Walking mechanism for ship bottom cleaning robot and ship bottom cleaning robot

Abstract

The present invention provides a walking mechanism for a ship bottom cleaning robot and the ship bottom cleaning robot. The walking mechanism comprises a main frame, an electrical compartment, a magnetic wheel assembly, a walking drive assembly and a steering drive assembly. The electrical compartment is fixedly mounted on the main frame and connected to an above-water control platform via a cable. The above-water control platform transmits signals to the electrical compartment, and the electrical compartment is electrically connected to the walking drive assembly and the steering drive assembly respectively; the magnetic wheel assembly comprises a first magnetic wheel, a second magnetic wheel, a third magnetic wheel and a fourth magnetic wheel, the first magnetic wheel and the second magnetic wheel are fixedly mounted on the right side of the main frame, and the third magnetic wheel and the fourth magnetic wheel are fixedly mounted on the left side of the main frame; the steering drive assembly is respectively connected to the first magnetic wheel, the second magnetic wheel, the third magnetic wheel and the fourth magnetic wheel in transmission, and the steering drive assembly separately controls the first magnetic wheel, the second magnetic wheel, the third magnetic wheel and the fourth magnetic wheel to synchronously complete the steering action on the hull.

Description

Technical Field

[0001] The present invention relates to the field of robots, and in particular to a walking mechanism for a ship bottom cleaning robot and the ship bottom cleaning robot. Background Art

[0002] When a ship is sailing in the ocean, marine organisms will attach to the surface of the hull, greatly increasing the ship's running resistance and fuel consumption. To address this phenomenon, a ship bottom cleaning robot is used to clean the marine organisms on the hull surface. However, the current walking mechanism of the ship bottom cleaning robot is complex and expensive, and most of them use a crawler mechanism, which has insufficient adhesion, is difficult to control, and is prone to slipping.

[0003] The crawler-type walking mechanism commonly used in the ship bottom cleaning robot completes the steering through differential speed, but this steering structure has low steering efficiency on the smooth surface of the ship, is easy to slip, is not easy to control, and its steering angle is not convenient to control, which is not conducive to the underwater operation of the ship bottom cleaning robot. At the same time, the prior art also uses a magnetic wheel walking mechanism, but it is usually a single-group steering drive, and it is not easy to achieve steering control when the robot is adsorbed on the bottom of the ship. Summary of the invention

[0004] The problem to be solved by the present invention is to remedy the defects of the above-mentioned prior art and provide a walking mechanism for a ship bottom cleaning robot and a ship bottom cleaning robot.

[0005] The technical problem of the present invention can be solved by the following technical solutions:

[0006] A walking mechanism for a ship bottom cleaning robot, the walking mechanism comprising a main frame, an electrical compartment, a magnetic wheel assembly, a walking drive assembly and a steering drive assembly, the electrical compartment being fixedly mounted on the main frame and connected to an above-water control platform via a cable, the above-water control platform transmitting signals to the electrical compartment, the electrical compartment being electrically connected to the walking drive assembly and the steering drive assembly respectively;

[0007] The magnetic wheel assembly includes a first magnetic wheel, a second magnetic wheel, a third magnetic wheel, and a fourth magnetic wheel. The first magnetic wheel and the second magnetic wheel are fixedly installed on the right side of the main frame, and the third magnetic wheel and the fourth magnetic wheel are fixedly installed on the left side of the main frame.

[0008] The steering drive assembly is respectively connected to the first magnetic wheel, the second magnetic wheel, the third magnetic wheel and the fourth magnetic wheel, and the steering drive assembly separately controls the first magnetic wheel, the second magnetic wheel, the third magnetic wheel and the fourth magnetic wheel to synchronously complete the steering action on the hull.

[0009] The walking drive assembly is respectively connected to the first magnetic wheel, the second magnetic wheel, the third magnetic wheel and the fourth magnetic wheel to control the magnetic wheel assembly to walk on the hull.

[0010] Further, the steering drive assembly includes a right steering drive device and a left steering drive device with the same structure and opposite directions, the right steering drive device controls the steering movement of the first magnetic attraction wheel and the second magnetic attraction wheel, and the left steering drive device controls the steering movement of the third magnetic attraction wheel and the fourth magnetic attraction wheel;

[0011] The right steering drive device and the left steering drive device have the same structure, and both include a steering drive motor and a steering worm. The steering drive motor is fixedly arranged on the main frame and electrically connected to the electrical compartment. The steering drive motor is drivingly connected to the steering worm, and the steering drive motor drives the steering worm to rotate.

[0012] The steering worm includes a forward worm gear and a reverse worm gear, the forward worm gear and the reverse worm gear have opposite rotation directions, and the forward worm gear and the reverse worm gear are respectively connected to the first magnetic attraction wheel and the second magnetic attraction wheel and / or the third magnetic attraction wheel and the fourth magnetic attraction wheel. When the steering worm rotates, the first magnetic attraction wheel and the second magnetic attraction wheel and / or the third magnetic attraction wheel and the fourth magnetic attraction wheel are driven to rotate synchronously in opposite directions through the forward worm gear and the reverse worm gear, so that the walking mechanism can realize steering and 360-degree rotation.

