CN220263020U - Ship cleaning robot - Google Patents

Abstract

The utility model relates to the field of ship cleaning, in particular to a ship cleaning robot, which comprises a wall climbing platform and an electromagnetic suction module; the electromagnetic suction module comprises a guide tube, a fixed bracket, a reset spring and an electromagnet; the fixed support is fixed in the guide tube, a reset spring is arranged on the upper side of the electromagnet and the lower side of the fixed support, and the two ends of the reset spring fixedly connect the electromagnet with the fixed support; two pins of the electromagnet are electrically connected with two digital output pins of the control board; the guide pipe is fixedly connected with the wall climbing platform, and the electromagnet faces the bottom of the wall climbing platform; the magnetic force between the robot and the ship body is increased only in the process of spraying high-pressure water.

Description

Ship cleaning robot

Technical Field

The utility model relates to the field of ship cleaning, in particular to a ship cleaning robot.

Background

The ship cleaning robot is generally a wall climbing robot, has magnetism, and can be adsorbed on the outer side surface of a ship.

The wall climbing cleaning robot generally comprises a crawler belt, a driving device, a permanent magnet, a rolling brush and a spray head; the driving device is used for driving the crawler belt to enable the robot to travel, and permanent magnets are arranged on the crawler belt (such as the crawler belt disclosed by CN211844676U, CN217624025U is provided with permanent magnets); the rolling brush cleans the hull surface while the robot is advancing, and a spray head for spraying water toward the hull surface is also provided for better cleaning. The greater the water pressure of the spray, the better the cleaning effect; conversely, too much water pressure from the spray can cause the cleaning robot to disengage from the hull. (if the number or volume of the permanent magnets on the track is directly increased, although the magnetic force between the robot and the ship body is increased, the robot walking needs to overcome the increased magnetic force too)

Disclosure of Invention

The utility model provides ship cleaning, which mainly solves one of the following problems: how to increase the magnetic force between the robot and the ship body directly only in the process of spraying high-pressure water.

In order to achieve the aim of the utility model, the utility model adopts the following technical scheme:

the ship cleaning robot comprises a wall climbing platform; an electromagnetic suction module;

the electromagnetic suction module comprises a guide tube, a fixed bracket, a reset spring and an electromagnet; the fixed support is fixed in the guide tube, a reset spring is arranged on the upper side of the electromagnet and the lower side of the fixed support, and the two ends of the reset spring fixedly connect the electromagnet with the fixed support; two pins of the electromagnet are electrically connected with two digital output pins of the control board;

the guide pipe is fixedly connected with the wall climbing platform, and the electromagnet faces the bottom of the wall climbing platform.

Further, when the electromagnet is not electrified, the electromagnet is pulled by the reset spring, and the electromagnet is not contacted with the ship body; the distance between the electromagnet and the ship body is 6mm; when the electromagnet is energized, the electromagnet contacts its hull.

Further, the jet motor is fixed on the wall climbing platform, and the rotating shaft of the motor is limited by the jet head; the jet motor is electrically connected with the control board through an independent driving module.

Further, the connector comprises a fixed tube and a fixed cylinder seat; the fixed pipe is fixedly sleeved outside the injection head; the fixed cylinder seat is fixedly sleeved on the periphery of the rotating shaft of the jet motor; the fixed tube and the fixed cylinder seat are integrally formed.

Further, the rolling brush and the wall climbing platform rotate; the periphery of the ship body can be cleaned by rotating the rolling brush.

Further, both ends of the rolling brush are rotatably connected with the independent supporting plates, and the two supporting plates are respectively rotatably connected with the cross beam through pin shafts; the cross beam is fixedly connected with the wall climbing platform;

the first end of the linear driving device is rotationally connected with the wall climbing platform, and the second end of the linear driving device is rotationally arranged with one end, far away from the rolling brush, of the supporting plate.

Further, the linear driving device is a servo electric cylinder, and a servo motor of the servo electric cylinder is electrically connected with the control board through an independent driving module.

The beneficial effects of the utility model are as follows:

because this application has more an electro-magnet 84 than current wall climbing platform (cleaning robot), when it needs to spray high-pressure water, starts electro-magnet 84 simultaneously, has increased the magnetic force between wall climbing platform (cleaning robot) and the hull promptly, only increases robot and the direct magnetic force of hull at the in-process of spraying high-pressure water.

