Ship wall cleaning robot based on bearing magnetic attraction device

Abstract

The present invention discloses a ship wall cleaning robot based on a bearing magnetic suction device, including a robot housing, on the top of which a first high-pressure water pump and a second high-pressure water pump are installed; a drive control component, which is arranged inside the robot housing and is used to control the operation of the mechanical drive component. The mechanical drive component is arranged on both sides of the robot housing, and the mechanical drive component enables the robot to adhere to the ship wall surface through a small DC suction electromagnet; a drive direction-changing component, which is arranged at the bottom of the robot housing and is used to control the direction-changing movement of the robot. The robot of the present invention adopts a bearing magnetic suction device at the leg transmission mechanism, enabling the robot to adsorb on the ship wall curved surface to the maximum extent. When the ship is sailing, seawater can be pumped through the high-pressure water pump carried by itself for cleaning.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a ship wall cleaning robot based on a bearing magnetic adsorption device. Background Art

[0002] When a ship sails, it comes into contact with seawater and is corroded, resulting in a large number of marine organisms adhering to its surface. The marine attachments parasitizing on the ship wall secrete acidic substances that corrode the hull and pose a threat to important components. In addition, they will increase the surface roughness, increase the navigation resistance, increase fuel consumption, and emit more greenhouse gases. According to the estimation of the United States Naval Academy, the hull drag caused by fouling organisms will increase the Navy's oil consumption by 250 million US dollars every year. Therefore, timely cleaning of the biological attachment layer on the ship surface can not only ensure the normal sailing speed of the ship, but also extend the service life of the ship and reduce the unnecessary costs brought by fuel consumption from an economic perspective.

[0003] Currently, the main cleaning method is for the ship to return to the dry dock, drain the water so that the bottom of the ship is completely exposed, and then manually use a high-pressure water gun to wash and directly use a shovel to remove the marine animals and plants attached to the bottom of the ship. The cleaning time is long and the cost consumption is high. There are also some ship wall cleaning robots used at home and abroad to meet the market demand for ship wall cleaning. However, most of the existing ship wall cleaning robots on the market are wheeled or tracked robots. The adsorption area of the wheeled robot is limited, and the viscous materials used have high requirements for the wall surface. While the tracked robot has few effective adsorption blocks when passing through an uneven ship wall, which easily leads to insufficient adsorption force. Therefore, how to provide a ship wall cleaning robot based on a bearing magnetic adsorption device is an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0004] An object of the present invention is to provide a ship wall cleaning robot based on a bearing magnetic adsorption device. The robot of the present invention uses a bearing magnetic adsorption device at the leg transmission mechanism so that the robot can be adsorbed on the ship wall surface to the maximum extent, and can pump seawater for cleaning through a high-pressure water pump carried by itself when the ship is sailing.

[0005] A ship wall cleaning robot based on a bearing magnetic adsorption device according to an embodiment of the present invention includes:

[0006] A robot housing, on the top of which a first high-pressure water pump and a second high-pressure water pump are installed;

[0007] A drive control component, which is arranged inside the robot housing and is used to control the operation of the mechanical drive component. The mechanical drive component is arranged on both sides of the robot housing, and the mechanical drive component makes the robot fit the ship wall surface through a small DC suction electromagnet;

[0008] A driving direction-changing component is arranged at the bottom of the robot housing and is used to control the direction-changing movement of the robot.

[0009] Optionally, the robot shell includes a main shell, on which a front baffle, a first low baffle and a second low baffle are respectively provided, a first front side plate and a first rear side plate which are positioned and fitted are installed on one side of the main shell, and a second front side plate and a second rear side plate which are positioned and fitted are installed on the other side of the main shell.

[0010] Optionally, the front baffle, the first low baffle and the second low baffle are rotated to open and close through a mounting shaft, and the main shell, the front baffle, the first low baffle and the second low baffle are in a closed state to form an installation cavity for setting a drive control component.

