Self-adaptive large-arm vehicle for cleaning wall surface of large ship

Abstract

The invention discloses a self-adaptive large arm vehicle for cleaning the wall surface of a large ship, which comprises a vehicle body frame, a crawler walking device, a telescopic arm device, a cleaning disc device, a camera device, a rotary table device, an arm head telescopic device, a turbine worm device, a pressure sensor, a spring structure, a roller structure, a diesel engine block and a control electric box. Vehicle body positioning can be achieved through the camera and the UWB high-precision positioning system so that autonomous obstacle avoidance and path planning can be achieved, the telescopic arm carrying the cleaning disc is used for aerial work, the risk of constructors due to platform carrying can be effectively avoided, the posture of the cleaning disc can be adjusted in real time through the pressure sensor, and the working efficiency is improved. On the other hand, the cleaning disc device can adapt to different curved surfaces through deformation of the spring structure and rotation of the worm gear and worm device, and the cleaning disc device has good curved surface self-adaptability, autonomous obstacle avoidance performance and economic and environment-friendly benefits and meets the social market requirements.

Description

Technical Field

[0001] The invention belongs to the field of ship wall cleaning, and in particular relates to an adaptive boom vehicle for cleaning the wall of a large ship. Background Art

[0002] With the development of economic globalization, competition in the domestic and international shipping industry is becoming increasingly fierce. Companies and enterprises in the shipping industry of various countries have an increasing demand for large ships. However, after a long period of sea voyage, especially cross-border transportation, the walls of ships are prone to corrosion and rust to varying degrees. Marine organisms are prone to attach to the surface of the ship, eroding the ship structure and greatly affecting the stability of the ship structure. Therefore, cleaning and rust removal of the ship wall is particularly important.

[0003] At present, many safe and effective hull cleaning methods have been developed at home and abroad for low-altitude areas such as the walls of small ships or the bottoms of large ships. However, the high-altitude sides of large ships are also prone to corrosion and rust. For the cleaning and rust removal of such high-altitude areas, two cleaning methods are mainly used: 1. Cleaning workers hold cleaning equipment and carry out high-altitude operations on high-altitude cleaning platforms or hanging baskets; 2. Manual remote control of the mechanical arm equipped with the cleaning device to remove rust and clean the ship wall; these methods have many safety issues, such as construction personnel or related equipment are prone to falling from high altitudes, pollutants and wastewater generated during manual operations are prone to cause serious damage to workers and the environment, and remote control of the mechanical arm is prone to serious collisions between the mechanical arm and the hull due to improper operation, resulting in damage, and in actual working environments, the ship wall often has different curvatures, and the fixed cleaning disc structure cannot fit the curved surfaces of various curvatures well, resulting in low cleaning efficiency. Summary of the invention

[0004] Purpose of the invention: In order to solve the problems existing in the above-mentioned existing large ship wall cleaning technology, the present invention aims to provide an adaptive boom truck for cleaning the wall of large ships.

[0005] Technical solution: The adaptive boom vehicle for cleaning the wall of a large ship described in the present invention comprises:

[0006] The vehicle body includes a vehicle body frame, a crawler walking device, a telescopic arm device, a cleaning disc device, and a camera device, and is characterized in that it also includes a turntable device for realizing the rotation of the telescopic arm device, an arm head telescopic device for realizing a small telescopic extension of the cleaning disc, a turbine worm device for driving the cleaning disc device to rotate, a pressure sensor for realizing collision force monitoring, a spring structure for realizing collision pressure buffering, a roller structure for realizing the sliding of the cleaning disc, a diesel engine block for realizing the driving cylinder and crawler operation, and a control electric box; the crawler walking device is installed on both sides of the vehicle body frame, and the turntable device is installed between the vehicle body frame. The telescopic arm device is installed on the turntable device and the turntable device is used as a base, the arm head telescopic device is installed on the arm head of the telescopic arm device, the turbine vortex device is installed on the arm head telescopic device and is used to connect the cleaning disc device, the spring structure is installed on the cleaning disc device, the pressure sensor is installed at the base of the spring structure, the roller structure is installed on the cleaning disc device symmetrically about the center of the circular cleaning disc body, the camera device is installed on the front and rear sides of the vehicle body frame, and the diesel engine block and the control electric box are both installed on the upper rear side of the vehicle body frame.

