A cleaning device for preventing slipping on the surface of a ship

Abstract

The present invention provides a cleaning device for preventing slipping on the surface of a ship, comprising a cleaning robot, a guide robot, a pulling device and a control system. The free end of the cable of the pulling device is used to be fixedly connected to the guide robot, and the lower end of the guide robot is connected to the cleaning robot through a pulling rope. Based on the cleaning path and the measured moving speed of the cleaning robot, the control system sends control instructions to the second drive motor and the first motor respectively, so that the moving direction and speed of the base of the pulling device on the guide rail adapt to the cleaning trajectory of the cleaning robot, and the speed of the reel to retract and release the cable adapts to the measured moving speed of the cleaning robot. The present invention suspends the cleaning robot on the cable, and uses the guide robot to adjust the direction of the traction force of the cable on the cleaning robot to be parallel to the wall of the ship, thereby achieving a pulling effect on the cleaning robot, preventing it from slipping on the smooth paint surface, and greatly improving the working stability of the cleaning vehicle.

Description

Technical Field

[0001] The invention relates to the technical field of ship cleaning, in particular to a cleaning device for preventing slipping on the surface of a ship. Background Art

[0002] During the use of ships, plankton is very likely to accumulate on their surfaces, and they will rust due to seawater corrosion. In the long run, this will easily affect the service life of the ship and increase navigation resistance. Therefore, in order to reduce water resistance and improve navigation efficiency, the ship needs to be cleaned. The cleaning robot in the existing high-pressure water jet cleaning system relies on magnetic adsorption or vacuum adsorption on the surface of the ship to clean the surface of the hull. During the cleaning process, the surface of the hull is not entirely rusted or attached by marine organisms. When the cleaning robot moves to the paint surface, the smooth paint surface provides sufficient friction for the cleaning robot under the action of the existing suction, causing the cleaning robot to slide down along the smooth paint surface, ultimately resulting in the paint surface area cannot be effectively cleaned, resulting in problems such as missed cleaning and unclean cleaning, affecting the overall cleaning effect. Summary of the invention

[0003] In view of the problem that a cleaning robot is prone to slipping when working on a smooth wall or a painted surface, the present invention provides a cleaning device that prevents slipping on the surface of a ship. The cleaning robot is suspended on a cable, and a guide robot is used to adjust the direction of the traction force of the cable on the cleaning robot to be parallel to the tangent direction of the ship's wall. When the cleaning robot moves to the smooth wall or the painted surface, traction is provided to the cleaning robot along the tangent direction of the wall, thereby solving the problem of slipping and greatly improving the working stability of the cleaning vehicle.

[0004] The present invention achieves the above technical objectives through the following technical means.

[0005] A cleaning device to prevent slipping on the surface of a ship, characterized in that it comprises a cleaning robot, a guide robot, a pulling device and a control system; the pulling device comprises a guide rail arranged on the deck, a base capable of moving on the guide rail, a drum fixed on the upper part of the base, a cable with one end wound around the drum and a first motor for driving the drum to rotate, and a second drive motor for driving the base to move on the guide rail; the free end of the cable is used for fixed connection with the hanging guide robot; the guide robot is a magnetic adsorption or vacuum adsorption robot; the lower end of the guide robot is connected to the cleaning robot through a traction rope, and the cleaning robot is equipped with a control system for detecting A speed sensor for measuring its moving speed; the control system includes a central controller and a signal transmission module, and the central controller is used to: set the cleaning path and cleaning speed of the cleaning robot, and transmit the cleaning path and cleaning speed to the cleaning robot through the signal transmission module; collect the moving speed measured by the speed sensor on the cleaning robot; based on the cleaning path and the measured moving speed of the cleaning robot, respectively send control instructions to the second drive motor and the first motor, so that the moving direction and speed of the base of the pulling device on the guide rail adapt to the cleaning trajectory of the cleaning robot, and make the speed of the reel to retract and release the cable adapt to the measured moving speed of the cleaning robot.