[0011] Optionally, the drive control component includes a power supply, a control panel, a relay arranged on the first low baffle plate, a forward motor and a direction changing motor arranged on the forward motor mounting frame, a forward main drive gear is sleeved on the output shaft of the forward motor, the main drive gear is meshed with the control transmission gear, the control transmission gear is sleeved on the main transmission shaft, the two ends of the main transmission shaft respectively pass through the first reverse side plate and the second reverse side plate, and the ends of the main transmission shaft located between the first positive side plate and the first reverse side plate and the second positive side plate and the second reverse side plate are sleeved with side pinions.

[0012] Optionally, the first side large gear and the second side large gear are respectively meshed on both sides of the side small gear.

[0013] Optionally, the direction-changing motor output shaft is arranged downward, and a direction-changing motor shaft gear is sleeved on the direction-changing motor output shaft, and the direction-changing motor shaft gear is meshed with a main direction-changing gear.

[0014] Optionally, the mechanical drive assembly includes a first leg member, a second leg member, a third leg member and a fourth leg member which are transmission-connected to the adjacent first side large gear through a profile connection, the bottom ends of the first leg member, the second leg member, the third leg member and the fourth leg member are all connected to a fifth leg member, the bottom end of the fifth leg member is fixed to the straight rod ball head joint bearing through an interference fit, and the straight rod ball head joint bearing is threadedly connected to a small DC suction cup electromagnet.

[0015] Optionally, the drive changing direction assembly includes a deep groove ball bearing installed in the main housing, a main changing direction gear is embedded in the deep groove ball bearing, a hexagonal kit is provided on the outer hexagon bolt, and a large DC suction cup electromagnet is installed on the bottom end of the outer hexagon bolt.

[0016] Optionally, a first stainless steel small spring and a second stainless steel small spring are respectively arranged at the upper and lower ends of the external hexagonal bolt.

[0017] Optionally, the first high-pressure water pump and the second high-pressure water pump are fixedly locked on the top surface of the robot housing by screws, and the first high-pressure water pump and the second high-pressure water pump are centrally symmetrically arranged with respect to the center point of the top surface of the robot housing.

[0018] The beneficial effects of the present invention are as follows:

[0019] (1) In the leg transmission mechanism of the robot of the present invention, a bearing magnetic attraction device is adopted, so that the robot can be adsorbed on the curved surface of the ship wall to the greatest extent. When the ship is sailing, seawater can be pumped by the high-pressure water pump carried by itself for cleaning.

[0020] (2) By combining the use of a single-chip microcomputer and a relay, the present invention can automatically clean the attachments on the ship wall according to the planned route, and at the same time has good flexibility. The cleaning with high-pressure water jets also has the characteristics of low cleaning cost, good cleaning quality and no environmental pollution, greatly improving the cleaning efficiency of the ship while reducing environmental pollution and manpower consumption. Description of the Drawings

[0021] In the drawings:

[0022] Figure 1 is a schematic structural diagram of a ship wall cleaning robot based on a bearing magnetic attraction device proposed by the present invention;

[0023] Figure 2 is a schematic internal structure diagram of the main housing of a ship wall cleaning robot based on a bearing magnetic attraction device proposed by the present invention;

[0024] Figure 3 is a schematic diagram of the state during the turning movement of a ship wall cleaning robot based on a bearing magnetic attraction device proposed by the present invention;

[0025] Figure 4 is a schematic side structure diagram of a ship wall cleaning robot based on a bearing magnetic attraction device proposed by the present invention;

[0026] Figure 5 is a schematic side internal structure diagram of a ship wall cleaning robot based on a bearing magnetic attraction device proposed by the present invention;

[0027] Figure 6 is a schematic upper structure diagram of a ship wall cleaning robot based on a bearing magnetic attraction device proposed by the present invention;

[0028] Figure 7 is a schematic diagram of the initial state of the turning movement of a ship wall cleaning robot based on a bearing magnetic attraction device proposed by the present invention;