[0007] Preferably, the crawler walking device includes a crawler track, a driving motor, a track gear, a crawler driven roller, a lower roller and an upper roller, the front side of the crawler track is connected to the crawler driven roller, and the rear side of the crawler track is connected to the track gear; the driving motor is connected to the track gear and is installed on the motor base; the crawler driven roller is connected to the guide seat bottom plate through the guide seat side plate, and the guide seat bottom plate and the motor base are connected through the bottom main beam; the lower roller is equidistantly installed on the bottom roller fixing plate and contacts with the crawler below, the front side of the roller fixing plate is connected to the guide plate base, and the rear side of the bottom roller fixing plate is connected to the motor base and installed on the lower side of the bottom main beam; the upper roller is installed on the bottom main beam through a fixing clamp.

[0008] Preferably, the telescopic arm device includes a turntable device, a variable-length oil cylinder, a rotary reducer, a telescopic arm, an arm head telescopic device, and a turbine vortex device. The turntable device is installed on the vehicle body frame through a rotatable ring; the rotary reducer is connected to the turntable device, and the rotary reducer can greatly improve the transmission efficiency of the variable-length oil cylinder and the control accuracy of the rotation speed, thereby improving the load-bearing strength of the telescopic arm; the base portion of the variable-length oil cylinder is installed on the turntable device through a rotating bearing, and a piston rod is installed at the other end; the telescopic arm has three sections in total, and the base portion of the telescopic arm is connected to the turntable device through a rotating structure, wherein the telescopic arm is connected to the variable-length oil cylinder through a piston rod; the base of the arm head telescopic device is installed on the third section of the telescopic arm, and the other section is installed on the steel pipe; the turbine vortex device is fixedly installed on the steel pipe and connected to the support arm of the cleaning disc device.

[0009] Preferably, the cleaning disc device comprises a cleaning disc body, an ultra-high pressure water spraying device, a recovery device, a roller structure, a spring structure, and a support arm structure. The cleaning disc body is a circular steel structure. The outer circular structure of the cleaning disc body is tightly equipped with a brush device. The internal structure of the cleaning disc body is equipped with four ultra-high pressure water spraying devices with ultra-high pressure nozzles. The ultra-high pressure water spraying device is installed inside the cleaning disc body through fixing bolts and is commonly connected to a water outlet pipe. The recovery device is a large-caliber back-suction pipe, which is installed on the side of the inside of the cleaning disc body. The recovery device back-suctions the waste or wastewater generated during the operation of the cleaning disc and transmits it to a designated recovery bin through a large recovery pipe. The roller structure has a total of four rolling pulleys, which are evenly installed on the cleaning disc body. The cleaning disc with rollers can slide with the movement of the vehicle body, greatly reducing the friction loss between the cleaning disc and the area to be cleaned; the spring structure has a total of two groups, each group includes a spring and a spring shaft, the spring is sleeved on the spring shaft and a guide wheel structure is installed on the top of the spring shaft so that the spring can be compressed up and down on the spring shaft, the spring structure is installed on the support arm and connected to the base of the cleaning disc body through a rotatable ball bearing; the support arm structure is welded by multiple sections of steel frames to support the cleaning disc device, one section is connected to the cleaning disc body, and the other end is connected to the turbine vortex rod device through the steel frame.

[0010] Preferably, the pressure sensor is composed of two identical pressure sensors, which are respectively installed at the bottom of two spring structures. The pressure sensor can be used to monitor the pressure applied to the cleaning disc in real time. When a certain safety threshold is exceeded, the control box can make real-time adjustments to ensure that the cleaning disc is not severely squeezed and damaged.

[0011] Preferably, the camera device is provided with two groups, each group of cameras is equipped with a micro camera and a micro drive motor, one group is installed on the front side of the vehicle frame, and the other group is installed on the rear side of the vehicle frame. The camera can identify and process the surrounding environment of the vehicle.

