Industrial robot for boat washing

Abstract

The present invention provides an industrial robot for washing ships, which belongs to the technical field of industrial robots, and includes a walking system, a water spraying system, a water pumping system, an adsorption system and a frame; the frame includes a crossbeam, a first bow frame, a second bow frame and a cover body, the first bow frame and the second bow frame are sleeved on the crossbeam, both are fixedly connected to the top of the cover body, an adsorption system is fixed between the two, and a water pumping hole is opened on the top of the cover body; the walking system includes a left walking mechanism and a right walking mechanism, the two are connected by a crossbeam, the water spraying system is arranged inside the cover body, and has a high-pressure water interface end, and the water pumping system is arranged above the cover body and is connected to the water pumping hole. The present invention alleviates the technical problems in the prior art that the traditional manual high-altitude cleaning operation is difficult and prone to personal injury, the sandblasting operation pollutes the environment and endangers personal health, the related employment costs increase sharply year by year and it is difficult to recruit workers, and the efficiency of cleaning the hull is low.

Description

Technical Field

[0001] The invention belongs to the technical field of industrial robots, and in particular relates to an industrial robot for washing boats. Background Art

[0002] For large ships that sail or anchor in waters for a long time, a large number of aquatic organisms such as moss will adhere to the surface of the ship. At the same time, there will be a lot of rust stains on the surface of the hull, which seriously affects the sailing speed and service life of the ship and increases fuel consumption. Therefore, ocean-going ships need to regularly remove rust, waste paint, attached marine organisms, etc. on the shipboard to ensure the good working condition of the ship.

[0003] However, in the existing technology, traditional manual hull cleaning is a typical labor-intensive operation and has some disadvantages that are difficult to overcome, such as: high-altitude operations are difficult and prone to personal injury; sandblasting operations pollute the environment and endanger personal health; related labor costs increase sharply year by year and it is difficult to recruit workers; the efficiency of hull cleaning is low, etc. Summary of the invention

[0004] In view of this, the present invention aims to provide an industrial robot for boat washing to alleviate the above-mentioned technical problems.

[0005] To achieve the above object, the technical solution of the present invention is achieved as follows:

[0006] A ship-washing industrial robot comprises a walking system, a water spraying system, a water pumping system, an adsorption system and a frame; the frame comprises a crossbeam, a first bow frame, a second bow frame and a cover body, the first bow frame and the second bow frame are sleeved on the crossbeam in parallel, and the first ends of both are fixedly connected to the top of the cover body, the adsorption system is fixed between the second ends of the two, the top of the cover body is provided with a water pumping hole, and the bottom is provided with a cleaning port; the walking system comprises a left walking mechanism and a right walking mechanism, the two are connected by the crossbeam, the water spraying system is arranged inside the cover body, and has a high-pressure water interface end located outside the top of the cover body, and the water pumping system is arranged above the cover body and communicated with the water pumping hole.

[0007] Furthermore, the water spray system also includes a cross-shaped nozzle assembly and a water pipe body; an avoidance hole is opened on the top of the cover body, the cross-shaped nozzle assembly is located inside the cover body, the water pipe body is connected to the top of the cover body, the top end of the water pipe body is connected to the high-pressure water interface end through the avoidance hole, and the bottom end of the water pipe body is connected to the cross-shaped nozzle assembly.

[0008] Furthermore, the water pumping system includes a vacuum pump, a tee, a first water pumping hose and a second water pumping hose; the tee has a top port, a left port and a right port, the water pumping holes on the top of the cover body include a left water pumping hole and a right water pumping hole, the vacuum pump is connected to the top port of the tee, one end of the first water pumping hose is connected to the left water pumping hole, and the other end is connected to the left port of the tee, one end of the second water pumping hose is connected to the right water pumping hole, and the other end is connected to the right port of the tee.