[0029] Figure 8 Schematic diagram of the structure of the middle side plate and the leg transmission mechanism of a ship wall cleaning robot based on a bearing magnetic attraction device proposed by the present invention;

[0030] Figure 9 Schematic diagram of the structure of the main housing of a ship wall cleaning robot based on a bearing magnetic attraction device proposed by the present invention;

[0031] Figure 10 Schematic diagram of the structure of the front side plate of a ship wall cleaning robot based on a bearing magnetic attraction device proposed by the present invention;

[0032] Figure 11 Schematic diagram of the structure of the side large gear and the first leg member of a ship wall cleaning robot based on a bearing magnetic attraction device proposed by the present invention;

[0033] Figure 12 Schematic diagram of the lower structure of a ship wall cleaning robot based on a bearing magnetic attraction device proposed by the present invention.

[0034] In the figure: 1 - robot housing, 101 - main housing, 102 - first front side plate, 103 - second front side plate, 104 - first rear side plate, 105 - second rear side plate, 106 - front baffle, 107 - first low baffle, 108 - second low baffle, 109 - first high-pressure water pump, 110 - second high-pressure water pump;

[0035] 2 - drive control assembly, 201 - power supply, 202 - forward motor, 203 - forward main drive gear, 204 - forward motor mounting bracket, 205 - steering motor, 206 - gear on the steering motor shaft, 207 - main transmission shaft, 208 - control drive gear, 209 - side small gear, 210 - first side large gear, 211 - second side large gear;

[0036] 3 - mechanical drive assembly, 301 - first leg member, 302 - second leg member, 303 - third leg member, 304 - fourth leg member, 305 - fifth leg member, 306 - straight rod ball joint bearing, 307 - small DC suction electromagnet;

[0037] 4 - drive steering assembly, 401 - deep groove ball bearing, 402 - main steering gear, 403 - hexagonal kit, 404 - first stainless steel small spring, 405 - second stainless steel small spring, 406 - external hexagonal bolt, 407 - large DC suction electromagnet. Specific implementation manner

[0038] Reference Figure 1 - Figure 2 , a ship wall cleaning robot based on a bearing magnetic attraction device, comprising:

[0039] Robot housing 1, with a first high-pressure water pump 109 and a second high-pressure water pump 110 installed on the top of the robot housing 1;

[0040] Drive control component 2, which is arranged inside the robot housing 1 and is used to control the operation of the mechanical drive component 3. The mechanical drive component 3 is arranged on both sides of the robot housing 1, and the robot adheres to the ship wall surface through a small DC suction electromagnet 307;

[0041] Drive direction-changing component 4, which is arranged at the bottom of the robot housing 1 and is used to control the direction-changing movement of the robot.

[0042] Reference Figure 3 - Figure 4 , in this embodiment, the robot housing 1 includes a main housing 101, on which a front baffle 106, a first low baffle 107 and a second low baffle 108 are respectively arranged. On one side of the main housing 101, a first positive side plate 102 and a first negative side plate 104 are installed in a positioning and fitting manner, and on the other side of the main housing 101, a second positive side plate 103 and a second negative side plate 105 are installed in a positioning and fitting manner.

[0043] Reference Figure 5 - Figure 7 , in this embodiment, the front baffle 106, the first low baffle 107 and the second low baffle 108 are rotated and opened and closed through a mounting shaft, and the main housing 101, the front baffle 106, the first low baffle 107 and the second low baffle 108 are in a closed state to form an installation cavity for arranging the drive control component 2.

[0044] In this embodiment, the first high-pressure water pump 109 and the second high-pressure water pump 110 are locked and fixed on the top surface of the robot housing 1 through screws, and the first high-pressure water pump 109 and the second high-pressure water pump 110 are centrosymmetrically arranged with the center point of the top surface of the robot housing 1. When the ship wall cleaning robot performs cleaning work and forward movement, the first high-pressure water pump 109 and the second high-pressure water pump 110 are always in an energized working state, directly obtaining water from seawater, and then spraying high-pressure water columns to clean the hull.