[0012] Preferably, the control electrical box includes a sensor power supply box, a UWB high-precision positioning system, a camera sensor data processor, a slewing reducer controller, etc. By utilizing the camera and the UWB high-precision positioning system, real-time positioning and autonomous obstacle avoidance of the vehicle body can be achieved, and the optimal walking path can be calculated in combination with relevant path planning technology.

[0013] Preferably, the diesel engine block includes a diesel motor and supporting facilities required for driving a crawler walking device, a boom cylinder and a boom head cylinder.

[0014] Preferably, the control electrical box, vehicle frame, camera, sensor, diesel engine block and the outside of the track are all provided with a detachable protective shell for protecting the vehicle body.

[0015] Beneficial effects: Compared with the prior art, the present invention has the following significant advantages: 1. By utilizing the camera device and UWB high-precision positioning system mounted on the vehicle body, on the one hand, the robot's autonomous obstacle avoidance can be achieved through real-time positioning of the robot body, effectively avoiding damage to the robot body caused by serious collisions caused by remote manual control, and greatly reducing the robot's maintenance cost; on the other hand, through the image recognition system of the camera, combined with the path planning technology, the optimal path for the vehicle body to reach the target point can be calculated, greatly improving the robot's travel efficiency and reducing the complexity of the robot's operation; 2. By utilizing the spring structure and roller structure installed on the cleaning disc, on the one hand, the collision force between the cleaning disc and the contact surface can be effectively buffered, and on the other hand, the cleaning disc device can adapt to different curved surfaces through the deformation of the spring itself, and has high surface adaptability; 3. By utilizing the pressure sensor mounted on the spring base The device can sense the pressure between the cleaning disc and the contact surface in real time. When the pressure exceeds a certain safety threshold, the control box can issue a command to adjust the posture of the cleaning disc in real time, thereby effectively preventing the cleaning disc device from being damaged by excessive squeezing force, and has good economic benefits; 4. The recovery device loaded on the cleaning disc can continuously suck back the waste water and waste generated during the operation process, and enter the recovery bin through the suction pipe, which greatly reduces the pollution generated by the robot operation and meets the current social and market environmental protection needs; 5. The use of a telescopic arm equipped with a cleaning disc for high-altitude operations can effectively avoid safety hazards such as falling from high altitudes when construction personnel carry the platform to the designated area for hand-held cleaning; 6. The use of a multi-section telescopic arm and the installation of a slewing reducer can greatly increase the maximum operating height of the boom truck and the transmission efficiency of the cylinder torque, improve the operating efficiency of the vehicle body, and reduce the fuel consumption of the vehicle body. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Attached Figure 1 It is a schematic diagram of the overall structure of the present invention (without the protective cover);

[0017] Attached Figure 2 It is a bottom view of the present invention;

[0018] Attached Figure 3 is a detailed diagram of the crawler device of the present invention;

[0019] Attached Figure 4 is a detailed diagram of the telescopic arm device of the present invention;

[0020] Attached Figure 5 is a detailed view of the cleaning disc device of the present invention;

[0021] Attached Figure 6is a partial schematic diagram of the cleaning disc device of the present invention;

[0022] Attached Figure 7 It is a detailed diagram of the boom head telescopic device of the present invention;

[0023] Attached Figure 8 It is a schematic diagram of the local structure of the front of the vehicle of the present invention; DETAILED DESCRIPTION

[0024] The technical solution of the present invention is further described below in conjunction with the accompanying drawings.

[0025] As attached Figure 1 As shown, an adaptive boom vehicle for cleaning the wall of a large ship includes a vehicle frame 1, a crawler walking device 2, a telescopic arm device 3, a cleaning disc device 4, a camera device 5, a diesel engine block 6 and a control electric box 7.

[0026] As attached Figure 2 As shown, the vehicle body frame 1 is formed by welding a plurality of beam end plates 11, beam cross plates 12, beam strip plates 13 and beam plates 14, and is formed into a whole by a plurality of protective shells; the diesel engine block 6 and the control electric box 7 are both installed on the upper rear side of the vehicle body frame 1, and are both installed with protective shells on the outside.

