CN219096947U

CN219096947U - Hull attachment cleaning robot

Info

Publication number: CN219096947U
Application number: CN202321000601.3U
Authority: CN
Inventors: 梁欣颖; 黄逊伟; 徐元哲; 王豪宇
Original assignee: Hainan Tropical Ocean University
Current assignee: Hainan Tropical Ocean University
Priority date: 2023-04-28
Filing date: 2023-04-28
Publication date: 2023-05-30
Anticipated expiration: 2033-04-28

Abstract

The utility model discloses a ship body attachment cleaning robot, which comprises a moving body and a cleaning mechanism arranged on the moving body; the sport machine body comprises two or more cabin bodies which are connected in sequence and can independently walk; each cabin body is provided with an adsorption mechanism and a travelling mechanism, the adsorption mechanism is used for adsorbing the cabin body on the ship body, and the travelling mechanism is used for driving the cabin body to travel on the ship body; the two travelling mechanisms are symmetrically arranged on the left side and the right side of the cabin body; the front and rear adjacent cabins are connected together through movable joints, and the cabins can self-adaptively rotate around the movable joints connected with the cabins in the walking process of the moving machine body so as to adapt to the shape of the ship body. The cabin body can be tightly attached to the ship body, so that the adsorption effect of the adsorption mechanism is kept, and the stability of the sport machine body in the walking process is improved.

Description

Hull attachment cleaning robot

Technical Field

The utility model belongs to the field of ship maintenance equipment, and particularly relates to a ship attachment cleaning robot.

Background

The marine organisms such as shellfish, barnacles, seaweed and the like and the corrosion generated by oxidation reaction can increase the friction force of the ship sailing in water, influence the sailing speed of the ship and further increase the oil consumption of the ship in the sailing process. The usual method for cleaning the ship needs to be carried out when the ship is berthed to the dock, so that the residence time of the ship in the dock is increased, the efficiency of cleaning the ship in the dock is low, the price is high, attachments cannot be cleaned timely, and finally the operation cost of the ship is greatly increased.

With the development of technology, automatic cleaning robots, such as wall climbing robots, have emerged; the existing cleaning robot mainly adopts a driving motor to drive travelling wheels to walk on the wall surface of a steel plate of a ship, and attachments on the ship body are cleaned through a cleaning mechanism in the walking process; however, the outer wall of the ship steel plate is not a regular plane, and the existing cleaning robots are of a single structure, so that the defects that the walking process is unstable and cannot adapt to the shape of a ship body exist.

In addition, the existing cleaning mechanism is of a fixed structure, cannot be adjusted along with the walking process, and when the cleaning robot walks, a part (such as a cleaning wheel) in the cleaning mechanism, which is in contact with the hull, cannot be always attached to the surface of the hull in the walking process, so that the cleaning effect is poor.

Disclosure of Invention

Aiming at the defects of the prior art, the main purpose of the utility model is to provide a ship body attachment cleaning robot.

In order to achieve the above main object, the present utility model provides a hull attachment cleaning robot including a moving body and a cleaning mechanism provided on the moving body; the sport machine body comprises two or more cabin bodies which are connected in sequence and can independently walk; each cabin body is provided with an adsorption mechanism and a travelling mechanism, the adsorption mechanism is used for adsorbing the cabin body on the ship body, and the travelling mechanism is used for driving the cabin body to travel on the ship body; the two travelling mechanisms are symmetrically arranged on the left side and the right side of the cabin body; the front and rear adjacent cabins are connected together through movable joints, and the cabins can self-adaptively rotate around the movable joints connected with the cabins in the walking process of the moving machine body so as to adapt to the shape of the ship body.

According to one embodiment of the utility model, the movable joint comprises a rotary connecting seat and a rotating shaft which forms a rotary fit with the rotary connecting seat; the rotating shaft and the rotary connecting seat are respectively arranged on the two adjacent cabin bodies.

According to one embodiment of the utility model, the travel mechanism comprises a track, a track wheel and a travel motor; the cabin body is provided with a side wall, the crawler wheels are arranged on the side wall, the crawler wheels are sleeved with the crawler wheels, and the travelling motor is arranged in the cabin body and is in driving connection with the crawler wheels.

Further, the adsorption mechanism comprises a plurality of magnetic pieces, and the magnetic pieces are arranged at intervals around the circumference of the crawler belt.

Further, the crawler belt is made of rubber, and anti-skid teeth are arranged on the annular outer side surface of the crawler belt.

