Bionic crawler machine based on local dry method underwater coating technology

Abstract

The bionic crawler machine based on the local dry method underwater coating technology comprises a machine shell and a hanging ring, the top of the machine shell is fixedly connected with the hanging ring, a partition plate is fixedly connected to the middle of the bottom of the machine shell, a fixing plate is fixedly connected to the bottom of the partition plate, and baffles are fixedly connected to the two sides of the fixing plate; the invention relates to the technical field of underwater operation robots. According to the bionic crawler machine based on the local dry method underwater coating technology, ship maintenance can be conducted anytime and anywhere, and the bionic crawler machine can adapt to different complex and severe working conditions due to multiple movement modes and adsorption modes; the cleaning module is configured to meet different requirements so as to meet the requirements of different ocean structures, on the basis of the design, multiple robot systems can conduct collaborative operation, and the multi-module control system is utilized so as to obtain the large-area underwater automatic spraying operation capacity; omnibearing maintenance can be carried out without entering a dock for large ships such as a long constant series.

Description

Technical Field

[0001] The invention relates to the technical field of underwater operation robots, in particular to a bionic crawler machine based on local dry underwater painting technology. Background Art

[0002] Marine vessels are in a highly corrosive marine environment all year round. Corrosion is a problem that must be faced during ship design, construction, and service. Currently, hull surface corrosion can be roughly divided into: oxidation corrosion, electrochemical corrosion, hydrodynamic corrosion, and marine biological corrosion.

[0003] For all metals, a certain chemical reaction will occur when exposed to air, forming an oxide film. Since the oxide film rust produced by the oxidation of steel with air has poor airtightness and integrity, it has many small holes that allow it to continue to contact with the air and oxidize, causing oxidation corrosion of the steel structure to continue. The rust becomes thicker and thicker until all the steel is corroded. Figure 1 It is the speed at which steel rusts at different locations.

[0004] In local damp water accumulation areas and water accumulation in the bilge, steel comes into contact with carbon dioxide and its surface will be surrounded by a layer of acidic electrolytic solution. When the surface is covered with a weakly acidic electrolytic solution, a number of primary cells are formed on the surface. Carbon is the positive electrode and iron, as the negative electrode, will lose electrons and be oxidized. At the same time, due to the action of ions produced by the cathode, a chemical reaction will occur with the remaining rust from the initial steel surface treatment, causing the oil-based and alkyd paint films to saponify and peel off.

[0005] The coating will fail. For ships with relatively high speeds, the strong water flow will produce a greater fluid dynamic effect on the hull and its coating. The coating will be destroyed by the rolling waves. Due to bubble saturation and other reasons, the degree of oxidation of the hull without coating protection will be aggravated. Summary of the invention

[0006] In view of the deficiencies of the prior art, the present invention provides a bionic crawler machine based on local dry underwater painting technology, which solves the problem of inconvenient ship cleaning and rust removal methods in the prior art.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions: a bionic crawler machine based on local dry underwater painting technology, comprising a casing and a lifting ring, wherein the top of the casing is fixedly connected to the lifting ring, a partition is fixedly connected to the middle of the bottom of the casing, a fixed plate is fixedly connected to the bottom of the partition, baffles are fixedly connected to both sides of the fixed plate, a fixed frame is fixedly connected to the bottom of the fixed plate, a first magnetic track is fixedly connected to the surface of the fixed frame, a second magnetic track is fixedly connected to the middle axis of both sides of the first magnetic track, spring telescopic rods are fixedly connected to both sides of the surface of the first magnetic track, a magnetic wheel support frame is fixedly connected to the bottom end of the spring telescopic rod, and a permanent magnetic wheel is fixedly connected to the surface of the magnetic wheel support frame; The bottom of the fixed plate is fixedly connected with a cleaning mechanism; One side of the fixed plate is rotatably connected to a drainage mechanism via a rotating member; A control processor is fixedly connected to the surface of the fixing plate.