[0027] As attached Figure 3 As shown, the crawler walking device includes a crawler 21, a drive motor 22, a crawler gear 23, a crawler driven roller 24, a lower roller 25, and an upper roller 26. The front side of the crawler 21 in the forward direction is connected to the crawler driven roller 23, and the rear side of the crawler 21 is connected to the crawler gear 23; the drive motor 22 is connected to the crawler gear 23 and is installed on the motor base 27; the crawler driven roller 24 is connected to the guide seat bottom plate 28 through the side plate, and the guide seat bottom plate 28 and the motor base 27 are connected through the bottom main beam 29; the lower roller 25 is equidistantly installed on the fixed plate and contacts with the lower half of the crawler 21, one end of the fixed plate is connected to the guide plate base 28, and the other end is connected to the motor base 27 and installed on the lower side of the bottom main beam 29; the upper roller 26 is installed on the bottom main beam 29 through a fixed clamping plate and is connected to the upper half of the crawler 21.

[0028] As attached Figure 4 and attached Figure 7As shown, the telescopic arm device includes a turntable device 31, a variable amplitude cylinder barrel 32, a rotary reducer 33, a telescopic arm 34, an arm head telescopic device 37, and a turbine worm device 38. The turntable device 31 is installed on the vehicle body frame 1 through a rotatable ring 39; the rotary reducer 33 is connected to the turntable device 31, and the rotary reducer 33 can greatly improve the transmission efficiency of the variable amplitude cylinder 32 and the control accuracy of the turntable rotation, thereby improving the load-bearing strength of the telescopic arm 34; the base part of the variable amplitude cylinder barrel 32 is installed on the turntable device 31 through a rotating bearing, and a piston rod 81 is installed at the other end; the telescopic arm 34 has a total of The telescopic arm 34 has three sections, namely the telescopic arm 34, the telescopic arm 35 and the telescopic arm 36. The base of the telescopic arm 34 is connected to the turntable device 31 through a rotating structure, and the telescopic arm 34 is connected to the variable amplitude oil cylinder through a piston rod 81; the arm head telescopic device 37 includes an arm head cylinder 91, an arm head telescopic rod 92 and an arm head clamp 93, the arm head cylinder 91 is installed at the bottom of the arm head clamp 93, and the other end of the arm head clamp 93 is installed on the telescopic arm 36, and the arm head telescopic rod 92 is installed on the steel pipe on the telescopic arm 36 through a rotatable structure; the turbine vortex rod device 38 is fixedly installed on the steel pipe and connected to the support arm of the cleaning disc device 4.

[0029] As attached Figure 5 and attached Figure 6As shown, the cleaning disc device includes a cleaning disc body 41, an ultra-high pressure water spraying device 42, a recovery device 43, a roller structure 44, a spring structure 45, and a support arm structure 46. The cleaning disc body 41 is a circular steel structure. The outer circular structure of the cleaning disc body 41 is tightly equipped with a brush device 47. The internal structure of the cleaning disc body 41 is equipped with four ultra-high pressure water spraying devices 42 with ultra-high pressure nozzles; the ultra-high pressure water spraying devices 42 are installed inside the cleaning disc body 41 by fixing bolts and are connected to a water outlet pipe 48; the recovery device 43 is a large-diameter back-suction pipe, and the recovery device 43 is installed on the side of the cleaning disc body 41. The recovery device 43 back-suctions the waste or wastewater generated during the operation of the cleaning disc and transmits it to the designated recovery bin through a large recovery pipe; the roller structure 44 has a total of four rolling pulleys, which are evenly installed on On the cleaning disc body 41, the cleaning disc with rollers can slide on the wall as the vehicle body moves, greatly reducing the friction loss between the cleaning disc and the area to be cleaned; the spring structure 45 has two groups, each group includes a spring and a spring shaft, the spring is sleeved on the spring shaft and a guide wheel structure 82 is installed on the top of the spring shaft so that the spring can be compressed up and down on the spring shaft, the spring structure 45 is installed on the support arm 46 and is connected to the base of the cleaning disc body 41 through a rotatable ball bearing 83; the support arm 46 is welded by multiple sections of steel frames to support the cleaning disc device 4, one section is connected to the cleaning disc body 41, and the other end is connected to the turbine worm device 38 through a steel frame; the pressure sensor 49 is installed at the bottom of each group of spring structures 45 to monitor the pressure on the cleaning disc in real time to prevent the cleaning disc and the mechanical arm from being crushed due to excessive resistance.