[0006] Furthermore, the upper surface of the guide rail is a rack structure, and the outer edge of the upper end has a protruding limiting portion. The first roller at the bottom of the base is an external gear roller, and the first roller is engaged with the rack guide rail through its external gear. Limiting plates that can cooperate with the limiting portion of the guide rail are provided on both sides of the base.

[0007] Furthermore, a second roller is arranged at the end portion of the limiting plate that contacts the limiting portion.

[0008] Furthermore, the limiting plates are mounted on both sides of the base in a detachable manner, a rotatable manner, or a manner in which the connection is loose or tight.

[0009] Furthermore, a cantilever beam extending outside the deck is provided on the base, a fixed pulley is installed on the top of the cantilever beam, and the cable passes around the fixed pulley and hangs down.

[0010] Furthermore, the free end of the cable and both ends of the traction rope are provided with annular buckles, and both ends of the guide robot and the upper end of the cleaning robot are provided with connecting parts for the annular buckles to connect.

[0011] Furthermore, the length of the traction rope is 5-30 cm.

[0012] Furthermore, both end surfaces of the outer circumference of the first roller are provided with limiting flanges extending in the circumferential direction.

[0013] Furthermore, the length of the cable is greater than the maximum longitudinal cleaning distance of the cleaning robot on the side wall of the ship.

[0014] The beneficial effects of the present invention are as follows:

[0015] The present invention suspends the cleaning robot on a cable and uses a guide robot to adjust the traction direction of the cable on the cleaning robot to be parallel to the wall of the ship, thereby solving the slipping problem of the cleaning robot, improving the continuity and cleaning efficiency of the cleaning work, and improving the working stability of the cleaning vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic structural diagram of the cleaning device for preventing slipping on the surface of a ship according to the present invention;

[0017] Figure 2 It is a schematic diagram of the structure of the pulling device of the present invention;

[0018] Figure 3 It is a schematic diagram of the side structure of the pulling device of the present invention;

[0019] Figure 4 This is a schematic diagram of the structure of the cleaning robot and the guiding robot of the present invention;

[0020] Figure 5 It is a schematic diagram of the structure in which the limit plate of the present invention is fixed on the base through the positioning pin;

[0021] Figure 6 This is a schematic diagram of the structure in which the limit plate of the present invention is fixed to the base through bolts and butterfly nuts;

[0022] Figure 7 for Figure 2 Enlarged view of point A.

[0023] The reference numerals are as follows:

[0024] 1-base; 2-reel; 3-cable; 4-cleaning robot; 5-guide robot; 6-first motor; 7-guide rail; 8-second drive motor; 9-first roller; 10-cantilever beam; 11-fixed pulley; 12-traction rope; 13-limiting part; 14-limiting plate; 15-limiting flange. DETAILED DESCRIPTION

[0025] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments, but the protection scope of the present invention is not limited thereto.

[0026] The cleaning device for preventing slipping on the surface of a ship in this embodiment comprises a cleaning robot 4, a guide robot 5, a pulling device and a control system. Figure 1This is a schematic structural diagram of the cleaning device for preventing slipping on the surface of a ship according to this embodiment.

[0027] The pulling device includes a guide rail 7 arranged on the deck, a base 1 that can move on the guide rail, a drum 2 fixed on the upper part of the base 1, a cable 3 with one end wound on the drum 2 and a first motor 6 for driving the drum 2 to rotate, and a second drive motor 8 for driving the base 1 to move on the guide rail. The base 1 is also provided with a cantilever beam 10 extending outside the deck, and a fixed pulley 11 is installed on the top of the cantilever beam 10. The cable 3 passes over the fixed pulley 11 and hangs down. Figure 2 , 3 It is a schematic diagram of the structure of the pulling device described in this embodiment.

[0028] The upper surface of the guide rail 7 is a rack structure, and the outer edge of the upper end has a protruding limit portion 13. The first roller 9 at the bottom of the base 1 is an external gear roller. The first roller 9 is meshed with the rack guide rail through its external gear. The base 1 is provided with limit plates 14 on both sides that can cooperate with the limit portion 13 of the guide rail 7. Through the cooperation between the limit plates 14 and the limit portion 13 of the guide rail 7, the base 1 is provided with a torque to resist the pulling of the cable 3, so as to prevent the base 1 from being pulled over and separated from the guide rail 7. Specifically, the upper end of the limit plate 14 is mounted on the base 1 by a detachable connection method such as bolts, so as to facilitate the assembly of the base 1 and the guide rail 7. In order to prevent the friction between the limit plate 14 and the limit portion 13 from being too large, a second roller is arranged at the end of the limit plate 14 in contact with the limit portion 13, so as to change the sliding friction into rolling friction and reduce the running resistance.