[0013] Further, the steering drive assembly includes a steering worm gear, and a plurality of the steering worm gears are provided, and the plurality of steering worm gears are respectively fixedly connected to the first magnetic attraction wheel, the second magnetic attraction wheel, the third magnetic attraction wheel, and the fourth magnetic attraction wheel, and the plurality of steering worm gears are meshed with the forward worm gear and the reverse worm gear;

[0014] When the steering drive motor drives the steering worm to rotate synchronously, the steering worm drives the steering worm wheel to rotate synchronously through the forward worm gear and the reverse worm gear, thereby driving the first magnetic wheel and the second magnetic wheel and / or the third magnetic wheel and the fourth magnetic wheel to rotate synchronously in opposite directions.

[0015] Further, the steering drive assembly includes a steering connection chain, a steering drive gear is arranged on the output shaft of the steering drive motor, the steering worm includes a connection gear fixedly arranged at one end of the steering worm, and the steering connection chain is sleeved on the outer sides of the connection gear and the steering drive gear;

[0016] When the steering drive motor is operating, the steering worm is driven to rotate synchronously through the steering drive gear, the steering connecting chain, and the connecting gear, thereby driving the first magnetic wheel and the second magnetic wheel and / or the third magnetic wheel and the fourth magnetic wheel to rotate synchronously.

[0017] Further, the magnetic wheel assembly includes a connecting rod, a plurality of the connecting rods are provided, and one end of the plurality of connecting rods is respectively fixedly connected to the first magnetic wheel, the second magnetic wheel, the third magnetic wheel, and the fourth magnetic wheel, the plurality of connecting rods are fixedly connected to the main frame, and the travel drive assembly is transmission-connected to the plurality of connecting rods;

[0018] When the travel drive assembly drives the connecting rod to rotate, the first magnetic wheel, the second magnetic wheel, the third magnetic wheel, and the fourth magnetic wheel are respectively driven to rotate, thereby realizing the travel function of the travel mechanism.

[0019] Furthermore, the connecting rod includes a universal shaft, which is fixedly arranged at one end of the connecting rod connected to the magnetic attraction wheel, and the connecting rod is fixedly connected to the first magnetic attraction wheel, the second magnetic attraction wheel, the third magnetic attraction wheel, and the fourth magnetic attraction wheel respectively through the universal shaft.

[0020] Furthermore, the walking drive assembly includes a walking drive motor and a transmission mechanism. The walking drive motor is fixedly arranged on the main frame and electrically connected to the electrical warehouse. The walking drive motor is connected to the plurality of connecting rods through the transmission mechanism. The walking drive motor rotates after receiving the command from the electrical warehouse, and drives the plurality of connecting rods to rotate synchronously through the transmission mechanism, thereby driving the first magnetic wheel, the second magnetic wheel, the third magnetic wheel, and the fourth magnetic wheel to rotate synchronously.

[0021] Furthermore, the speed and / or direction of the travel drive motor can be adjusted according to the different steering angles of the steering drive assembly, so that the travel mechanism can turn and walk smoothly on the hull, and can also realize the travel function of the travel mechanism at multiple angles and directions.

[0022] Furthermore, the magnetic wheel assemblies are provided in multiple groups and are evenly distributed and fixedly connected to the main frame. The walking drive assembly is transmission connected to the multiple groups of the magnetic wheel assemblies for controlling the multiple groups of the magnetic wheel assemblies to walk on the hull. The steering drive assembly is transmission connected to the multiple groups of the magnetic wheel assemblies for controlling the multiple groups of the magnetic wheel assemblies to synchronously complete the steering action on the hull.

[0023] A ship bottom cleaning robot using the above-mentioned walking mechanism for the ship bottom cleaning robot comprises a walking mechanism, a cleaning mechanism and an observation mechanism. The walking mechanism is a magnetic wheel structure. The cleaning mechanism is installed at the front end of the walking mechanism and is used to remove marine organisms attached to the bottom and side of the ship. The observation mechanism is fixedly arranged on the walking mechanism and is used to determine the underwater position of the ship bottom cleaning robot.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] The present invention provides a walking mechanism for a ship bottom cleaning robot and the ship bottom cleaning robot. The walking mechanism adopts a magnetic wheel structure, and a large magnetic force can be generated through multiple groups of magnetic wheels to stably adsorb the ship bottom cleaning robot on the surface of the hull. The operation process is safer, the friction force is increased, and it is more conducive to reliable and efficient cleaning operations on the surface of the hull.

[0026] The present invention provides a walking mechanism for a ship bottom cleaning robot and the ship bottom cleaning robot. A walking drive assembly and a steering drive assembly are arranged in the walking mechanism. The walking drive assembly is used to drive a magnetic wheel to walk on a ship body, and the steering drive assembly is used to drive the magnetic wheel to synchronously complete a steering action on the ship body. The steering drive assembly controls a plurality of magnetic wheels to synchronously complete a steering action through a worm gear. Meanwhile, the steering drive assembly realizes the rotation of a plurality of magnetic wheels at different angles through worm teeth of different rotation directions on the worm, so that the angle of the ship bottom cleaning robot when turning is easy to control, which is beneficial for the ship bottom cleaning robot to operate underwater and realize the steering of the magnetic wheels at different angles. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 The overall structural diagram of the ship bottom cleaning robot of the present invention is provided with a scraper device;

[0028] Figure 2 This is a schematic diagram of the overall structure of the ship bottom cleaning robot of the present invention with a roller brush device installed;

[0029] Figure 3 It is a schematic diagram of the overall structure of the walking mechanism of the present invention;

[0030] Figure 4 A top view of the walking mechanism of the present invention Figure 1 ;

[0031] Figure 5 A top view of the walking mechanism of the present invention Figure 2 ;

[0032] Figure 6 A top view of the walking mechanism of the present invention Figure 3 ;

[0033] Figure 7It is a schematic diagram of the overall structure of the observation mechanism of the present invention.