According to one embodiment of the utility model, the cleaning mechanism comprises a support arm and a cleaning wheel detachably arranged on the support arm; wherein, the support arm is internally provided with a spring for keeping the cleaning wheel pressed on the ship body.

Further, the cleaning wheel comprises a cleaning wheel body and connecting shafts positioned at two ends of the cleaning wheel body; the support arm is provided with a mounting groove along the length direction of the support arm, and the connecting shaft vertically passes through the mounting groove and can slide in the mounting groove; the spring comprises a first spring and a second spring which are arranged in the mounting groove, and the first spring and the second spring are respectively abutted with the connecting shaft and are respectively positioned at two sides of the connecting shaft.

Further, the cleaning mechanism further comprises a pressing rod and a steering engine; the steering engine is fixed relative to the supporting arm, and a swing arm is arranged at the driving end of the steering engine; one end of the pressing rod is hinged with the swing arm, and the other end of the pressing rod is hinged with the connecting shaft.

According to one embodiment of the utility model, the cleaning mechanism further comprises a cleaning brush arranged alongside the cleaning wheel, the cleaning brush being located on the opposite rear side of the cleaning wheel.

According to one specific embodiment of the utility model, the moving body is provided with a vision module for acquiring the image information of the surface of the ship body so as to carry out cleaning path planning.

The utility model has the following beneficial effects:

the utility model has the advantages that the moving body is provided with two or more than two cabins which are sequentially connected and can independently walk, and the front cabin body and the rear cabin body are connected together through the movable joints, so that the cabins can self-adaptively rotate around the movable joints connected with the movable joints to adapt to the shape of the ship body in the walking process of the moving body, the cabins can be clung to the ship body as much as possible, the adsorption effect of the adsorption mechanism is favorably maintained, and the stability of the moving body in the walking process is improved.

The cleaning mechanism adopts a movable compression structure, the cleaning wheel body in the cleaning mechanism is arranged in the mounting groove of the supporting arm, and the cleaning wheel body is kept to be compressed on the ship body under the action of the spring, so that the cleaning mechanism is beneficial to improving the cleaning reliability and the cleaning effect.

The objects, technical solutions and advantages of the present utility model will be more clearly described below, and the present utility model will be further described in detail with reference to the accompanying drawings and the detailed description.

Drawings

FIG. 1 is a perspective view of embodiment 1 of the present utility model;

FIG. 2 is a side view of embodiment 1 of the present utility model;

FIG. 3 is a front view of embodiment 1 of the present utility model;

FIG. 4 is an enlarged view of a portion of the cleaning mechanism of FIG. 2;

fig. 5 is an exploded view showing the movable joint in embodiment 1 of the present utility model.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present utility model, however, the present utility model may be practiced in other ways than those described herein, and the scope of the utility model is therefore not limited to the specific embodiments disclosed below.

Examples

As shown in fig. 1 to 3, the hull attachment cleaning robot of embodiment 1 includes a moving body 10 and a cleaning mechanism 20; the moving body 10 is used for walking on the metal surface of the ship body, and the cleaning mechanism 20 is arranged on the moving body 10 and cleans the surface of the ship body in the walking process of the moving body 10; specifically, the exercise machine body 10 is preferably provided with a vision module 11, and the vision module 11 collects the image information of the hull surface and transmits the obtained image information to the control system of the exercise machine body 10, so as to plan the cleaning path of the exercise machine body 10. The vision module 11, for example, contains one or more cameras, which are not limited to the vision module 11 and are therefore not unfolded.

The exercise machine body 10 includes two or more than two cabin bodies 12 connected in sequence, thereby forming an elongated structure, and the exercise machine body 10 as shown in fig. 1 has two cabin bodies 12; in other embodiments, the number of tanks 12 may be three, four, or more, and the number of tanks 12 is not limited herein. In this embodiment, each cabin 12 is independently walkable; specifically, the front and rear adjacent cabins 12 are connected together through the movable joints 13, and during the running process of the moving machine body 10, the cabins 12 can self-adaptively rotate around the movable joints 13 connected with the cabins to adapt to the shape of the ship body, and particularly adapt to the running and cleaning of irregular planes on the ship body.