[0008] Preferably, the drainage mechanism comprises a drainage cover, the top of the drainage cover is rotatably connected to the rotating member via a rotating shaft, and a sealing ring is fixedly connected to the surface of the bottom of the drainage cover.

[0009] Preferably, a movable frame is fixedly connected to one side of the inner cavity of the drainage cover, and a paint spraying mechanism is fixedly connected to the surface of the movable frame.

[0010] Preferably, a water inlet valve and a drain valve are respectively provided on both sides of the surface of the drain cover, an air inlet valve is connected to the left side of the top of the drain cover, and an air collection recovery valve is connected to the right side of the top of the drain cover.

[0011] Preferably, the cleaning mechanism comprises a mounting frame, the mounting frame is fixedly connected to a fixed plate, a rotating spray disc is fixedly connected to a surface of the mounting frame, and a high-pressure nozzle is fixedly connected to a surface of the rotating spray disc.

[0012] Preferably, fixing members are fixedly connected to both sides between the fixing plate and the casing, a first propeller is fixedly connected to a surface of the fixing member, and a second propeller is fixedly connected to a surface of the casing.

[0013] Preferably, a driver is fixedly connected to the output shafts of the first propeller and the second propeller, and the driver is fixedly connected to the surface of the fixing plate.

[0014] Preferably, the paint spraying mechanism comprises a stepping motor, the output shaft of the stepping motor is drivingly connected to a pulley, and the outer surface of the pulley is fixedly connected to a paint spraying nozzle.

[0015] Preferably, a waterproof cover is fixedly connected to the bottom of the movable frame and the outer surface of the paint spray nozzle.

[0016] The present invention provides a bionic crawler machine based on local dry underwater painting technology. Directly spray paint underwater, the ship does not need to enter the dock for repair and maintenance; muscle materials are used to control the extension height of the suction cup, which can be used for various types of curvature surfaces, and local dry methods are used to achieve green spraying, which will not pollute the environment, realize automation and remote control, reduce personnel risks and reduce human errors, can move with the ship, can perform ship maintenance anytime and anywhere, and multiple types of movement modes and adsorption modes can adapt to different complex and harsh working conditions; cleaning modules are configured to meet different needs to meet the needs of different marine structures. On the basis of this design, multi-robot systems can be used for collaborative operations, and multi-module control systems can be used to obtain the ability of large-area underwater automated spraying operations. For large ships such as the "Changheng Series", there is no need to enter the dock for all-round maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a front view of the structure in the present invention; Figure 2 It is an exploded schematic diagram of the structure of the present invention; Figure 3 is a schematic diagram of the paint spraying mechanism in the present invention; Figure 4 A bottom view of the structure of the present invention; Figure 5 It is an axonometric view of the structure in the present invention.