[0034] Numbers in the figure:

[0035] Walking mechanism 1, main frame 10, electrical compartment 11, magnetic wheel assembly 12, first magnetic wheel 121, second magnetic wheel 122, third magnetic wheel 123, fourth magnetic wheel 124, connecting rod 125, universal shaft 1251, walking drive assembly 13, right walking drive device 131, right walking drive motor 1311, right drive gear box 1312, left walking drive device 132, left walking drive motor 1321, left drive gear box 1322, linkage group Component 133, sprocket 1331, connecting chain 1332, steering drive assembly 14, right steering drive device 141, right steering drive motor 1411, right steering drive gear 14111, right steering worm 1412, right connecting gear 14121, forward worm gear 14122, reverse worm gear 14123, right steering connecting chain 1413, right steering worm gear 1414, left steering drive device 142, left steering drive motor 1421, connecting frame 15;

[0036] Cleaning mechanism 2, scraper device 21, roller brush device 22;

[0037] Observation mechanism 3, camera 31, lighting lamp 32;

[0038] Protection mechanism 4. DETAILED DESCRIPTION

[0039] Hereinafter, the present invention will be further described based on preferred embodiments with reference to the accompanying drawings.

[0040] In addition, various components on the drawings are enlarged (thickened) or reduced (thinned) for ease of understanding, but this practice is not intended to limit the protection scope of the present invention.

[0041] Words importing the singular also include the plural and vice versa.

[0042] In the description of the embodiments of the present invention, it should be noted that if the terms "upper", "lower", "left", "right", "inner", "outer" and the like indicate an orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the invention is usually placed when in use, it is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, in the description of the present invention, in order to distinguish different units, the words "first", "second" and the like are used in this specification, but these are not limited by the order of manufacture, nor can they be understood as indicating or implying relative importance, and their names may be different in the detailed description of the invention and the claims.

[0043] The words in this specification are used to illustrate the embodiments of the present invention, but are not intended to limit the present invention. It should also be noted that, unless otherwise clearly specified and limited, the terms "set", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, an indirect connection through an intermediate medium, or the internal connection of two components. For those skilled in the art, the above-mentioned specific meanings in the present invention can be specifically understood.

[0044] The present invention provides a bottom cleaning robot, comprising a walking mechanism 1, a cleaning mechanism 2, an observation mechanism 3, and a protection mechanism 4. The walking mechanism 1 is a magnetic wheel structure, which is used to provide power for the entire bottom cleaning robot to move. The cleaning mechanism 2 is installed at the front end of the walking mechanism 1, which is used to remove marine organisms attached to the bottom and side of the ship. The observation mechanism 3 is fixedly arranged on the walking mechanism 1, which is used to determine the underwater position of the bottom cleaning robot and provide real-time video images of the underwater operation area for operators. The present invention provides a bottom cleaning robot, in which the walking mechanism 1 adopts a magnetic wheel structure, and the bottom cleaning robot can be stably attached to the hull, so that the cleaning mechanism 2 can clean the hull.

[0045] The walking mechanism 1 includes a main frame 10, an electrical compartment 11, a magnetic wheel assembly 12, a walking drive assembly 13 and a steering drive assembly 14. The electrical compartment 11 is fixedly mounted on the main frame 10 and connected to the water control platform via a cable. The water control platform transmits signals to the electrical compartment 11. The electrical compartment 11 is electrically connected to the walking drive assembly 13 and the steering drive assembly 14 respectively. When the electrical compartment 11 receives instructions, the electrical compartment 11 controls the walking drive assembly 13 and the steering drive assembly 14 to perform corresponding movements respectively.

[0046] The walking drive assembly 13 and the steering drive assembly 14 are respectively connected to the magnetic wheel assembly 12 in transmission. The walking drive assembly 13 is used to control the walking movement of the magnetic wheel assembly 12 on the hull, and the steering drive assembly 14 is used to control the synchronous steering movement of the magnetic wheel assembly 12 on the hull. The walking drive assembly 13 and the steering drive assembly 14 cooperate with each other to jointly complete the movement of the bottom cleaning robot on the hull.

[0047] The magnetic wheel assembly 12 includes a first magnetic wheel 121, a second magnetic wheel 122, a third magnetic wheel 123, a fourth magnetic wheel 124, and a connecting rod 125. The first magnetic wheel 121, the second magnetic wheel 122, the third magnetic wheel 123, and the fourth magnetic wheel 124 are fixedly installed on the left and right sides of the main frame 10, respectively. Specifically, the first magnetic wheel 121 and the second magnetic wheel 122 are fixedly installed on the right side of the main frame 10, the third magnetic wheel 123 and the fourth magnetic wheel 124 are fixedly installed on the left side of the main frame 10, and a plurality of connecting rods 125 are provided. In the embodiment, one end of the plurality of connecting rods 125 is fixedly connected to the first magnetic wheel 121, the second magnetic wheel 122, the third magnetic wheel 123, and the fourth magnetic wheel 124, respectively, and the other end of the plurality of connecting rods 125 is fixedly connected to the main frame 10 through a bearing, and the travel drive assembly 13 is transmission-connected to the plurality of connecting rods 125. When the travel drive assembly 13 drives the connecting rod 125 to rotate, the first magnetic wheel 121, the second magnetic wheel 122, the third magnetic wheel 123, and the fourth magnetic wheel 124 are driven to rotate, so that the travel mechanism 1 completes the travel function. The first magnetic wheel 121, the second magnetic wheel 122, the third magnetic wheel 123, and the fourth magnetic wheel 124 are all magnetic and can be adsorbed on the surface of the hull to ensure that the magnetic wheel assembly 12 is stably adsorbed on the surface of the hull, thereby ensuring that the bottom cleaning robot stably cleans the hull.