[0009] Furthermore, the frame also includes a support column, the top end of the support column is fixedly connected to the bottom end of the three-way pipe, and the bottom end of the support column is fixedly connected to the top of the cover body.

[0010] Furthermore, the frame also includes a fastener, and the fastener has a first clamping end and a second clamping end, the first clamping end is fixedly connected to the support column, and the second clamping end is fixedly connected to the crossbeam.

[0011] Furthermore, the frame also includes a traction structure, one end of which is fixedly connected to the second clamping end of the fastener, and the other end of which is provided with a rope traction ring.

[0012] Furthermore, the left-side walking mechanism includes a first drive device integrated box and a first hub-type walking wheel, the first drive device integrated box has a first rotating shaft end, and the center of the first hub-type walking wheel is connected to the first rotating shaft end; the right-side walking mechanism includes a second drive device integrated box and a second hub-type walking wheel, the second drive device integrated box has a second rotating shaft end, and the center of the second hub-type walking wheel is connected to the second rotating shaft end; the first drive device integrated box and the second drive device integrated box are connected via the crossbeam.

[0013] Furthermore, the first hub-type running wheel includes a first wheel body and a second wheel body, and the first wheel body and the second wheel body are respectively connected to the left and right sides of the first drive device integrated box; the second hub-type running wheel includes a third wheel body and a fourth wheel body, and the third wheel body and the fourth wheel body are respectively connected to the left and right sides of the second drive device integrated box.

[0014] Furthermore, the adsorption system includes an electric control integrated box, a connecting plate and an electromagnet integrated box, the connecting plate is connected to the first bow frame and the second bow frame, the electric control integrated box is fixed to the top surface of the connecting plate, the electromagnet integrated box is fixed to the bottom surface of the connecting plate, and the electromagnet integrated box is electrically connected to the electric control integrated box.

[0015] Furthermore, the walking system also includes a universal wheel; the electromagnet integrated box includes a first electromagnet integrated box and a second electromagnet integrated box, both of which are fixed to the bottom surface of the connecting plate; the universal wheel is fixedly connected to the bottom surface of the connecting plate, and is located between the first electromagnet integrated box and the second electromagnet integrated box.

[0016] Compared with the prior art, the industrial robot for washing ships of the present invention has the following advantages:

[0017] (1) The present invention is adsorbed on the side of a large ship through an adsorption system, and high-pressure water is connected to the high-pressure water interface of the water spray system to clean the surface of the ship. At the same time, the sewage mixed with paint, rust, seaweed, etc. after the flushing is completed is sucked out from the cover body through the pumping system. The walking system moves back and forth and turns, and the cleaning effect of the hull is good and efficient, saving labor costs. It can also alleviate the technical problems of traditional manual cleaning of the hull in the prior art, the difficulty of high-altitude operations and the risk of personal injury, sandblasting operations that pollute the environment and endanger personal health, the sharp increase in related labor costs and the difficulty in recruiting workers, and the low efficiency of cleaning the hull.

[0018] (2) The frame of the present invention organically integrates various systems together through beams, covers and bow frames, etc., and has a reasonable and stable structure and is easy to clean. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0020] Figure 1 This is a first axonometric view of the industrial robot for boat washing according to an embodiment of the present invention;

[0021] Figure 2 This is a top view of the industrial robot for washing boats according to an embodiment of the present invention;

[0022] Figure 3 This is a second axonometric view of the industrial robot for boat washing according to an embodiment of the present invention;

[0023] Figure 4 This is a third axonometric view of the industrial robot for boat washing according to an embodiment of the present invention;

[0024] Figure 5 This is a bottom view of the industrial robot for boat washing according to an embodiment of the present invention;

[0025] Figure 6 A connection diagram of the first common frame, the second arch frame and the crossbeam according to an embodiment of the present invention;

[0026] Figure 7This is a connection diagram of the tee pipe, support column, fastener, beam and traction structure described in an embodiment of the present invention.