[0045] In this embodiment, the drive control assembly 2 includes a power supply 201, a control board, a relay disposed on the first lower baffle 107, a forward motor 202 and a steering motor 205 disposed on the forward motor mounting bracket 204. The steering direction and the steering angle can be controlled by controlling the forward and reverse movement and the rotation duration of the steering motor 205. A forward main drive gear 203 is sleeved on the output shaft of the forward motor 202. The forward motor 202 and the forward main drive gear 203 on its shaft are connected by a profile connection. The main drive gear 203 is meshed with a control transmission gear 208. The control transmission gear 208 is sleeved on the main transmission shaft 207. The control transmission gear 208 and the main transmission shaft 207 are connected by a setscrew. The two ends of the main transmission shaft 207 respectively penetrate through the first counter side plate 104 and the second counter side plate 105, and side small gears 209 are sleeved on the ends of the main transmission shaft 207 located between the first front side plate 102 and the first counter side plate 104 and between the second front side plate 103 and the second counter side plate 105.

[0046] In this embodiment, a first side large gear 210 and a second side large gear 211 are respectively meshed on both sides of the side small gear 209.

[0047] In this embodiment, the output shaft of the steering motor 205 is arranged downward, and a gear on the steering motor shaft 206 is sleeved on the output shaft of the steering motor 205. The gear on the steering motor shaft 206 is meshed with a main steering gear 402. The steering motor 205 is powered on to rotate to generate torque. At this time, the gear on the steering motor shaft 206 and the large gear of the steering gear shaft 402 perform a gear transmission movement, driving the entire upper structure to perform a rotational movement to achieve a steering effect.

[0048] In this embodiment, there are eight groups of mechanical drive assemblies 3 on the cleaning robot. Each group of the mechanical drive assemblies 3 includes a first leg member 301, a second leg member 302, a third leg member 303 and a fourth leg member 304 which are connected to the adjacent first side large gear 210 by a profile connection. Fifth leg members 305 are connected to the bottoms of the first leg member 301, the second leg member 302, the third leg member 303 and the fourth leg member 304. The bottom end of the fifth leg member 305 is fixedly connected to a straight rod ball joint bearing 306 by interference fit. The straight rod ball joint bearing 306 and a small DC suction electromagnet 307 are connected by a thread, so that the small DC suction electromagnets 307 on each group of leg mechanical drive assemblies 3 can fit the curved ship wall surface to the maximum extent.

[0049] In this embodiment, with the forward direction as the front, the mechanical drive assembly 3 is divided into eight groups: right outer front, right outer rear, right inner front, right inner rear, left outer front, left outer rear, left inner front, and left inner rear. The states of the mechanical drive assembly 3 between the groups are always parallel or anti-parallel. Among them, the four groups of right outer front, right inner rear, left outer front, and left inner rear always maintain the same height, so these four groups are named the first large group. The other four groups also always maintain the same height during movement and are named the second large group. When the cleaning machine moves straight, the first large group and the second large group alternate in their movement states, driving the robot to move straight stably on the surface of the ship wall. The small DC suction electromagnets 307 of the first large group and the second large group will be powered by the power supply 201 simultaneously for a short period of time to ensure that the cleaning robot can always maintain the adsorption force and prevent it from falling off the ship wall. The length of this period is determined according to different ship wall surfaces.

[0050] Reference Figure 8 - Figure 12 In this embodiment, the drive direction-changing assembly 4 includes a deep groove ball bearing 401 installed in the main housing 101. The main direction-changing gear 402 is embedded in the deep groove ball bearing 401. A hexagonal kit 403 is sleeved outside the hexagon head bolt 406. The main direction-changing gear 402 is sleeved on the hexagon head bolt 406. A large DC suction electromagnet 407 is installed at the bottom end of the hexagon head bolt 406. The first stainless steel small spring 404 and the second stainless steel small spring 406 are respectively arranged at the upper and lower ends of the hexagon head bolt 406. The gear shaft direction-changing device of the entire drive direction-changing assembly 4 can be regarded as an integrated structure.