[0048] It should be pointed out that the present invention does not limit the structure in which the connecting rod 125 is fixedly connected to the main frame 10. The connecting rod 125 can also be fixedly connected to the main frame 10 at multiple points. Any structural connection method that uses the connecting rod 125 to drive the first magnetic wheel 121, the second magnetic wheel 122, the third magnetic wheel 123, and the fourth magnetic wheel 124 to rotate is within the protection scope of the claims of the present invention. Preferably, a universal shaft 1251 is fixedly provided at one end of the multiple connecting rods 125 connected to the magnetic wheel, and the multiple connecting rods 125 are respectively fixedly connected to the first magnetic wheel 121, the second magnetic wheel 122, the third magnetic wheel 123, and the fourth magnetic wheel 124 through the universal shaft 1251. The universal shaft 1251 can reliably transmit torque and motion, and has high transmission efficiency, so that the first magnetic wheel 121, the second magnetic wheel 122, the third magnetic wheel 123, and the fourth magnetic wheel 124 can rotate continuously.

[0049] It should be pointed out that the present invention does not limit the number of magnetic wheel assemblies 12. A plurality of magnetic wheel assemblies 12 can be provided and evenly distributed and fixedly connected to the main frame 10. Preferably, in this embodiment, two groups of magnetic wheel assemblies 12 are provided, and the two groups of magnetic wheel assemblies 12 are evenly distributed on the main frame 10.

[0050] The walking drive assembly 13 is used to control the magnetic wheel assembly 12 to walk on the hull, and includes a right walking drive device 131 and a left walking drive device 132. The two have the same structure and opposite directions. The right walking drive device 131 is movably connected to the first magnetic wheel 121 and the second magnetic wheel 122, and controls the walking movement of the first magnetic wheel 121 and the second magnetic wheel 122. The left walking drive device 132 is movably connected to the third magnetic wheel 123 and the fourth magnetic wheel 124, and controls the walking movement of the third magnetic wheel 123 and the fourth magnetic wheel 124.

[0051] Specifically, the right walking drive device 131 includes a right walking drive motor 1311, and the left walking drive device 132 includes a left walking drive motor 1321. The right walking drive motor 1311 and the left walking drive motor 1321 are both fixedly arranged on the main frame 10 and electrically connected to the electrical compartment 11, and the right walking drive motor 1311 and the left walking drive motor 1321 are both connected to the multiple connecting rods 125 through a transmission mechanism and control the rotation of the multiple connecting rods 125, that is, the right walking drive motor 1311 is connected to the multiple connecting rods 125 through a transmission mechanism, and the left walking drive motor 1321 is connected to the multiple connecting rods 125 through a transmission mechanism.

[0052] Specifically, in this embodiment, the right walking drive device 131 includes a right driving gear box 1312, and the left walking drive device 132 includes a left driving gear box 1322. The right walking drive motor 1311 is movably connected to the right driving gear box 1312, and the left walking drive motor 1321 is movably connected to the left driving gear box 1322. The right driving gear box 1312 and the left driving gear box 1322 are both transmission-connected to multiple connecting rods 125 and control the rotation of the multiple connecting rods 125, that is, the right driving gear box 1312 is transmission-connected to multiple connecting rods 125, and the left driving gear box 1322 is transmission-connected to multiple connecting rods 125.

[0053] When the right walking drive motor 1311 receives the command from the electrical warehouse 11, it rotates, and the gear fixed on the connecting rod 125 in the right driving gear box 1312 is driven to rotate through the gear fixed at the output end of the right walking drive motor 1311, thereby driving the connecting rod 125 to rotate, and then driving the first magnetic wheel 121 and the second magnetic wheel 122 to rotate synchronously; when the left walking drive motor 1321 receives the command from the electrical warehouse 11, it rotates, and the gear fixed on the connecting rod 125 in the left driving gear box 1322 is driven to rotate through the gear fixed at the output end of the left walking drive motor 1321, thereby driving the connecting rod 125 to rotate, and then driving the third magnetic wheel 123 and the fourth magnetic wheel 124 to rotate synchronously.

[0054] It should be pointed out that the present invention does not limit the structural design of the transmission mechanism. In the present embodiment, the transmission mechanism is a gear box transmission. In other embodiments, the transmission mechanism may also be a chain, a synchronous belt or other transmission forms. Any structural design that drives the transmission mechanism through a travel drive motor and then drives the connecting rod 125 to rotate is within the protection scope of the claims of the present invention.

[0055] Preferably, the right driving gear box 1312 and the left driving gear box 1322 are fixedly connected to multiple connecting rods 125. The right driving gear box 1312 and the left driving gear box 1322 drive the multiple connecting rods 125 to rotate synchronously, thereby driving the multiple first magnetic wheels 121, the second magnetic wheels 122, the third magnetic wheels 123, and the fourth magnetic wheels 124 to rotate synchronously, so that the multiple groups of magnetic wheel assemblies 12 move synchronously, which can provide greater driving force for the bottom cleaning robot, and is more conducive to the bottom cleaning robot attaching to the surface of the hull to perform reliable and efficient cleaning operations.