As shown in the specific structure of the movable joint 13 in fig. 5, the movable joint 13 includes a swivel connection base 131 and a rotating shaft 132, and the rotating shaft 132 and the swivel connection base 131 are respectively disposed on two adjacent cabin bodies 12; the rotating shaft 132 and the rotary connecting seat 131 form a running fit, and the two cabin bodies 12 are connected and simultaneously realize the relative rotation of the two cabin bodies 12, so that the cabin bodies 12 can be better attached to the surface of the ship body to walk, and the stability of the walking process can be maintained even when walking on an irregular plane of the ship body.

Further, each cabin 12 is provided with an adsorption mechanism (not shown) and a travelling mechanism 14; the adsorption mechanism is used for adsorbing the cabin 12 on the ship body, and the travelling mechanism 14 is used for driving the cabin 12 to travel on the ship body; with continued reference to fig. 1-2, the traveling mechanisms 14 are crawler-type mechanisms, and the number of traveling mechanisms 14 is two, and the two traveling mechanisms 14 are symmetrically disposed on the left and right sides of the cabin 12. Specifically, the travel mechanism 14 includes a crawler 141, a crawler wheel 142, and a travel motor.

The cabin 12 has a side wall 121, and the crawler wheels 142 are disposed on the side wall 121; the crawler belt 141 is sleeved on the crawler belt wheel 142, and the travelling motor is arranged in the cabin 12 and is in driving connection with the crawler belt wheel 142; in an alternative embodiment, the track 141 is preferably a rubber track, and anti-slip teeth 1411 are provided on an annular outer side of the track 141. In this embodiment, the side wall 121 of the cabin 12 is formed with a groove-shaped mounting portion 122, as shown in fig. 1, most of the travelling mechanism 14 is disposed in the groove-shaped mounting portion 122, so that the possible obstruction of the crawler 141 during travelling can be reduced.

In this embodiment, the adsorption mechanism includes a plurality of magnetic members, and the plurality of magnetic members are disposed at intervals around the circumference of the crawler 141; specifically, the magnetic members are disposed inside the track 141 one by one, without adversely affecting the rotation process of the track 141. The magnetic member is specifically a powerful magnet, and is arranged on the caterpillar band 141, so that the magnetic member can be more directly adsorbed on the metal wall of the ship body, and the stability and the effectiveness of the walking process of the cabin 12 are maintained.

Referring again to fig. 1-3, the cleaning mechanism 20 in the present embodiment is disposed on the front side of the moving body 10, and includes a support arm 21, a cleaning wheel 22, and a cleaning brush 23; the cleaning brush 23 is used for cleaning attachments on the surface of the ship body, for example, removing attachments on the surface of the ship body by knocking, shoveling and rubbing; the cleaning brush 23 is used for rubbing and brushing the hull surface, and cleaning the hull surface cleaned by the cleaning wheel 22 again; specifically, the cleaning brush 23 is disposed side by side with the cleaning wheel 22, and the cleaning brush 23 is located at the opposite rear side of the cleaning wheel 22.

Further, the cleaning wheel 22 is preferably detachably arranged on the support arm 21, so that different types of cleaning wheels 22 can be selected according to different application scenarios; wherein a spring 24 is provided in the support arm 21, the spring 24 being adapted to keep the cleaning wheel 22 pressed against the hull, and the spring 24 being also able to be compressed to clear obstacles when encountering some obstacles that cannot be cleared.

As shown in fig. 4, the cleaning wheel 22 includes a cleaning wheel body 221 and connecting shafts 222 at both end portions of the cleaning wheel body 221; the support arm 21 is provided with a mounting groove 211 along the length direction thereof, and the connecting shaft 222 vertically passes through the mounting groove 211 and can slide in the mounting groove 211; the spring 24 includes a first spring 241 and a second spring 242 disposed in the mounting groove 211, and the first spring 241 and the second spring 242 are respectively abutted against the connection shaft 222 and respectively located at both sides of the connection shaft 222. In an alternative embodiment, a support seat for supporting the connection shaft 222 and capable of sliding in the installation groove 211 may be provided in the installation groove 211, and the first spring 241 and the second spring 242 are respectively abutted against the support seat to rotatably support the connection shaft 22.