[0051] It can be understood that the driving modes of the first high-pressure water pump 109, the second high-pressure water pump 110, the forward motor 202, the direction-changing motor 205, the small DC suction electromagnet 307, and the large DC suction electromagnet 407 in the present invention can be driven by the method of connecting to the power supply 201. The control of the first high-pressure water pump 109, the second high-pressure water pump 110, the forward motor 202, the direction-changing motor 205, the small DC suction electromagnet 307, and the large DC suction electromagnet 407 can be programmed and controlled by the main control system, and its control principle can be achieved by the existing control technology. The models of the first high-pressure water pump 109, the second high-pressure water pump 110, the forward motor 202, the direction-changing motor 205, the small DC suction electromagnet 307, and the large DC suction electromagnet 407 are not limited to a single type and can be the types existing in the market suitable for the present invention.

[0052] Example 1:

[0053] When the wall cleaning robot of the ship needs to change direction, the control board program first disconnects the power supply of the first high-pressure water pump 109 and the second high-pressure water pump 110 from the forward motor 202 to make them stop working. Then, the large DC suction cup electromagnet 407 of the lower layer structure is energized to generate suction force between it and the ship wall, so as to further compress the second stainless steel spring 405 and make the large DC suction cup electromagnet 407 fully contact and adsorb on the ship wall surface. At this time, the first large group and the second large group in the energized state are powered off. Thus, the cleaning robot is adsorbed on the ship wall surface by the strong suction force generated by the large DC suction cup electromagnet 407 at the bottom and is ready for the next direction-changing movement. After meeting the expected direction-changing requirements, first, the direction-changing motor 205 is powered off. Further, the power supply of the first large group and the second large group in the energized state before the direction change is restored to generate an adsorption force to adsorb on the ship wall surface. Further, the power supply of the large DC suction cup electromagnet 407 is disconnected, so that it generates a certain distance from the ship wall surface under the elastic force of the second stainless steel spring 405. At the same time, the power-on state of the forward motor 202, the first high-pressure water pump 109, and the second high-pressure water pump 110 is restored. Thus, the wall cleaning robot of the ship will continue to carry out the forward cleaning movement until the next direction-changing activity or the end of the work and is recycled.

[0054] In the structure of the wall cleaning robot of the ship in this embodiment, after the robot housing 1 is installed, it is a closed structure with good waterproof performance, which is suitable for the use scenario of the cleaning robot. The bearing magnetic adsorption device adopted at the end of the structure of the leg mechanical drive assembly 3 can make the wall cleaning robot better fit the ship wall surface during work, provide a larger adsorption area, and then provide a larger adsorption force to achieve higher stability. At the same time, the connecting rod design of the transmission mechanism of the leg mechanical drive assembly 3 has better obstacle-crossing ability during the cleaning work compared with the existing tracked and wheeled robots on the market and can flexibly cope with various different ship wall surface conditions.

[0055] In the motion control of the wall cleaning robot of the ship in this embodiment, hardware such as a control development board and a relay is adopted. Through reasonable programming, the cleaning route can be planned in advance, effectively aiming at the specific ship wall surface to be cleaned, reducing unnecessary work consumption. During the motion process, the unique gear shaft and large DC suction cup electromagnet design of the lower layer structure can make the cleaning robot change direction in place. Compared with the existing wall cleaning robots on the market, it has a smaller turning radius. When used with the control program, it has stronger pertinence and is more convenient and fast.