[0056] Preferably, the walking drive device 13 also includes a linkage component 133. In the present embodiment, the walking drive device 13 also includes four linkage components 133. The magnetic wheel component 12 is provided with two groups, and the first magnetic wheel 121, the second magnetic wheel 122, the third magnetic wheel 123, and the fourth magnetic wheel 124 are each provided with two. The four linkage components 133 are grouped in pairs, corresponding to the four pairs of the first magnetic wheel 121, the second magnetic wheel 122, the third magnetic wheel 123, and the fourth magnetic wheel 124, respectively. A linkage component 133 is fixedly connected to the connecting rod 125 of two adjacent identical magnetic wheels. The linkage component 133 is used to drive the two adjacent connecting rods 125 to rotate synchronously, so as to ensure that the two adjacent identical magnetic wheels rotate synchronously, thereby making the multiple first magnetic wheels 121, the second magnetic wheel 122, the third magnetic wheel 123, and the fourth magnetic wheel 124 rotate synchronously, so as to ensure that the bottom cleaning robot moves stably on the hull.

[0057] Specifically, the linkage assembly 133 includes a sprocket 1331 and a connecting chain 1332. The sprockets 1331 are respectively fixedly arranged on two adjacent connecting rods 125. The connecting chain 1332 is sleeved on the outer sides of the two sprockets 1331. One of the two connecting rods 125 is fixedly connected to the gear in the driving gear box 132. When the gear in the driving gear box 132 rotates, the connecting rod 125 fixedly connected thereto is driven to rotate, and the sprocket 1331 on the connecting rod 125 rotates accordingly. Through the linkage of the connecting chain 1332, the sprocket 1331 on the other connecting rod 125 is driven to rotate, and the other connecting rod 125 is driven to rotate, thereby ensuring that the two connecting rods 125 rotate synchronously, and then the first magnetic attraction wheel 121, the second magnetic attraction wheel 122, the third magnetic attraction wheel 123, and the fourth magnetic attraction wheel 124 connected to one end of the two connecting rods 125 also rotate synchronously.

[0058] Through the structural setting of the above-mentioned walking drive component 13, the two magnetic wheel components 12 rotate synchronously, and then synchronously drive the eight first magnetic wheels 121, the second magnetic wheel 122, the third magnetic wheel 123, and the fourth magnetic wheel 124 to rotate synchronously, which is beneficial to controlling the walking movement of the bottom cleaning robot, enhancing the operability of the bottom cleaning robot, and facilitating the control of the bottom cleaning robot.

[0059] The steering drive assembly 14 is used to control the magnetic wheel assembly 12 to synchronously complete the steering action on the hull, including a right steering drive device 141 and a left steering drive device 142. The two have the same structure and opposite directions. The right steering drive device 141 is movably connected to the first magnetic wheel 121 and the second magnetic wheel 122, and controls the steering movement of the first magnetic wheel 121 and the second magnetic wheel 122. The left steering drive device 142 is movably connected to the third magnetic wheel 123 and the fourth magnetic wheel 124, and controls the steering movement of the third magnetic wheel 123 and the fourth magnetic wheel 124.

[0060] The following is a detailed description taking the right steering drive device 141 as an example. The left steering drive device 142 has the same structure as the right steering drive device 141 but has an opposite direction.

[0061] Specifically, the right steering drive device 141 includes a right steering drive motor 1411, a right steering worm 1412, a right steering connecting chain 1413, and a right steering worm gear 1414. The right steering drive motor 1411 is fixedly mounted on the main frame 10 and is electrically connected to the electrical warehouse 11. A right steering drive gear 14111 is arranged on the output shaft of the right steering drive motor 1411. When the right steering drive motor 1411 receives an instruction from the electrical warehouse 11, it drives the right steering drive gear 14111 to rotate.

[0062] Preferably, a plurality of right steering worm gears 1414 are provided, and the plurality of right steering worm gears 1414 are all provided on the main frame 10 through bearings, and are fixedly connected to the first magnetic wheel 121 and the second magnetic wheel 122. When the right steering worm gear 1414 rotates, it drives the first magnetic wheel 121 and the second magnetic wheel 122 to rotate synchronously, thereby completing the steering action of the first magnetic wheel 121 and the second magnetic wheel 122.

[0063] In this embodiment, four right-turn worm gears 1414 are provided, and the four right-turn worm gears 1414 are fixedly connected to the first magnetic attraction wheel 121 and the second magnetic attraction wheel 122 in the two sets of magnetic attraction wheel assemblies 12 respectively.

[0064] The right steering worm 1412 is arranged above the first magnetic wheel 121 and the second magnetic wheel 122, and is movably connected to the main frame 10 through a bearing. When the right steering worm 1412 rotates, it drives the right steering worm wheel 1414 to rotate, and then drives the first magnetic wheel 121 and the second magnetic wheel 122 to rotate synchronously, thereby completing the steering action of the first magnetic wheel 121 and the second magnetic wheel 122.

[0065] Specifically, the right steering worm 1412 includes a right connecting gear 14121, a forward worm gear 14122 and a reverse worm gear 14123. The right connecting gear 14121 is fixedly arranged at one end of the right steering worm 1412. The forward worm gear 14122 and the reverse worm gear 14123 are arranged on the right steering worm 1412. The forward worm gear 14122 and the reverse worm gear 14123 have opposite rotation directions. 123 is respectively meshed with the right steering worm gear 1414 above the first magnetic attraction wheel 121 and the second magnetic attraction wheel 122. When the right steering worm 1412 rotates, the forward worm gear 14122 and the reverse worm gear 14123 are driven to rotate, thereby driving the right steering worm gear 1414 to rotate accordingly. Since the forward worm gear 14122 and the reverse worm gear 14123 have opposite rotation directions, the first magnetic attraction wheel 121 and the second magnetic attraction wheel 122 also rotate in opposite directions.