[0027] Description of reference numerals:

[0028] 1-crossbeam; 2-first bow frame; 3-second bow frame; 4-cover body; 5-high-pressure water interface end; 6-cross-shaped nozzle assembly; 7-tee pipe; 8-first water suction hose; 9-second water suction hose; 10-support column; 11-fastener; 12-traction structure; 13-first drive device integrated box; 14-second drive device integrated box; 15-first hub-type running wheel; 16-second hub-type running wheel; 17-electric control integrated box; 18-first electromagnet integrated box; 19-second electromagnet integrated box; 20-universal wheel. DETAILED DESCRIPTION

[0029] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0030] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying 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 limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0031] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "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 or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the communication of units within two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0032] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0033] Reference Figures 1 to 3 and Figure 6The present invention provides an industrial robot for washing a ship, comprising a walking system, a water spraying system, a water pumping system, an adsorption system and a frame; the frame comprises a crossbeam 1, a first bow frame 2, a second bow frame 3 and a cover body 4, the first bow frame 2 and the second bow frame 3 are arranged on the crossbeam 1 in parallel, and the first ends of both are fixedly connected to the top of the cover body 4, the adsorption system is fixed between the second ends of the two, the top of the cover body 4 is provided with a water pumping hole, the bottom is provided with a cleaning port, and the position where the cleaning port fits the side wall of the hull can be provided with annular bristles; the walking system comprises a left walking mechanism and a right walking mechanism, the two are connected by the crossbeam 1, the water spraying system is arranged inside the cover body 4, and has a high-pressure water interface end 5 located on the outside of the top of the cover body 4, and the water pumping system is arranged above the cover body 4 and is connected with the water pumping hole.

[0034] Specifically, the present invention is adsorbed on the side of a large ship through an adsorption system, and high-pressure water is connected to the high-pressure water interface end 5 of the water spray system to clean the surface of the ship. At the same time, the sewage mixed with paint, rust, seaweed, etc. after flushing is sucked out from the cover body 4 through the pumping system. The walking system moves back and forth and turns, so the cleaning effect of the hull is good, the efficiency is high, and the labor cost is saved. The frame of the present invention organically integrates various systems together through the crossbeam 1, the cover body 4 and the bow frame, and the structure is reasonable and stable, and it is easy to clean.

[0035] Reference Figures 3 to 5 In an optional implementation manner of the present embodiment, it is more preferred that the water spray system further includes a cross-shaped nozzle assembly 6 and a water pipe body, which is not marked in the figure; an avoidance hole is opened on the top of the cover body 4, and the cross-shaped nozzle assembly 6 is located inside the cover body 4. The cross-shaped nozzle assembly 6 is provided with a plurality of water spray holes, which can also be manufactured to rotate relative to the water pipe body. The water pipe body is connected to the top of the cover body 4, and the top end of the water pipe body is connected to the high-pressure water interface end 5 through the avoidance hole, and the bottom end of the water pipe body is connected to the cross-shaped nozzle assembly 6. The high-pressure water flows into the water pipe body through the interface end and then sprays out from the water spray holes of the cross-shaped nozzle assembly 6 to clean the hull.

[0036] Reference Figure 1 and Figure 2In an optional implementation manner of the present embodiment, it is more preferred that the water pumping system includes a vacuum pump, a three-way pipe 7, a first water pumping hose 8 and a second water pumping hose 9, and the vacuum pump is not drawn in the figure; the three-way pipe 7 has a top port, a left port and a right port, and the water pumping hole at the top of the cover body 4 includes a left water pumping hole and a right water pumping hole, the vacuum pump is connected to the top port of the three-way pipe 7, one end of the first water pumping hose 8 is connected to the left water pumping hole, and the other end is connected to the left side port of the three-way pipe 7, one end of the second water pumping hose 9 is connected to the right water pumping hole, and the other end is connected to the right side port of the three-way pipe 7, and the external vacuum pump is connected to the top of the three-way pipe 7 to suck out the cleaning sewage and debris in the cover body 4.