Drawings

FIG. 1 is a schematic diagram of the structure of the present utility model;

FIG. 2 is a schematic structural view of an electromagnetic suction module;

reference numeral control table:

the vehicle body frame 10, the rollers 20, the tracks 30 and the permanent magnets 40;

a jet motor 50 and a jet head 60;

a connector 70, a fixed tube 71, and a fixed cylinder seat 72;

the electromagnetic suction module 80, the guide tube 81, the fixed bracket 82, the return spring 83 and the electromagnet 84;

a roller brush 90, a support plate 100, a cross beam 110, and a linear drive 120.

Detailed Description

Specific embodiments of the present utility model will be further described below with reference to the accompanying drawings. Wherein like parts are designated by like reference numerals. It should be noted that the words "front", "rear", "left", "right", "upper" and "lower" used in the following description refer to directions in the drawings, and the words "inner" and "outer" refer to directions toward or away from, respectively, the geometric center of a particular component.

In order to make the contents of the present utility model more clearly understood, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model.

The ship cleaning robot comprises a wall climbing platform and an electromagnetic suction module 80;

as in the prior art documents, all of which have wall climbing platforms, which are a mature technology; this is described again for clarity of the embodiments (the reader is aware that the wall climbing platform may omit this section). The wall climbing platform comprises a vehicle body framework 10, rollers 20, a crawler belt 30, a permanent magnet 40, a power motor, a driving module, a control panel, a wireless communication module and external control equipment; wherein, the roller 20 is rotationally connected with the body framework 10 through a roller shaft; the two sides of the car body framework 10 are provided with tracks 30, and the rollers 20 are matched with the two rollers 20 on the same side; the power motor drives the roller shaft through gear transmission, and further drives the crawler belt 30; since the crawler belt 30 is formed by splicing a plurality of units, the permanent magnet 40 is fixedly arranged on each unit of the crawler belt 30; the power motor is connected with the driving module; the control signal of the driving module is used for controlling the rotation of the power motor. The drive module requires a digital control pin (e.g., a pin for controlling the PWM signal) connected to the control board. The driving module is connected with the control board; the control board sends a control signal to the power motor through the driving module. The control panel is connected with the wireless communication module; but can be remotely controlled. The control board requires a serial communication port (e.g., RX, TX pins) to connect to the wireless communication module. The connection may be made using UART or SPI communication. The wireless communication module is connected with external control equipment; such as to a cell phone via a Wi-Fi network or to a remote control via bluetooth.

When being concerned, the electromagnetic suction module 80 comprises a guide tube 81, a fixed bracket 82, a return spring 83 and an electromagnet 84; the fixed bracket 82 is fixed in the guide tube 81, a return spring 83 is provided between the upper side of the electromagnet 84 and the lower side of the fixed bracket 82, and both ends of the return spring 83 fixedly connect the electromagnet 84 with the fixed bracket 82. Two pins of the electromagnet 84 are electrically connected with two digital output pins of the control board; and further, the electromagnet 84 can be controlled to be powered on and off remotely through the wireless communication module and the control panel. The guide tube 81 is fixedly connected with the wall climbing platform, and the electromagnet 84 faces the bottom of the wall climbing platform.

In summary, since the present application has one more electromagnet 84 than the existing wall climbing platform (cleaning robot), when it needs to spray high-pressure water, the electromagnet 84 is started at the same time, that is, the magnetic force between the wall climbing platform (cleaning robot) and the hull is increased, and the direct magnetic force between the robot and the hull is only increased in the process of spraying high-pressure water. In addition, the electromagnet 84 is turned off during the high-pressure water injection-free process, and the magnetic force between the wall climbing platform (cleaning robot) and the hull is reduced.

Preferably, when the electromagnet 84 is not energized, the electromagnet 84 is pulled by the return spring 83, and the electromagnet 84 is not in contact with its hull; and the electromagnet 84 is now at a distance of 6mm from the hull. When the electromagnet 84 is energized, the electromagnet 84 contacts its hull; such magnetic attraction force is stronger.