[0066] In this embodiment, the right steering worm 1412 includes four worm teeth, that is, two forward worm teeth 14122 and two reverse worm teeth 14123 are respectively provided on the right steering worm 1412, and the four worm teeth are evenly arranged on the right steering worm 1412, the two forward worm teeth 14122 are meshed with the right steering worm wheel 1414 above the two first magnetic wheels 121, and the two reverse worm teeth 14123 are meshed with the right steering worm wheel 1414 above the two second magnetic wheels 122.

[0067] The right steering connecting chain 1413 is sleeved on the outside of the right connecting gear 14121 and the right steering drive gear 14111. When the right steering drive motor 1411 drives the right steering drive gear 14111 to rotate, the right connecting gear 14121 is driven to rotate synchronously through the conduction of the right steering connecting chain 1413, and then the right steering worm 1412 is driven to rotate synchronously, and the forward worm gear 14122 and the reverse worm gear 14123 on the right steering worm 1412 rotate accordingly, driving the right steering worm wheel 1414 meshing with the forward worm gear 14122 and the reverse worm gear 14123 to rotate synchronously, and then the first magnetic wheel 121 and the second magnetic wheel 122 are driven to rotate synchronously.

[0068] Through the above-mentioned structural setting, the present invention realizes a right steering drive motor 1411 to control the first magnetic wheel 121 and the second magnetic wheel 122 to turn synchronously in opposite directions, so that the angle of the bottom cleaning robot is easy to control when turning, which increases the adjustability of the bottom cleaning robot and is beneficial to the underwater operation of the bottom cleaning robot.

[0069] Similarly, the left steering drive device 142 has the same structure as the right steering drive motor 1411, but in opposite directions. The left steering drive device 142 includes a left steering drive motor 1421. The left steering drive device 142 controls the third magnetic wheel 123 and the fourth magnetic wheel 124 to synchronously turn in opposite directions through the left steering drive motor 1421, so that the angle of the bottom cleaning robot is easy to control when turning, thereby increasing the adjustability of the bottom cleaning robot and facilitating the underwater operation of the bottom cleaning robot.

[0070] Preferably, the right steering drive motor 1411 and the left steering drive motor 1421 are both controlled separately, and the two cooperate with each other to separately control the different directions of the first magnetic wheel 121 and the second magnetic wheel 122, the third magnetic wheel 123 and the fourth magnetic wheel 124, thereby controlling the rotation direction of the magnetic wheel assembly 12 to realize multi-angle rotation of the walking mechanism 1.

[0071] Preferably, the right travel drive motor 1311 and the left travel drive motor 1321 can receive instructions from the electrical warehouse 11 and adjust to different rotation speeds and / or directions. When the steering drive assembly 14 adjusts the first magnetic wheel 121, the second magnetic wheel 122, the third magnetic wheel 123, and the fourth magnetic wheel 124 to different angles respectively, the right walking drive motor 1311 and the left walking drive motor 1321 can ensure that the first magnetic wheel 121, the second magnetic wheel 122, the third magnetic wheel 123, and the fourth magnetic wheel 124 turn and move smoothly on the hull through different rotation speeds, thereby preventing the problem of unstable walking caused by the distance between the first magnetic wheel 121 and the second magnetic wheel 122, the third magnetic wheel 123, and the fourth magnetic wheel 124; the right walking drive motor 1311 and the left walking drive motor 1321 can also control the forward directions of the first magnetic wheel 121, the second magnetic wheel 122, the third magnetic wheel 123, and the fourth magnetic wheel 124 through different steering, so that the walking mechanism 1 can realize the walking function of multiple angles and directions.

[0072] For example, see Figures 5 and 6 , Figure 5 The first magnetic wheel 121, the second magnetic wheel 122, the third magnetic wheel 123, and the fourth magnetic wheel 124 are rotated to the angles shown in the figure by the steering drive assembly 14, and the right walking drive motor 1311 and the left walking drive motor 1321 control different steering directions to make the first magnetic wheel 121, the second magnetic wheel 122, the third magnetic wheel 123, and the fourth magnetic wheel 124 move in the direction indicated by the arrow in the figure. Therefore, Figure 5 The walking mechanism 1 in the vehicle can realize the turning action.

[0073] Figure 6 The first magnetic wheel 121, the second magnetic wheel 122, the third magnetic wheel 123, and the fourth magnetic wheel 124 are rotated to the angles shown in the figure by the steering drive assembly 14, and the right walking drive motor 1311 and the left walking drive motor 1321 control different steering directions to make the first magnetic wheel 121, the second magnetic wheel 122, the third magnetic wheel 123, and the fourth magnetic wheel 124 move in the direction indicated by the arrow in the figure. Therefore, Figure 6 The walking mechanism 1 in the vehicle can realize a 360-degree rotation.