[0030] As attached Figure 8 As shown, there are two groups of camera devices, each group includes a micro drive motor 51 and a micro camera 52. One group of camera devices is installed on the front side of the vehicle frame, and the other group of camera devices is installed on the rear side of the vehicle frame and both are equipped with corresponding protective shells.

[0031] The specific working process of the present invention is as follows: the boom vehicle utilizes image recognition of two sets of camera devices 5 and combines with the UWB high-precision positioning system loaded on the control box to realize the perception of the surrounding environment of the vehicle body and locate the position of the vehicle body in real time, and then utilizes the relevant path planning technology to calculate the optimal path to reach the target area, and autonomously avoids obstacles through the instructions issued by the control box 7. When the boom vehicle safely arrives at the target area without collision, the diesel engine block 6 is used to drive the telescopic arms 34, 35, and 36 in the telescopic arm device 3 to send the cleaning disc device 4 to the designated area and fix the group of large mechanical arms, and then the cleaning disc device 4 is brought into small and slow contact with the contact surface through the control arm head telescopic device 37 and the turbine vortex rod device 38. When the cleaning disc body 41 begins to contact the wall of the area to be cleaned, the spring structure 45 can greatly buffer the collision force between the cleaning disc body 41 and the wall. At the same time, the two sets of pressure sensors installed on the spring base 49 can monitor the pressure on the cleaning disc body 41 in real time. When the pressure exceeds a certain safety threshold, the control box 7 can issue a command to adjust the driving force of the arm head cylinder 91 and the rotation angle of the turbine worm device 38, so as to effectively avoid the cleaning disc device from being damaged due to excessive squeezing force. After the brush 47 on the cleaning disc body 41 fits the wall, the ultra-high pressure water spray device 42 is used for cleaning. The polluted waste water generated during the operation is sucked back to the designated recovery bin through the recovery device 43, which effectively avoids the environmental pollution caused by the cleaning disc during the operation. With the movement of the boom vehicle body, the cleaning disc device 4 can slide to the next target area using the roller structure 44. According to the curvature of the curved surface in different areas, the contact surface between the cleaning disc device 4 and the wall can be adjusted by appropriate compression deformation of the spring structure until it is completely fitted with the curved surface. It has good adaptability and repeats the above operations until the target area is completely cleaned.

Claims

1. An adaptive boom truck for cleaning the walls of large ships. Features : It includes a vehicle body frame 1, a crawler walking device 2, a telescopic arm device 3, a cleaning disc device 4, a camera device 5, a diesel engine block 6 and a control electric box 7.

2. The boom truck according to claim 1, It is characterized in that The vehicle body frame 1 is formed by welding and fixing a plurality of beam frame end plates 11, beam frame cross plates 12, beam frame strip plates 13 and beam frame plates 14, and is formed into a whole by a plurality of protective shells.

3. The boom truck according to claim 1, It is characterized in that The crawler walking device includes a crawler 21, a drive motor 22, a crawler gear 23, a crawler driven roller 24, a lower roller 25, and an upper roller 26. The front side of the crawler 21 in the forward direction is connected to the crawler driven roller 23, and the rear side of the crawler 21 is connected to the crawler gear 23; the drive motor 22 is connected to the crawler gear 23 and is installed on the motor base 27; the crawler driven roller 24 is connected to the guide seat bottom plate 28 through the side plate, and the guide seat bottom plate 28 and the motor base 27 are connected through the bottom main beam 29; the lower roller 25 is equidistantly installed on the fixed plate and contacts with the lower half of the crawler 21, one end of the fixed plate is connected to the guide plate base 28, and the other end is connected to the motor base 27 and installed on the lower side of the bottom main beam 29; the upper roller 26 is installed on the bottom main beam 29 through a fixed clamping plate and is connected to the upper half of the crawler 21.