Further, the spraying motor 50 is fixed on the wall climbing platform, and the rotating shaft of the motor 50 is limited by the spraying head 60; the direction of the water sprayed by the spray head 60 can be adjusted after the motor 50 rotates; wherein the spray head 60 may be connected to a source of pressurized water on board the vessel by piping. The jet motor 50 is electrically connected to the control board through a separate driving module. The direction of water spray from the spray head 60 can be remotely controlled.

Further, the connector 70 includes a fixed tube 71, a fixed cylinder seat 72; the fixed pipe 71 is fixedly sleeved outside the injection head 60; the fixed cylinder seat 72 is fixedly sleeved on the periphery of the rotating shaft of the jet motor 50; the fixed tube 71 and the fixed cylinder seat 72 are integrally formed. The connection of the injection motor 50 and the injection head 60 is facilitated.

Further, the roller brush 90 rotates with the wall climbing platform; the rotation of the roller brush 90 cleans the outer circumference of the hull. Wherein a separate motor may also be used to drive the roller brush 90.

Further, both ends of the rolling brush 90 are rotatably connected with the separate supporting plates 100, and the two supporting plates 100 are respectively rotatably connected with the cross beam 110 through pin shafts; the beam 110 is fixedly connected with the wall climbing platform.

The first end of the linear driving device 120 is rotatably connected with the wall climbing platform, and the second end of the linear driving device 120 is rotatably arranged with one end of the supporting plate 100 away from the rolling brush 90. Thus, the linear motion of the linear driving device 120 can drive the supporting plate 100 and the rolling brush 90 to rotate, i.e. whether the rolling brush 90 contacts the ship body or not is realized; the contact pressure of the roll brush 90 with the hull can be adjusted.

Preferably, the linear driving device 120 is a servo electric cylinder, and a servo motor of the servo electric cylinder is electrically connected with the control board through an independent driving module.

The above description is illustrative of the preferred embodiments of the present utility model and is not intended to limit the scope of the present utility model, but is to be accorded the full scope of the claims.

Claims (7)

1. The ship cleaning robot comprises a wall climbing platform; the electromagnetic suction device is characterized by comprising an electromagnetic suction module;

the electromagnetic suction module comprises a guide tube, a fixed bracket, a reset spring and an electromagnet; the fixed support is fixed in the guide tube, a reset spring is arranged on the upper side of the electromagnet and the lower side of the fixed support, and the two ends of the reset spring fixedly connect the electromagnet with the fixed support; two pins of the electromagnet are electrically connected with two digital output pins of the control board;

the guide pipe is fixedly connected with the wall climbing platform, and the electromagnet faces the bottom of the wall climbing platform.

2. The ship cleaning robot according to claim 1, wherein,

when the electromagnet is not electrified, the electromagnet is pulled by the reset spring, and the electromagnet is not contacted with the ship body; the distance between the electromagnet and the ship body is 6mm; when the electromagnet is energized, the electromagnet contacts its hull.

3. The ship cleaning robot according to claim 1, wherein,

the spraying motor is fixed on the wall climbing platform, and a rotating shaft of the motor is limited by the spraying head; the jet motor is electrically connected with the control board through an independent driving module.

4. The ship cleaning robot according to claim 3, wherein,

the connector comprises a fixed tube and a fixed cylinder seat; the fixed pipe is fixedly sleeved outside the injection head; the fixed cylinder seat is fixedly sleeved on the periphery of the rotating shaft of the jet motor; the fixed tube and the fixed cylinder seat are integrally formed.

5. The ship cleaning robot according to claim 1, wherein,

the rolling brush and the wall climbing platform rotate; the periphery of the ship body can be cleaned by rotating the rolling brush.

6. The ship cleaning robot according to claim 5, wherein,

both ends of the rolling brush are rotatably connected with the independent supporting plates, and the two supporting plates are respectively rotatably connected with the cross beam through pin shafts; the cross beam is fixedly connected with the wall climbing platform;

the first end of the linear driving device is rotationally connected with the wall climbing platform, and the second end of the linear driving device is rotationally arranged with one end, far away from the rolling brush, of the supporting plate.

7. The ship cleaning robot according to claim 6, wherein,

the linear driving device is a servo electric cylinder, and a servo motor of the servo electric cylinder is electrically connected with the control board through an independent driving module.