With continued reference to fig. 4, the cleaning mechanism 20 in this embodiment further includes a hold-down lever 25 and a steering engine 26; the steering engine 26 is fixed relative to the supporting arm 21, and a swing arm 27 is arranged at the driving end of the steering engine 26; one end of the pressing rod 25 is hinged with the swing arm 27, and the other end of the pressing rod 25 is hinged with the connecting shaft 222; wherein the steering engine 26 is located at the opposite side (the opposite upper side in fig. 4 in particular) of the cleaning wheel 22, so that the pressing rod 25 and the swing arm 27 form a crank-slider-like structure; specifically, the swing arm 27 is provided with a plurality of mounting holes 271 for connecting and matching with one end of the pressing rod 25, so as to facilitate adjusting the effect of the pressing rod 25 on the cleaning wheel 22.

In this embodiment, when the steering engine 26 drives the swing arm 27 to rotate, the relative position of the cleaning wheel 22 can be changed through the pressing rod 25, i.e. the cleaning wheel 22 can be driven to slide in the mounting groove 211; in this embodiment, under the synergistic effect of the steering engine 26 and the spring 24, the cleaning wheel 22 can be effectively ensured to be always clung to the surface of the ship body, so as to achieve a more reliable cleaning effect.

While the utility model has been described in terms of embodiments, these embodiments are not intended to limit the scope of the utility model. It is intended that all such modifications and variations as would be included within the scope of the utility model are within the scope of the utility model as defined by the appended claims.

Claims

1. A ship body attachment cleaning robot comprises a moving body and a cleaning mechanism arranged on the moving body; the method is characterized in that: the sport machine body comprises two or more cabin bodies which are connected in sequence and can independently walk; each cabin body is provided with an adsorption mechanism and a travelling mechanism, the adsorption mechanism is used for adsorbing the cabin body on the ship body, and the travelling mechanism is used for driving the cabin body to walk on the ship body; the traveling mechanisms are crawler-type mechanisms, the number of the traveling mechanisms is two, and the two traveling mechanisms are symmetrically arranged at the left side and the right side of the cabin body; the cabin bodies are connected together through movable joints, and in the running process of the moving machine body, the cabin bodies can self-adaptively rotate around the movable joints connected with the cabin bodies so as to adapt to the shape of the ship body.

2. The hull attachment cleaning robot of claim 1, wherein: the movable joint comprises a rotary connecting seat and a rotating shaft which is in rotary fit with the rotary connecting seat; the rotating shaft and the rotary connecting seat are respectively arranged on two adjacent cabin bodies.

3. The hull attachment cleaning robot of claim 1, wherein: the advancing mechanism comprises a crawler belt, a crawler wheel and an advancing motor; the cabin body is provided with a side wall, the crawler wheels are arranged on the side wall, the crawler wheels are sleeved with the crawler wheels, and the travelling motor is arranged in the cabin body and is in driving connection with the crawler wheels.

4. A hull attachment cleaning robot according to claim 3, wherein: the adsorption mechanism comprises a plurality of magnetic pieces, and the magnetic pieces are arranged around the circumference of the crawler at intervals.

5. The hull attachment cleaning robot of claim 4, wherein: the crawler belt is made of rubber, and anti-slip teeth are arranged on the annular outer side face of the crawler belt.

6. The hull attachment cleaning robot of claim 1, wherein: the cleaning mechanism comprises a supporting arm and a cleaning wheel detachably arranged on the supporting arm; wherein, be equipped with in the support arm be used for keeping the cleaning wheel compresses tightly the spring on the hull.

7. The hull attachment cleaning robot of claim 6, wherein: the cleaning wheel comprises a cleaning wheel body and connecting shafts positioned at two ends of the cleaning wheel body; the support arm is provided with a mounting groove along the length direction of the support arm, and the connecting shaft vertically passes through the mounting groove and can slide in the mounting groove; the spring comprises a first spring and a second spring which are arranged in the mounting groove, and the first spring and the second spring are respectively abutted with the connecting shaft and are respectively positioned on two sides of the connecting shaft.

8. The hull attachment cleaning robot of claim 7, wherein: the cleaning mechanism further comprises a pressing rod and a steering engine; the steering engine is fixed relative to the supporting arm, and a swing arm is arranged at the driving end of the steering engine; one end of the pressing rod is hinged with the swing arm, and the other end of the pressing rod is hinged with the connecting shaft.

9. The hull attachment cleaning robot of claim 6, wherein: the cleaning mechanism further includes a cleaning brush disposed side-by-side with the cleaning wheel, the cleaning brush being located on an opposite rear side of the cleaning wheel.

10. The hull attachment cleaning robot of claim 1, wherein: the robot body is provided with a vision module for acquiring the image information of the surface of the ship body so as to plan a cleaning path.