[0037] Reference Figure 1 , Figure 2 and Figure 7 In an optional implementation of the present embodiment, more preferably, the frame further includes a support column 10, the top end of the support column 10 is fixedly connected to the bottom end of the three-way pipe 7, and the bottom end of the support column 10 is fixedly connected to the top of the cover body 4.

[0038] Reference Figure 1 , Figure 2 and Figure 7 In an optional implementation manner of the present embodiment, more preferably, the frame also includes a fastener 11, the fastener 11 has a first clamping end and a second clamping end, the first clamping end is fixedly connected to the support column 10, and the second clamping end is fixedly connected to the beam 1.

[0039] Reference Figure 1 , Figure 2 and Figure 7 In an optional implementation manner of the present embodiment, more preferably, the frame further includes a traction structure 12, one end of the traction structure 12 is fixedly connected to the second clamping end of the fastener 11, and the other end has a rope traction ring.

[0040] Reference Figures 1 to 5In an optional implementation manner of the present embodiment, it is more preferred that the left-side walking mechanism includes a first drive device integrated box 13 and a first hub-type walking wheel 15, the first drive device integrated box 13 has a first rotating shaft end, and the center of the first hub-type walking wheel 15 is connected to the first rotating shaft end; the left-side walking mechanism includes a second drive device integrated box 14 and a second hub-type walking wheel 16, the second drive device integrated box 14 has a second rotating shaft end, and the center of the second hub-type walking wheel 16 is connected to the second rotating shaft end; the first drive device integrated box 13 and the second drive device integrated box 14 are connected by the crossbeam 1, and the first drive device integrated box 13 and the second drive device integrated box 14 both have power supplies, motors, planetary reduction wheels, worm gears and other necessary mechanisms and components for driving the walking wheels forward, backward and turning, which are not repeated here.

[0041] Reference Figures 1 to 5 In an optional implementation manner of the present embodiment, it is more preferred that the first hub-type running wheel 15 includes a first wheel body and a second wheel body, and the first wheel body and the second wheel body are respectively connected to the left and right sides of the first drive device integrated box 13; the second hub-type running wheel 16 includes a third wheel body and a fourth wheel body, and the third wheel body and the fourth wheel body are respectively connected to the left and right sides of the second drive device integrated box 14, and the double-layer wheel body structure is more flexible and stable.

[0042] Reference Figure 1 , Figure 2 and Figure 5 In the optional implementation of the present embodiment, it is more preferred that the adsorption system includes an electric control integrated box 17, a connecting plate and an electromagnet integrated box. The connecting plate is not marked in the figure. The connecting plate is connected to the first bow frame 2 and the second bow frame 3. The electric control integrated box 17 is fixed to the top surface of the connecting plate. The electromagnet integrated box is fixed to the bottom surface of the connecting plate. The electromagnet integrated box is electrically connected to the electric control integrated box 17. The electromagnet integrated box is controlled by the electric control integrated box 17 to generate strong magnetic force and is adsorbed on the steel side plate of the hull.

[0043] Reference Figure 5 In an optional implementation manner of the present embodiment, it is more preferred that the walking system also includes a universal wheel 20; the electromagnet integrated box includes a first electromagnet integrated box 18 and a second electromagnet integrated box 19, both of which are fixed to the bottom surface of the connecting plate; the universal wheel 20 is fixedly connected to the bottom surface of the connecting plate, and is located between the first electromagnet integrated box 18 and the second electromagnet integrated box 19, and two electromagnets can be installed in each electromagnet integrated box. The universal wheel 20 assists the robot in forward, backward and turning movements.

