driving motor 211, a chain 212 and a track 213, wherein the first driving motor 211 is provided with a transmission gear 12, the chain 212 is connected to the transmission gear 12, and the track 213 is connected to the chain 212.
The wheel type propulsion structure 22 comprises a rotating wheel 221 and a second driving motor 222, wherein the rotating wheel 221 is connected to the second driving motor 222.
The gear 42 is connected to the brush cleaning head motor 41, the transmission chain 43 is connected to the gear 42, and the brush cleaning head 44 is connected to the transmission chain 43.
The robot main body 1 is also provided with a position locator 9.
The robot main body 1 is provided with a buoy connecting umbilical cable mechanism 10 and an image acquisition mechanism 11.
The working principle is as follows: through set up advancing mechanism, buoyancy control structure, the structure of brushing, position locator, cursory umbilical cable mechanism and image acquisition mechanism of connecting in the robot main part, advancing mechanism includes flexible track advancing structure and wheeled advancing structure, and the advancing mechanism system of robot and hull adopts flexible track mechanism + wheeled advancing mechanism, and good mobility is guaranteed to wheeled, and good obstacle crossing nature is guaranteed to the crawler-type, can ensure to accomplish the operational requirement in complicated changeable unknown environment. The contact surface is protected by wear-resistant and corrosion-resistant rubber coating, so that the ship paint is prevented from being damaged. The front and rear wheel transmission shaft mechanisms are matched with a forward and reverse driving system, and can freely control the forward and reverse movement of the robot; wherein the driver is installed in the robot main part, the upper end is realized the robot gesture adjustment by 4 sets of negative pressure turbine group (buoyancy control structure) cooperation gyroscope systems, realize that the counterthrust adsorbs on the hull surface, and ensure to continue to impel and the counterthrust adsorbs on the hull surface, guarantee the gesture regulation of robot system aquatic, the scrubbing structure is including scrubbing head motor, the gear, conveying chain and a plurality of scrubbing head, make the robot main part at the in-process that removes, scrubbing head motor drive connecting axle rotates, thereby drive the gear and rotate, make scrubbing head scrub the boats and ships surface, wherein position sensor realizes the control of robot underwater location and path planning, image acquisition mechanism adopts the degree of depth camera, multi-beam sonar detecting system, realize the image acquisition discernment of attachment before the underwater scrubbing, the image real time monitoring of the scrubbing in-process, and the image acquisition after scrubbing. The multi-beam sonar system is used for expanding underwater visual field detection and realizing target detection, identification, search and real-time tracking under a turbid condition. The robot can also realize that boats and ships whole body environment is surveyd, the damaged defect such as hull lacquer painting is damaged, the crack carries out image acquisition discernment, cursory connection navel cable mechanism fastening formula docking mechanism design, guarantee to float and the robot between the operation in coordination, cursory integrated system provides effective power supply for robot integrated system, communication, functions such as data transmission, the design of this structure, the integrated level is high, realize the absorption of hull, impel and the inspection of clean effect, the clean efficiency and the effect of boats and ships have been improved greatly.
The above, only be the embodiment of the preferred of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, which are designed to be replaced or changed equally, all should be covered within the protection scope of the present invention.
Claims (8)
1. The utility model provides a large vessel independently cleans robot under water, its characterized in that, includes robot main part (1), advancing mechanism (2), buoyancy control structure (3) and cleans structure (4), advancing mechanism (2) are including flexible track propulsion structure (21) and wheeled propulsion structure (22), be provided with a plurality of mounting groove (5) on robot main part (1), a plurality of propeller (6) are correspondingly installed in mounting groove (5), buoyancy control structure (3) include a plurality of first negative pressure turbine (31) and a plurality of second negative pressure turbine (32), a plurality of first negative pressure turbine (31) and a plurality of second negative pressure turbine (32) all connect on robot main part (1), clean structure (4) including cleaning brush first motor (41), gear (42), conveying chain (43) and a plurality of clean head (44).
2. The autonomous underwater cleaning robot for large ships according to claim 1, characterized in that a plurality of said first negative pressure turbines (31) are vertically connected to said robot body (1) through a first connecting frame (7), and a plurality of said second negative pressure turbines (32) are connected to said robot body (1) through a second connecting frame (8) in an inclined manner.
3. A large-vessel autonomous underwater brushing robot according to claim 2, characterized in that said flexible crawler propulsion structures (21) are rotatably connected in parallel on both sides of the traveling direction of said robot main body (1), and said wheel propulsion structures (22) are rotatably connected perpendicularly on one side of the traveling direction of said robot main body (1).
4. The autonomous underwater cleaning robot for large ships according to claim 3, characterized in that said flexible crawler propulsion structure (21) comprises a first driving motor (211), a chain (212) and a crawler (213), said first driving motor (211) is provided with a transmission gear (12), said chain (212) is connected to said transmission gear (12), and said crawler (213) is connected to said chain (212).
5. A large vessel autonomous underwater brushing robot according to claim 4, characterized in that said wheel-type propulsion structure (22) comprises a turning wheel (221) and a second driving motor (222), said turning wheel (221) being connected to said second driving motor (222).
6. A large vessel autonomous underwater robot as claimed in claim 5, characterized in that said gear (42) is connected to said brush head motor (41), said transfer chain (43) is connected to said gear (42), and said brush head (44) is connected to said transfer chain (43).
7. The autonomous underwater cleaning robot for large ships according to claim 6, characterized in that a position locator (9) is further arranged on the robot body (1).
8. The autonomous underwater cleaning robot for the large ship according to claim 7, characterized in that a buoy connecting umbilical cable mechanism (10) and an image acquisition mechanism (11) are arranged on the robot body (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222268249.3U CN217994756U (en) | 2022-08-25 | 2022-08-25 | Autonomous underwater cleaning robot for large ship |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222268249.3U CN217994756U (en) | 2022-08-25 | 2022-08-25 | Autonomous underwater cleaning robot for large ship |
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| Publication Number | Publication Date |
|---|---|
| CN217994756U true CN217994756U (en) | 2022-12-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202222268249.3U Active CN217994756U (en) | 2022-08-25 | 2022-08-25 | Autonomous underwater cleaning robot for large ship |
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| Country | Link |
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| CN (1) | CN217994756U (en) |
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2022
- 2022-08-25 CN CN202222268249.3U patent/CN217994756U/en active Active
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