4. The boom truck according to claim 1, Features The telescopic arm device includes a turntable device 31, a variable amplitude oil cylinder 32, a rotary reducer 33, a telescopic arm 34, an arm head telescopic device 37, and a turbine worm device 38. The turntable device 31 is installed on the vehicle body frame 1 through a rotatable ring 39; the rotary reducer 33 is connected to the turntable device 31; the base part of the variable amplitude oil cylinder 32 is installed on the turntable device 31 through a rotating bearing, and a piston rod 81 is installed at the other end; the telescopic arm 34 has three sections, namely the telescopic arm 34, the telescopic arm 35 and the telescopic arm 36. The base part 34 is connected to the turntable device 31 through a rotating structure, and the telescopic arm 34 is connected to the variable amplitude oil cylinder through a piston rod 81; the arm head telescopic device 37 includes an arm head cylinder 91, an arm head telescopic rod 92 and an arm head clamp 93, the arm head cylinder 91 is installed at the bottom of the arm head clamp 93, and the other end of the arm head clamp 93 is installed on the telescopic arm 36, and the arm head telescopic rod 92 is installed on the steel pipe on the telescopic arm 36 through a rotatable structure; the turbine vortex rod device 38 is fixedly installed on the steel pipe and connected to the support arm structure 46 of the cleaning disc device 4.

5. The boom truck according to claim 1, Features The cleaning disc device includes a cleaning disc body 41, an ultra-high pressure water spraying device 42, a recovery device 43, a roller structure 44, a spring structure 45, and a support arm structure 46. The cleaning disc body 41 is a circular steel structure. The outer circular structure of the cleaning disc body 41 is tightly equipped with a brush device 47. The internal structure of the cleaning disc body 41 is equipped with four ultra-high pressure water spraying devices 42 with ultra-high pressure nozzles; the ultra-high pressure water spraying device 42 is installed inside the cleaning disc body 41 by fixing bolts and is connected to a water outlet pipe 48; the recovery device 43 is a large-caliber back-suction pipe, and the recovery device 43 is installed on the side of the inside of the cleaning disc body 41; the roller structure 44 is a There are four rolling pulleys, which are evenly installed on the cleaning disc body 41; there are two groups of spring structures 45, each group includes a spring and a spring shaft, the spring is sleeved on the spring shaft and a guide wheel structure 82 is installed on the top of the spring shaft so that the spring can be compressed up and down on the spring shaft, the spring structure 45 is installed on the support arm 46 and is connected to the base of the cleaning disc body 41 through a rotatable ball bearing 83; the support arm 46 is welded by multiple sections of steel frames to support the cleaning disc device 4, one section is connected to the cleaning disc body 41, and the other end is connected to the turbine vortex device 38 through a steel frame; the pressure sensor 49 is installed at the bottom of each group of spring structures 45.

6. The boom truck according to claim 1, Features There are two groups of camera devices, each of which includes a micro drive motor 51 and a micro camera 52. One group of camera devices is installed on the front side of the vehicle body frame, and the other group of camera devices is installed on the rear side of the vehicle body frame and both are equipped with corresponding protective shells.

7. The boom truck according to claim 1, Features The control box includes a sensor power supply box, a UWB high-precision positioning system, a camera sensor data processor, a slewing reducer controller, etc. By utilizing the camera and the UWB high-precision positioning system, it can realize real-time positioning and autonomous obstacle avoidance of the vehicle, and combine relevant path planning technology to calculate the optimal walking path.

8. The boom truck according to claim 1, Features ,The diesel engine block includes the diesel motor and supporting facilities required to drive the crawler walking device, the variable-luffing cylinder barrel and the boom head cylinder barrel.

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