Foldable robotic arm cabin scanning device

Abstract

The application provides a foldable mechanical arm cabin scanning device, which comprises a fixed arm, a horizontal telescopic arm, a vertical telescopic arm and a rotary arm, wherein the fixed arm is used for connecting the horizontal telescopic arm; one end of the horizontal telescopic arm is connected to the fixed arm, and the other end is provided with a hatch clamp; one end of the vertical telescopic arm is connected below the center of the fixed arm, and the other end is connected to the rotary arm through a rotary mechanism; one end of the rotary arm is connected to the vertical telescopic arm through the rotary mechanism, and the other end is provided with a spray head and a swing device. The foldable mechanical arm automatic cabin cleaning device has telescopic and folding functions, can adjust the length and shape according to different requirements of the cabin, and has flexibility, so that the cabin cleaning device can adapt to cabins of different sizes and shapes, can clean more difficult-to-reach areas, and improves the comprehensiveness of the cleaning effect; the spray head is rotated through the rotary mechanism, can clean each part of the cabin, realizes dead angle-free cleaning, and improves the cleaning efficiency and quality.

Description

Technical Field

[0001] This invention relates to the field of marine engineering technology, and in particular to a foldable robotic arm automatic hull-sweeping device. Background Technology

[0002] Ship tank cleaning refers to the process of removing cargo and residue from a ship's cargo holds in preparation for the next loading. This process requires crew members to enter the cargo holds, which poses significant safety risks, as crew members may be exposed to hazardous substances, experience oxygen deprivation, or be overwhelmed by cargo. Traditional ship tank cleaning methods typically involve a large amount of manual labor, which is not only time-consuming and labor-intensive but may also result in incomplete cleaning.

[0003] To address these issues, automated cargo hold cleaning systems with robotic arms have emerged. These systems can replace crew members in cleaning work, thus avoiding the risks associated with crew members entering the cargo holds. Automated cargo hold cleaning systems with robotic arms can also quickly and thoroughly clean cargo holds, thereby improving the efficiency and safety of ship cleaning while reducing environmental impact, making it a relatively ideal ship cleaning solution. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides a foldable robotic arm automatic cabin cleaning device. This invention incorporates a rotary mechanism into the cleaning device. During rotation, the rotary mechanism drives the nozzle to rotate, thereby cleaning all parts of the cabin, achieving truly thorough cleaning and improving cleaning efficiency and quality.

[0005] The technical means employed in this invention are as follows:

[0006] A foldable robotic arm for sweeping cargo compartments includes: a fixed arm, a horizontal telescopic arm, a vertical telescopic arm, and a rotary arm, wherein:

[0007] The fixed arm is used to connect the horizontal telescopic arm;

[0008] The horizontal telescopic arm is connected to the fixed arm at one end and has a hatch clamp at the other end.

[0009] The vertical telescopic arm is connected at one end to the center below the fixed arm, and at the other end to the rotary arm via a rotary mechanism;

[0010] The rotary arm has a vertical telescopic arm connected to one end via a rotary mechanism, and a nozzle and a swing device at the other end.

[0011] Furthermore, a first circular hole and a second circular hole are respectively provided at both ends of the fixed arm;

[0012] The horizontal telescopic arm includes a first horizontal telescopic arm and a second horizontal telescopic arm. The first horizontal telescopic arm has a third circular hole, and the second horizontal telescopic arm has a fourth circular hole.

[0013] The first circular hole coincides with the third circular hole and is fixed by the first rotating shaft;

[0014] The second circular hole coincides with the fourth circular hole and is fixed by the second rotating shaft.

[0015] Furthermore, the first horizontal telescopic arm and the second horizontal telescopic arm have the same structure, both including a hollow fixed rod and a telescopic rod, wherein the diameter of the telescopic rod is smaller than the diameter of the hollow fixed rod, so that the telescopic rod extends and retracts within the hollow fixed rod;

[0016] Both the first and second horizontal telescopic arms are equipped with electric cylinders to control the extension and retraction of the first and second horizontal telescopic arms.