[0029] The free end of the cable 3 is used to be fixedly connected to the guide robot 5, and the guide robot 5 is a magnetic adsorption or vacuum adsorption robot. The free end of the cable 3 and the ends of the traction rope 12 are provided with annular buckles, which are clamped on both ends of the guide robot 5 and the upper end of the cleaning robot 4 are provided with connecting parts for the annular buckles to connect. The lower end of the guide robot 5 is connected to the cleaning robot 4 through the traction rope 12. The length of the cable 3 is greater than the maximum longitudinal cleaning distance of the cleaning robot on the side wall of the ship, and the length of the traction rope 12 is 20 cm. The cleaning robot 4 is equipped with a speed sensor for detecting its moving speed. Figure 4 This is a schematic diagram of the structures of the cleaning robot and the guiding robot described in this embodiment.

[0030] The control system includes a central controller and a signal transmission module. The central controller is used to: set the cleaning path and cleaning speed of the cleaning robot, and transmit the cleaning path and cleaning speed to the cleaning robot 4 through the signal transmission module; collect the moving speed measured by the speed sensor on the cleaning robot 4; based on the cleaning path and the measured moving speed of the cleaning robot 4, issue control instructions to the second drive motor 8 and the first motor 6 respectively, so that the moving direction and speed of the base 1 of the pulling device on the guide rail 7 adapt to the cleaning trajectory of the cleaning robot 4, and make the speed of the drum 2 to retract and release the cable 3 adapt to the measured moving speed of the cleaning robot 4.

[0031] When the cleaning device is working, the cleaning robot 4 performs cleaning work on the surface of the ship along the cleaning path and cleaning speed set by the central controller. At the same time, the speed sensor on the cleaning robot 4 monitors the moving speed of the cleaning robot 4 in real time and transmits the signal to the central controller. Based on the cleaning path and the measured moving speed of the cleaning robot 4, the central controller sends control instructions to the second drive motor 8 and the first motor 6 respectively, so that the moving direction and speed of the base 1 of the pulling device on the guide rail 7 are adapted to the cleaning trajectory of the cleaning robot 4, and the speed of the reel 2 to retract and release the cable 3 is adapted to the measured moving speed of the cleaning robot 4. When the cleaning robot 4 runs onto the paint surface, the cable 3 can provide the cleaning robot 4 with an upward traction force along the wall direction of the ship to prevent the cleaning robot 4 from sliding down.

[0032] As an alternative to the installation method of the limit plate 14 and the base 1, the limit plate 14 can also be installed in the limit sleeves on both sides of the base 1 through positioning pins. The limit sleeves and the limit plate 14 are provided with a plurality of positioning holes for adjusting the tightness of the limit plate 14 and the base 1. Figure 5 Schematic diagram of the structure in which the limit plate of this embodiment is fixed on the base through the positioning pin. Figure 6 As shown, the limit plate 14 is installed on the fixing rods on both sides of the base 1 by bolts and butterfly nuts. A groove is provided on the connecting end of the fixing rod and the limit plate 14. The connecting end of the limit plate 14 and the fixing rod is placed in the groove. Bolts penetrate the two connecting ends, and the limit plate 14 and the fixing rod are tightly pressed together by butterfly nuts. When the limit plate 14 needs to be rotated, only the butterfly nut needs to be turned.

[0033] As a further optimization or replacement of the above structure, limiting flanges extending in the circumferential direction are added to the two end surfaces of the outer circumference of the first roller 9. The limiting flanges are used to provide guidance for the first roller 9 to move on the guide rail on the one hand, and to provide a torque for the base to prevent the base from leaving the track on the other hand. Figure 7This is a partial enlarged view of the first roller of the cleaning device for preventing slipping on the surface of a ship in this embodiment. The horizontal position of the lowest point of the limiting flange is lower than the horizontal position of the highest point on the guide rail 7, and is limited by the rack guide rail to prevent the first roller 9 from being separated from the guide rail 7 under the pulling force of the cleaning robot 4.