Claims

1. A ship wall cleaning robot based on a bearing magnetic attraction device, characterized in that include: A robot housing (1), wherein a first high-pressure water pump (109) and a second high-pressure water pump (110) are mounted on the top of the robot housing (1); A drive control component (2), the drive control component (2) being arranged inside the robot housing (1) and used for controlling the operation of a mechanical drive component (3), the mechanical drive component (3) being arranged on both sides of the robot housing (1), the mechanical drive component (3) enabling the robot to adhere to the surface of the ship wall through a small DC suction cup electromagnet (307); A driving direction-changing component (4), wherein the driving direction-changing component (4) is arranged at the bottom of the robot housing (1) and is used to control the direction-changing movement of the robot; The robot housing (1) comprises a main housing (101), on which a front baffle (106), a first lower baffle (107) and a second lower baffle (108) are respectively arranged, one side of the main housing (101) is provided with a first positive side plate (102) and a first negative side plate (104) which are positioned and fitted, and the other side of the main housing (101) is provided with a second positive side plate (103) and a second negative side plate (105) which are positioned and fitted; The drive control assembly (2) comprises a power supply (201) arranged on the first low baffle plate (107), a control panel, a relay, a forward motor (202) and a direction-changing motor (205) arranged on a forward motor mounting frame (204); a forward main drive gear (203) is sleeved on the output shaft of the forward motor (202); the main drive gear (203) is meshed with a control transmission gear (208); the control transmission gear (208) is sleeved on a main transmission shaft (207); two ends of the main transmission shaft (207) respectively penetrate the first reverse side plate (104) and the second reverse side plate (105); and ends of the main transmission shaft (207) located between the first positive side plate (102) and the first reverse side plate (104) and between the second positive side plate (103) and the second reverse side plate (105) are sleeved with side pinions (209); The first side large gear (210) and the second side large gear (211) are respectively meshed on both sides of the side small gear (209); The output shaft of the direction-changing motor (205) is arranged downward, and a direction-changing motor shaft gear (206) is sleeved on the output shaft of the direction-changing motor (205), and the direction-changing motor shaft gear (206) is meshed with a main direction-changing gear (402); The mechanical drive assembly (3) comprises a first leg member (301), a second leg member (302), a third leg member (303) and a fourth leg member (304) which are transmission-connected to a first side gear (210) adjacent thereto via a profile connection, the bottom ends of the second leg member (302) and the fourth leg member (304) are both connected to a fifth leg member (305), the bottom end of the fifth leg member (305) is fixed to a straight rod ball joint bearing (306) via an interference fit, and the straight rod ball joint bearing (306) is threadedly connected to a small DC suction cup electromagnet (307); The driving and steering component (4) includes a deep groove ball bearing (401) installed in the main housing (101). A main steering gear (402) is embedded in the deep groove ball bearing (401). The main steering gear (402) is sleeved on an external hexagon bolt (406). A hexagon kit (403) is sleeved on the external hexagon bolt (406). A large DC suction electromagnet (407) is installed at the bottom end of the external hexagon bolt (406).

2. The ship wall cleaning robot based on a bearing magnetic attraction device according to claim 1, wherein The front baffle (106), the first low baffle (107) and the second low baffle (108) are rotated and opened and closed through a mounting shaft. The main housing (101), the front baffle (106), the first low baffle (107) and the second low baffle (108) are in a closed state to form an installation cavity for arranging the drive control component (2).

3. The wall cleaning robot for ship based on a bearing magnetic attraction device according to claim 1, characterized in that, A first stainless steel small spring (404) and a second stainless steel small spring (405) are respectively arranged at the upper and lower ends of the external hexagon bolt (406).

4. The wall cleaning robot for ship based on a bearing magnetic attraction device according to claim 1, wherein, The first high-pressure water pump (109) and the second high-pressure water pump (110) are fixedly locked on the top surface of the robot housing (1) by screws. The first high-pressure water pump (109) and the second high-pressure water pump (110) are symmetrically arranged about the center point of the top surface of the robot housing (1).

Images