[0017] Furthermore, the vertical telescopic arm includes a hollow vertical fixed rod and a vertical telescopic rod. One end of the hollow vertical fixed rod is fixedly connected to the center below the fixed arm, and the other end is connected to one end of the vertical telescopic rod. The other end of the vertical telescopic rod is connected to a rotating mechanism. The diameter of the vertical telescopic rod is smaller than the diameter of the hollow vertical fixed rod, so that the vertical telescopic rod extends and retracts within the hollow vertical fixed rod.

[0018] Furthermore, the vertical telescopic boom is also equipped with a winch for winding and unwinding cables, used to control the extension and retraction of the vertical telescopic boom within the hollow vertical fixed boom.

[0019] Furthermore, the rotary arm includes a hollow rotary fixing rod and a rotary telescopic rod, wherein one end of the hollow rotary fixing rod is connected to the rotary mechanism, and the other end is connected to one end of the rotary telescopic rod, and the other end of the rotary telescopic rod is connected to the nozzle and the swing device;

[0020] The slewing arm is also equipped with an electric cylinder, which is used to control the extension and retraction of the slewing telescopic rod in the hollow slewing fixed rod.

[0021] Further, the foldable robotic arm cabin sweeping device according to claim 1 is characterized in that the hatch clamp includes a socket, a first clamp bolt, a clamping jaw, and a second clamp bolt, wherein:

[0022] The hatch clamp is inserted into the horizontal telescopic arm through the socket. The first clamp bolt is located directly above the socket and is equipped with a locking nut. The hatch clamp is fixed in position by adjusting the first clamp bolt and the locking nut.

[0023] The second clamp bolt is parallel to the first clamp bolt and perpendicular to the direction of the horizontal telescopic arm. The second clamp bolt is located directly above the clamping opening and is equipped with a locking nut. The clamping opening is used to fix the foldable robotic arm sweeping device at the hatch of the ship and clamp it by the second clamp bolt and the locking nut.

[0024] Furthermore, the slewing mechanism includes a vertical slewing device and a horizontal slewing device; the vertical slewing device is used to control the slewing arm to rotate in the vertical direction, and the horizontal slewing device is used to control the slewing arm to rotate in the horizontal direction.

[0025] Furthermore, the swinging device is driven by a drive motor, which can control the rotation of the nozzle.

[0026] Compared with the prior art, the present invention has the following advantages:

[0027] 1. The foldable robotic arm automatic tank cleaning device provided by this invention has telescopic and folding functions, and its length and shape can be adjusted according to different requirements inside the tank. This flexibility allows the tank cleaning device to adapt to tanks of different sizes and shapes, and to clean more hard-to-reach areas, thus improving the comprehensiveness of the cleaning effect.

[0028] 2. The foldable robotic arm automatic tank cleaning device provided by this invention features a foldable design that makes it more compact and portable, facilitating storage and transport. The device can be easily folded away when not in use, occupying minimal space, which is highly beneficial for convenient storage and transport in shipping and cleaning companies.

[0029] 3. The foldable robotic arm cleaning device provided by the present invention rotates through a rotary mechanism, which in turn drives the nozzle to rotate, thereby cleaning all parts of the cabin, achieving truly thorough cleaning and improving cleaning efficiency and quality.

[0030] Based on the above reasons, this invention can be widely promoted in the field of marine engineering technology. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 This is a schematic diagram of the structure of the foldable robotic arm automatic cabin sweeping device of the present invention.

[0033] Figure 2 This is a schematic diagram of the foldable robotic arm automatic cabin sweeping device of the present invention after folding.

[0034] Figure 3 This is a schematic diagram of the hatch clamp device in this invention.

[0035] Figure 4 This is a schematic diagram of the fixed arm structure in this invention.

[0036] Figure 5 This is a detailed structural diagram of the horizontal telescopic arm in this invention.

[0037] Figure 6 This is a structural diagram of the rotary mechanism in this invention.