[0034] The embodiments are preferred implementations of the present invention, but the present invention is not limited to the above-mentioned implementations. Any obvious improvements, substitutions or modifications that can be made by those skilled in the art without departing from the essential content of the present invention belong to the protection scope of the present invention.

Claims

1. A cleaning device for preventing slipping on the surface of a ship, characterized in that: It comprises a cleaning robot (4), a guiding robot (5), a pulling device and a control system. The pulling device comprises a guide rail (7) arranged on the deck, a base (1) capable of moving on the guide rail, a drum (2) fixed on the upper part of the base (1), a cable (3) with one end wound around the drum (2), a first motor (6) for driving the drum (2) to rotate, and a second drive motor (8) for driving the base (1) to move on the guide rail; The free end of the cable (3) is used for fixed connection with a suspension guide robot (5); the guide robot (5) is a magnetic adsorption or vacuum adsorption robot; the lower end of the guide robot (5) is connected to a cleaning robot (4) via a traction rope (12); the cleaning robot (4) is equipped with a speed sensor for detecting its moving speed; The control system includes a central controller and a signal transmission module, and the central controller is used to: Setting a cleaning path and a cleaning speed of the cleaning robot, and transmitting the cleaning path and the cleaning speed to the cleaning robot (4) via a signal transmission module; Collecting the moving speed actually measured by the speed sensor on the cleaning robot (4); Based on the cleaning path and the measured moving speed of the cleaning robot (4), control instructions are respectively issued to the second drive motor (8) and the first motor (6), so that the moving direction and speed of the base (1) of the pulling device on the guide rail (7) are adapted to the cleaning trajectory of the cleaning robot (4), and the speed of the reel (2) for retracting and releasing the cable (3) is adapted to the measured moving speed of the cleaning robot (4).

2. The cleaning device for preventing slipping on the surface of a ship according to claim 1, characterized in that: The upper surface of the guide rail (7) is a rack structure, and the outer edge of the upper end has a protruding limit portion (13). The first roller (9) at the bottom of the base (1) is an external gear roller. The first roller (9) is meshed with the rack guide rail through its external gear. Limiting plates (14) capable of cooperating with the limiting portion (13) of the guide rail (7) are provided on both sides of the base (1).

3. The cleaning device for preventing slipping on the surface of a ship according to claim 1, characterized in that: A second roller is arranged at the end of the limiting plate (14) which contacts the limiting portion (13).

4. The cleaning device for preventing slipping on the surface of a ship according to claim 2, characterized in that: The limiting plates (14) are mounted on both sides of the base (1) in a detachable manner, a rotatable manner, or a manner in which the connection is elastic.

5. The cleaning device for preventing slipping on the surface of a ship according to claim 1, characterized in that: The base (1) is provided with a cantilever beam (10) extending outside the deck, a fixed pulley (11) is installed on the top end of the cantilever beam (10), and the cable (3) passes over the fixed pulley (11) and hangs down.

6. The cleaning device for preventing slipping on the surface of a ship according to claim 1, characterized in that: The free end of the cable (3) and the ends of both ends of the traction rope (12) are provided with annular buckles, which are clamped to the two ends of the guide robot (5) and the upper end of the cleaning robot (4) are provided with connection parts for connection with the annular buckles.

7. The cleaning device for preventing slipping on the surface of a ship according to claim 1, characterized in that: The length of the traction rope (12) is 5-30 cm.

8. The cleaning device for preventing slipping on the surface of a ship according to claim 2, characterized in that: Both end surfaces of the outer circumference of the first roller (9) are provided with limiting flanges (15) extending in the circumferential direction.

9. The cleaning device for preventing slipping on the surface of a ship according to claim 1, characterized in that: The length of the cable (3) is greater than the maximum longitudinal cleaning distance of the cleaning robot on the side wall of the ship.

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