[0074] In other embodiments, the first magnetic wheel 121, the second magnetic wheel 122, the third magnetic wheel 123, and the fourth magnetic wheel 124 can also be placed with a travel drive motor separately and driven by the connecting rod 125 respectively, that is, the first magnetic wheel 121, the second magnetic wheel 122, the third magnetic wheel 123, and the fourth magnetic wheel 124 are all driven by the travel drive motor separately to ensure that the first magnetic wheel 121, the second magnetic wheel 122, the third magnetic wheel 123, and the fourth magnetic wheel 124 can cooperate with each other to turn and move smoothly on the hull. It should be pointed out that the present invention does not limit the number of travel drive motors set, and any structural design of the travel drive motor that can drive the first magnetic wheel 121, the second magnetic wheel 122, the third magnetic wheel 123, and the fourth magnetic wheel 124 is within the protection scope of the claims of the present invention.

[0075] Preferably, the traveling mechanism 1 further comprises a connecting frame 15 , and the cleaning mechanism 2 is fixedly connected to the connecting frame 15 .

[0076] The present invention provides a bottom cleaning robot, wherein the cleaning mechanism 2 comprises a scraper device 21 and a roller brush device 22, wherein the scraper device 21 and the roller brush device 22 are replaceably fixedly connected to a connecting frame 15 to realize combined cleaning of the bottom cleaning robot, wherein the scraper device 21 is used for cleaning shellfish marine life attached to the hull, and the roller brush device 22 is used for cleaning algae marine life attached to the hull.

[0077] The observation mechanism 3 includes a camera 31 and an illumination lamp 32 which are arranged on a pan-tilt platform.

[0078] Preferably, the camera 31 uses a 200W pixel fixed-focus color lens, and two lighting lamps 32 are provided, and use underwater 15W LED lamps.

[0079] The protection mechanism 4 is arranged on the outside of the ship bottom cleaning robot and is made of high-strength aviation aluminum material to protect the ship bottom cleaning robot and effectively reduce the weight of the ship bottom cleaning robot.

[0080] Preferably, the protective mechanism 4 includes a floating material fixedly arranged inside the protective mechanism 4, and the floating material is bonded to the protective mechanism 4, and is used to provide buoyancy for the entire bottom cleaning robot in the water, so that the buoyancy and gravity of the bottom cleaning robot are balanced, reducing the force on the entire robot underwater.

[0081] The working principle of the ship bottom cleaning robot provided by the present invention is introduced in detail below.

[0082] First, the electrical compartment 11 of the ship bottom cleaning robot is connected to the water control platform on the shore or on the ship, and then the robot is released to one side of the target ship body by a winch, and the ship bottom cleaning robot is fitted to the ship body by the walking mechanism 1, and the observation mechanism 4 is opened to observe the surrounding environment by the observation mechanism 4, and then the robot is moved to the required cleaning position on the ship body by the walking mechanism 1, and the marine organisms attached to the ship body are cleaned by the scraper device 21 or the roller brush device 22. The robot realizes the coordinated action of walking and cleaning through software control, and completes the cleaning work of the entire ship bottom.

[0083] The ship bottom cleaning robot provided by the present invention achieves the effect of cleaning and moving forward at the same time through the walking mechanism 1 and the cleaning mechanism 2, thereby achieving the purpose of cleaning the entire ship bottom.

[0084] The specific implementation methods of the present invention are described in detail above. For those skilled in the art, the present invention may be modified and improved in a number of ways without departing from the principles of the present invention. These modifications and improvements also fall within the scope of protection of the claims of the present invention.