[0038] Figure 7 This is a schematic diagram of the foldable robotic arm sweeping device of the present invention in operation on a real ship.

[0039] In the diagram: 1. Fixed arm; 1-1. First circular hole; 1-2. Second circular hole; 1-3. First rotating shaft; 1-4. Second rotating shaft; 2. Horizontal telescopic arm; 2-1. First horizontal telescopic arm; 2-2. Second horizontal telescopic arm; 2-3. Third circular hole; 2-4. Fourth circular hole; 2-5. Hollowed-out fixed rod; 2-6. Telescopic rod; 3. Hatch clamp; 3-1. Insert; 3-2. First clamp bolt; 3-3. Clamp; 3-4. Second clamp bolt; 3-5. Locking nut; 4. Vertical telescopic arm; 4-1. Hollowed-out vertical fixed rod; 4-2. Vertical telescopic rod; 5. Rotation mechanism; 6. Rotation arm; 6-1. Hollowed-out rotary fixed rod; 6-2. Rotation telescopic rod; 7. Nozzle; 8. Swing device. Detailed Implementation

[0040] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0041] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0043] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0044] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0045] For ease of description, spatial relative terms such as "above," "over," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation besides the orientation of the device as described in the figures. For example, if the device in the figures is inverted, a device described as "above" or "above" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0046] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0047] like Figure 1As shown, the present invention provides a foldable robotic arm sweeping device, comprising: a fixed arm 1, a horizontal telescopic arm 2, a vertical telescopic arm 4, and a rotary arm 6, wherein:

[0048] The fixed arm 1 is used to connect the horizontal telescopic arm 2;

[0049] The horizontal telescopic arm 2 is connected to the fixed arm 1 at one end and has a hatch clamp 3 at the other end.

[0050] The vertical telescopic arm 4 is connected at one end to the center below the fixed arm 1, and at the other end to the rotating arm 6 via the rotating mechanism 5;

[0051] The rotary arm 6 is connected to the vertical telescopic arm 4 at one end via a rotary mechanism 5, and is equipped with a nozzle 7 and a swing device 8 at the other end.

[0052] In specific implementation, as a preferred embodiment of the present invention, such as Figure 4 As shown, the two ends of the fixed arm 1 are respectively provided with a first circular hole 1-1 and a second circular hole 1-2;

[0053] The horizontal telescopic arm 2 includes a first horizontal telescopic arm 2-1 and a second horizontal telescopic arm 2-2. The first horizontal telescopic arm has a third circular hole 2-3, and the second horizontal telescopic arm has a fourth circular hole 2-4. Figure 5 As shown, where:

[0054] The first circular hole 1-1 coincides with the third circular hole 2-3 and is fixed by the first rotating shaft 1-3;

[0055] The second circular hole 1-2 coincides with the fourth circular hole 2-4 and is fixed by the second rotating shaft 1-4.

[0056] In a specific implementation, as a preferred embodiment of the present invention, the first horizontal telescopic arm 2-1 and the second horizontal telescopic arm 2-2 have the same structure, both including a hollow fixed rod 2-5 and a telescopic rod 2-6, wherein the diameter of the telescopic rod 2-6 is smaller than the diameter of the hollow fixed rod 2-5, so that the telescopic rod 2-6 extends and retracts within the hollow fixed rod 2-5;

[0057] Electric cylinders are installed on both the first horizontal telescopic arm 2-1 and the second horizontal telescopic arm 2-2 to control the extension and retraction of the first horizontal telescopic arm 2-1 and the second horizontal telescopic arm 2-2.

[0058] In a specific implementation, as a preferred embodiment of the present invention, the vertical telescopic arm 4 includes a hollow vertical fixed rod 4-1 and a vertical telescopic rod 4-2. One end of the hollow vertical fixed rod 4-1 is fixedly connected to the center below the fixed arm 1, and the other end is connected to one end of the vertical telescopic rod 4-2. The other end of the vertical telescopic rod 4-2 is connected to the rotary mechanism 5. The diameter of the vertical telescopic rod 4-2 is smaller than the diameter of the hollow vertical fixed rod 4-1, so that the vertical telescopic rod 4-2 extends and retracts within the hollow vertical fixed rod 4-1.