[0044] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An industrial robot for washing boats, characterized by: It includes walking system, water spraying system, water pumping system, adsorption system and frame; The frame includes a crossbeam, a first bow-shaped frame, a second bow-shaped frame and a cover body, the first bow-shaped frame and the second bow-shaped frame are sleeved on the crossbeam in parallel, and the first ends of both are fixedly connected to the top of the cover body, the adsorption system is fixed between the second ends of the two, and the top of the cover body is provided with a water pumping hole, and the bottom is provided with a cleaning port; The walking system includes a left walking mechanism and a right walking mechanism, which are connected by the crossbeam. The water spraying system is arranged inside the cover body and has a high-pressure water interface end located outside the top of the cover body. The water pumping system is arranged above the cover body and communicates with the water pumping hole. The left-side walking mechanism comprises a first drive device integrated box and a first hub-type walking wheel, the first drive device integrated box has a first rotating shaft end, and the center of the first hub-type walking wheel is connected to the first rotating shaft end; The right walking mechanism comprises a second drive device integrated box and a second hub-type walking wheel, the second drive device integrated box has a second rotating shaft end, and the center of the second hub-type walking wheel is connected to the second rotating shaft end; The first drive device integrated box and the second drive device integrated box are connected by the crossbeam; The first hub-type running wheel comprises a first wheel body and a second wheel body, and the first wheel body and the second wheel body are respectively connected to the left and right sides of the first drive device integrated box; The second hub-type walking wheel comprises a third wheel body and a fourth wheel body, and the third wheel body and the fourth wheel body are respectively connected to the left and right sides of the second driving device integrated box; The adsorption system includes an electric control integrated box, a connecting plate and an electromagnet integrated box. The connecting plate is connected to the first bow frame and the second bow frame. The electric control integrated box is fixed to the top surface of the connecting plate. The electromagnet integrated box is fixed to the bottom surface of the connecting plate. The electromagnet integrated box is electrically connected to the electric control integrated box.

2. The industrial robot for boat washing according to claim 1, characterized in that: The water spray system also includes a cross-shaped spray head assembly and a water delivery pipe body; An avoidance hole is provided on the top of the cover body, the cross-shaped nozzle assembly is located inside the cover body, the water pipe body is connected to the top of the cover body, the top end of the water pipe body is connected to the high-pressure water interface end through the avoidance hole, and the bottom end of the water pipe body is connected to the cross-shaped nozzle assembly.

3. The industrial robot for boat washing according to claim 1, characterized in that: The water pumping system comprises a vacuum pump, a tee pipe, a first water pumping hose and a second water pumping hose; The three-way pipe has a top port, a left port and a right port. The water pumping holes on the top of the cover body include a left water pumping hole and a right water pumping hole. The vacuum pump is connected to the top port of the three-way pipe. One end of the first water pumping hose is connected to the left water pumping hole, and the other end is connected to the left port of the three-way pipe. One end of the second water pumping hose is connected to the right water pumping hole, and the other end is connected to the right port of the three-way pipe.

4. The industrial robot for boat washing according to claim 3, characterized in that: The frame also includes a support column, the top end of the support column is fixedly connected to the bottom end of the three-way pipe, and the bottom end of the support column is fixedly connected to the top of the cover body.

5. The industrial robot for boat washing according to claim 4, characterized in that: The frame further comprises a fastener having a first clamping end and a second clamping end, wherein the first clamping end is fixedly connected to the support column, and the second clamping end is fixedly connected to the crossbeam.

6. The industrial robot for boat washing according to claim 5, characterized in that: The frame also includes a traction structure, one end of which is fixedly connected to the second clamping end of the fastener, and the other end of which is provided with a rope traction ring.

7. The industrial robot for boat washing according to claim 1, characterized in that: The walking system also includes universal wheels; The electromagnet integrated box includes a first electromagnet integrated box and a second electromagnet integrated box, both of which are fixed to the bottom surface of the connecting plate; The universal wheel is fixedly connected to the bottom surface of the connecting plate and is located between the first electromagnet integrated box and the second electromagnet integrated box.

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