Claims

1. A walking mechanism for a ship bottom cleaning robot, characterized in that: The walking mechanism (1) comprises a main frame (10), an electrical compartment (11), a magnetic wheel assembly (12), a walking drive assembly (13) and a steering drive assembly (14); the electrical compartment (11) is fixedly mounted on the main frame (10) and connected to an above-water control platform via a cable; the above-water control platform transmits signals to the electrical compartment (11); the electrical compartment (11) is electrically connected to the walking drive assembly (13) and the steering drive assembly (14) respectively; The magnetic wheel assembly (12) comprises a first magnetic wheel (121), a second magnetic wheel (122), a third magnetic wheel (123), and a fourth magnetic wheel (124); the first magnetic wheel (121) and the second magnetic wheel (122) are fixedly mounted on the right side of the main frame (10), and the third magnetic wheel (123) and the fourth magnetic wheel (124) are fixedly mounted on the left side of the main frame (10); The steering drive assembly (14) is respectively connected to the first magnetic wheel (121), the second magnetic wheel (122), the third magnetic wheel (123), and the fourth magnetic wheel (124) in a transmission manner, and the steering drive assembly (14) controls the first magnetic wheel (121), the second magnetic wheel (122), the third magnetic wheel (123), and the fourth magnetic wheel (124) to synchronously complete a steering action on the hull; The walking drive assembly (13) is respectively connected to the first magnetic wheel (121), the second magnetic wheel (122), the third magnetic wheel (123), and the fourth magnetic wheel (124) in a transmission manner, so as to control the magnetic wheel assembly (12) to walk on the hull; the steering drive assembly (14) comprises a right steering drive device (141) and a left steering drive device (142) having the same structure and opposite directions; the right steering drive device (141) controls the steering movement of the first magnetic wheel (121) and the second magnetic wheel (122), and the left steering drive device (142) controls the steering movement of the third magnetic wheel (123) and the fourth magnetic wheel (124); The right steering drive device (141) and the left steering drive device (142) have the same structure, and both include a steering drive motor and a steering worm; the steering drive motor is fixedly arranged on the main frame (10) and is electrically connected to the electrical compartment (11); the steering drive motor is drivingly connected to the steering worm, and the steering drive motor drives the steering worm to rotate; The steering worm comprises a forward worm gear and a reverse worm gear, the forward worm gear and the reverse worm gear have opposite rotation directions, and the forward worm gear and the reverse worm gear are respectively connected to the first magnetic attraction wheel (121) and the second magnetic attraction wheel (122) and / or the third magnetic attraction wheel (123) and the fourth magnetic attraction wheel (124) in transmission connection, and when the steering worm gear rotates, the forward worm gear and the reverse worm gear drive the first magnetic attraction wheel (121) and the second magnetic attraction wheel (122) and / or the third magnetic attraction wheel (123) and the fourth magnetic attraction wheel (124) to rotate synchronously in opposite directions, so that the walking mechanism (1) can realize steering and 360-degree rotation actions; The steering drive assembly (14) comprises a steering worm gear, wherein a plurality of the steering worm gears are provided, and the plurality of steering worm gears are respectively fixedly connected to the first magnetic attraction wheel (121), the second magnetic attraction wheel (122), the third magnetic attraction wheel (123), and the fourth magnetic attraction wheel (124), and the plurality of steering worm gears are meshed with the forward worm gear and the reverse worm gear; When the steering drive motor drives the steering worm to rotate synchronously, the steering worm drives the steering worm wheel to rotate synchronously through the forward worm gear and the reverse worm gear, thereby driving the first magnetic attraction wheel (121) and the second magnetic attraction wheel (122) and / or the third magnetic attraction wheel (123) and the fourth magnetic attraction wheel (124) to rotate synchronously in opposite directions; The steering drive assembly (14) comprises a steering connection chain, a steering drive gear is arranged on the output shaft of the steering drive motor, the steering worm comprises a connection gear fixedly arranged at one end of the steering worm, and the steering connection chain is sleeved on the outer sides of the connection gear and the steering drive gear; When the steering drive motor is in operation, the steering drive gear, the steering connection chain and the connection gear drive the steering worm to rotate synchronously, thereby driving the first magnetic wheel (121) and the second magnetic wheel (122) and / or the third magnetic wheel (123) and the fourth magnetic wheel (124) to rotate synchronously; The magnetic wheel assembly (12) comprises a connecting rod (125), a plurality of the connecting rods (125) are provided, and one end of the plurality of connecting rods (125) is respectively fixedly connected to the first magnetic wheel (121), the second magnetic wheel (122), the third magnetic wheel (123), and the fourth magnetic wheel (124), the plurality of connecting rods (125) are fixedly connected to the main frame (10), and the travel drive assembly (13) is drivingly connected to the plurality of connecting rods (125); When the walking drive assembly (13) drives the connecting rod (125) to rotate, the first magnetic wheel (121), the second magnetic wheel (122), the third magnetic wheel (123), and the fourth magnetic wheel (124) are respectively driven to rotate, thereby realizing the walking function of the walking mechanism (1); The connecting rod (125) comprises a universal shaft (1251), wherein the universal shaft (1251) is fixedly arranged at one end of the connecting rod (125) connected to the magnetic attraction wheel, and the connecting rod (125) is respectively fixedly connected to the first magnetic attraction wheel (121), the second magnetic attraction wheel (122), the third magnetic attraction wheel (123), and the fourth magnetic attraction wheel (124) via the universal shaft (1251).

2. The walking mechanism for a ship bottom cleaning robot according to claim 1, characterized in that: The travel drive assembly (13) comprises a travel drive motor and a transmission mechanism. The travel drive motor is fixedly arranged on the main frame (10) and is electrically connected to the electrical compartment (11). The travel drive motor is connected to the plurality of connecting rods (125) through the transmission mechanism. The travel drive motor rotates after receiving a command from the electrical compartment (11), and drives the plurality of connecting rods (125) to rotate synchronously through the transmission mechanism, thereby driving the first magnetic wheel (121), the second magnetic wheel (122), the third magnetic wheel (123), and the fourth magnetic wheel (124) to rotate synchronously.

3. The walking mechanism for a ship bottom cleaning robot according to claim 2, characterized in that: The rotation speed and / or direction of the travel drive motor can be adjusted according to the different steering angles of the steering drive assembly (14), thereby enabling the travel mechanism (1) to stably turn and travel on the hull, and also enabling the travel mechanism (1) to have a multi-angle and directional travel function.

4. The walking mechanism for a ship bottom cleaning robot according to claim 1, characterized in that: The magnetic wheel assemblies (12) are provided in a plurality of groups and are evenly distributed and fixedly connected to the main frame (10); the travel drive assembly (13) is transmission-connected to the plurality of groups of the magnetic wheel assemblies (12) for controlling the plurality of groups of the magnetic wheel assemblies (12) to travel on the hull; and the steering drive assembly (14) is transmission-connected to the plurality of groups of the magnetic wheel assemblies (12) for controlling the plurality of groups of the magnetic wheel assemblies (12) to synchronously complete steering movements on the hull.

5. A ship bottom cleaning robot using the walking mechanism for the ship bottom cleaning robot according to any one of claims 1 to 4, characterized in that: The robot comprises a walking mechanism (1), a cleaning mechanism (2), and an observation mechanism (3); the walking mechanism (1) is a magnetic wheel structure; the cleaning mechanism (2) is mounted at the front end of the walking mechanism (1) and is used to remove marine organisms attached to the bottom and sides of a ship; and the observation mechanism (3) is fixedly mounted on the walking mechanism (1) and is used to determine the underwater position of the bottom cleaning robot.

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