[0059] In a specific implementation, as a preferred embodiment of the present invention, the vertical telescopic arm 4 is also equipped with a winch for winding and unwinding cables, which is used to control the extension and retraction of the vertical telescopic rod 4-2 within the hollow vertical fixed rod 4-1.

[0060] In a specific implementation, as a preferred embodiment of the present invention, the rotary arm 6 includes a hollow rotary fixing rod 6-1 and a rotary telescopic rod 6-2, wherein one end of the hollow rotary fixing rod 6-1 is connected to the rotary mechanism 5, and the other end is connected to one end of the rotary telescopic rod 6-2, and the other end of the rotary telescopic rod 6-2 is connected to the nozzle 7 and the swing device 8;

[0061] The rotary arm 6 is also equipped with an electric cylinder, which is used to control the extension and retraction of the rotary telescopic rod 6-2 in the hollow rotary fixed rod 6-1.

[0062] In a specific implementation, as a preferred embodiment of the present invention, the foldable robotic arm cabin sweeping device according to claim 1 is characterized in that the hatch clamp 3 includes an insertion port 3-1, a first clamp bolt 3-2, a clamping port 3-3, and a second clamp bolt 3-4, as follows: Figure 3 As shown, where:

[0063] The hatch clamp 3 is inserted into the horizontal telescopic arm 2 through the socket 3-1. The first clamp bolt 3-2 is located directly above the socket 3-1. The first clamp bolt 3-2 is provided with a locking nut 3-5. The hatch clamp 3 is fixed in position by adjusting the first clamp bolt 3-2 and the locking nut 3-5.

[0064] The second clamping bolt 3-4 is parallel to the first clamping bolt 3-2 and perpendicular to the direction of the horizontal telescopic arm 2. The second clamping bolt 3-4 is located directly above the clamping opening 3-3. A locking nut 3-5 is provided on the second clamping bolt 3-4. The clamping opening 3-3 is used to fix the foldable robotic arm sweeping device to the ship's hatchway. Figure 3 As shown, the entire device is kept stable by clamping with the second clamp bolt 3-4 and the locking nut 3-5.

[0065] In specific implementation, as a preferred embodiment of the present invention, such as Figure 6As shown, the slewing mechanism 5 includes a vertical slewing device and a horizontal slewing device; the vertical slewing device is used to control the slewing arm 6 to rotate in the vertical direction, and the horizontal slewing device is used to control the slewing arm 6 to rotate in the horizontal direction.

[0066] In a specific implementation, as a preferred embodiment of the present invention, the swing device 8 is driven by a drive motor and can control the rotation of the nozzle 7.

[0067] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A foldable robotic arm cabin sweeping device, characterized in that, include: The arm consists of a fixed boom (1), a horizontal telescopic boom (2), a vertical telescopic boom (4), and a slewing boom (6), wherein: The fixed arm (1) is used to connect the horizontal telescopic arm (2). The horizontal telescopic arm (2) is connected to the fixed arm (1) at one end and has a hatch clamp (3) at the other end. The vertical telescopic arm (4) is connected at one end to the center below the fixed arm (1), and at the other end to the rotary arm (6) via the rotary mechanism (5). The rotary arm (6) is connected to the vertical telescopic arm (4) at one end via a rotary mechanism (5), and is equipped with a nozzle (7) and a swing device (8) at the other end.

2. The foldable robotic arm sweeping device according to claim 1, characterized in that, The fixed arm (1) has a first round hole (1-1) and a second round hole (1-2) at both ends respectively. The horizontal telescopic arm (2) includes a first horizontal telescopic arm (2-1) and a second horizontal telescopic arm (2-2). The first horizontal telescopic arm has a third circular hole (2-3), and the second horizontal telescopic arm has a fourth circular hole (2-4). The first circular hole (1-1) coincides with the third circular hole (2-3) and is fixed by the first rotating shaft (1-3); The second circular hole (1-2) coincides with the fourth circular hole (2-4) and is fixed by the second rotating shaft (1-4).

3. The foldable robotic arm sweeping device according to claim 2, characterized in that, The first horizontal telescopic arm (2-1) and the second horizontal telescopic arm (2-2) have the same structure, both including a hollow fixed rod (2-5) and a telescopic rod (2-6). The diameter of the telescopic rod (2-6) is smaller than the diameter of the hollow fixed rod (2-5), so that the telescopic rod (2-6) can extend and retract within the hollow fixed rod (2-5). Electric cylinders are installed on both the first horizontal telescopic arm (2-1) and the second horizontal telescopic arm (2-2) to control the extension and retraction of the first horizontal telescopic arm (2-1) and the second horizontal telescopic arm (2-2).

4. The foldable robotic arm sweeping device according to claim 1, characterized in that, The vertical telescopic arm (4) includes a hollow vertical fixed rod (4-1) and a vertical telescopic rod (4-2). One end of the hollow vertical fixed rod (4-1) is fixedly connected to the center below the fixed arm (1), and the other end is connected to one end of the vertical telescopic rod (4-2). The other end of the vertical telescopic rod (4-2) is connected to the rotary mechanism (5). The diameter of the vertical telescopic rod (4-2) is smaller than the diameter of the hollow vertical fixed rod (4-1), so that the vertical telescopic rod (4-2) extends and retracts within the hollow vertical fixed rod (4-1).

5. The foldable robotic arm sweeping device according to claim 4, characterized in that, The vertical telescopic arm (4) is also equipped with a winch for raising and lowering the cable, which is used to control the extension and retraction of the vertical telescopic rod (4-2) in the hollow vertical fixed rod (4-1).

6. The foldable robotic arm sweeping device according to claim 1, characterized in that, The rotating arm (6) includes a hollow rotating fixed rod (6-1) and a rotating telescopic rod (6-2). One end of the hollow rotating fixed rod (6-1) is connected to the rotating mechanism (5), and the other end is connected to one end of the rotating telescopic rod (6-2). The other end of the rotating telescopic rod (6-2) is connected to the nozzle (7) and the swing device (8). An electric cylinder is also installed on the slewing arm (6) to control the extension and retraction of the slewing telescopic rod (6-2) in the hollowed-out slewing fixed rod (6-1).

7. The foldable robotic arm sweeping device according to claim 1, characterized in that, The hatch clamp (3) includes a socket (3-1), a first clamp bolt (3-2), a clamp (3-3), and a second clamp bolt (3-4), wherein: The hatch clamp (3) is inserted into the horizontal telescopic arm (2) through the socket (3-1). The first clamp bolt (3-2) is located directly above the socket (3-1). The first clamp bolt (3-2) is provided with a locking nut (3-5). The hatch clamp (3) is fixed in position by adjusting the first clamp bolt (3-2) and the locking nut (3-5). The second clamp bolt (3-4) is parallel to the first clamp bolt (3-2) and perpendicular to the direction of the horizontal telescopic arm (2). The second clamp bolt (3-4) is located directly above the clamping opening (3-3). The second clamp bolt (3-4) is equipped with a locking nut (3-5). The clamping opening (3-3) is used to fix the foldable robotic arm sweeping device at the hatch of the ship and clamp it by the second clamp bolt (3-4) and the locking nut (3-5).

8. The foldable robotic arm sweeping device according to claim 1, characterized in that, The slewing mechanism (5) includes a vertical slewing device and a horizontal slewing device; the vertical slewing device is used to control the slewing arm (6) to rotate in the vertical direction, and the horizontal slewing device is used to control the slewing arm (6) to rotate in the horizontal direction.

9. The foldable robotic arm sweeping device according to claim 1, characterized in that, The swing device (8) is driven by a drive motor and can control the rotation of the nozzle (7).

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