[0018] In the figure, 1-housing, 2-lifting ring, 3-partition, 4-fixed plate, 5-baffle, 6-fixed frame, 7-first magnetic track, 8-second magnetic track, 9-spring telescopic rod, 10-magnetic wheel support frame, 11-permanent magnetic wheel, 12-drain cover, 13-sealing ring, 14-movable frame, 15-mounting frame, 16-rotating spray disc, 17-high pressure nozzle, 18-fixed part, 19-first propeller, 20-second propeller, 21-driver, 22-stepping motor, 23-pulley, 24-paint spray nozzle. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] See also Figure 1-5The embodiment of the present invention provides a technical solution: a bionic crawler machine based on local dry underwater painting technology, comprising a casing 1 and a lifting ring 2, wherein the top of the casing 1 is fixedly connected to the lifting ring 2, a partition 3 is fixedly connected to the middle of the bottom of the casing 1, a fixed plate 4 is fixedly connected to the bottom of the partition 3, baffles 5 are fixedly connected to both sides of the fixed plate 4, a fixed frame 6 is fixedly connected to the bottom of the fixed plate 4, a first magnetic track 7 is fixedly connected to the surface of the fixed frame 6, a second magnetic track 8 is fixedly connected to the middle axis of both sides of the first magnetic track 7, a spring telescopic rod 9 is fixedly connected to both sides of the surface of the first magnetic track 7, a magnetic wheel support frame 10 is fixedly connected to the bottom end of the spring telescopic rod 9, a permanent magnetic wheel 11 is fixedly connected to the surface of the magnetic wheel support frame 10, a control processor is fixedly connected to the surface of the fixed plate 4, the entire robot circuit structure is connected in series to achieve comprehensive control, and interact with the remote sensing control device to perform corresponding operations; A cleaning mechanism is fixedly connected to the bottom of the fixed plate 4, and the cleaning mechanism includes a mounting frame 15, the mounting frame 15 is fixedly connected to the fixed plate 4, a rotating spray disc 16 is fixedly connected to the surface of the mounting frame 15, a high-pressure nozzle 17 is fixedly connected to the surface of the rotating spray disc 16, a fixing member 18 is fixedly connected to both sides between the fixed plate 4 and the casing 1, a first propeller 19 is fixedly connected to the surface of the fixing member 18, a second propeller 20 is fixedly connected to the surface of the casing 1, a driver 21 is fixedly connected to the output shafts of the first propeller 19 and the second propeller 20, and the driver 21 is fixedly connected to the surface of the fixed plate 4; One side of the fixed plate 4 is rotatably connected to a drainage mechanism via a rotating part, and the drainage mechanism includes a drainage hood 12. The top of the drainage hood 12 is rotatably connected to the rotating part via a rotating shaft, and a sealing ring 13 is fixedly connected to the surface of the bottom of the drainage hood 12. A water inlet valve and a drain valve are respectively provided on both sides of the surface of the drainage hood 12. The left side of the top of the drainage hood 12 is connected to an air intake valve, and the right side of the top of the drainage hood 12 is connected to an air collection recovery valve.

[0021] A movable frame 14 is fixedly connected to one side of the inner cavity of the drainage hood 12, and a paint spraying mechanism is fixedly connected to the surface of the movable frame 14. The paint spraying mechanism includes a stepper motor 22, and a pulley 23 is transmission-connected to the output shaft of the stepper motor 22. A paint spraying nozzle 24 is fixedly connected to the outer surface of the pulley 23. A waterproof cover is fixedly connected to the bottom of the movable frame 14 and the outer surface of the paint spraying nozzle 24. The stepper motor 22 drives the movable frame 14 to move via the pulley 23. The paint spraying nozzle 24 arranged on the surface of the movable frame 14 sprays paint supplied by the feeding pipe when it is driven to move left and right.

[0022] The designed robot walking mode adopts synchronous chain transmission and double-chain multi-section crawler structure. The crawler stability of the double-row chain will be significantly enhanced. The crawler with double-row chain structure can overcome the shaking of the single-row chain crawler during walking. At the same time, the magnetic adsorption unit of the crawler-type wall-climbing robot is fixedly installed on the outer wing plates of the two chains, which can make the magnetic adsorption unit more reliably and stably adsorbed on the wall. The magnetic adsorption unit and the two chains constitute the entire crawler assembly, and the wall-climbing robot can be attached to the wall by relying on the adsorption force of the magnetic adsorption unit; An air intake valve and an air collection recovery valve are designed above the drainage hood, and water intake / drainage valves are set on both sides, which are connected to the ship with flexible pipes and powered cables. As shown in the figure, when the vehicle moves to the operating position, the air collection hood is attached to the ship's surface with the connecting rod device, and the lower drainage valve discharges the water (when the vehicle is attached to the ship's surface and works vertically, when it moves to the A side, the lower water valve is adjusted to the pumping valve, and the upper water valve is the water intake valve. When it turns around and moves to the B direction, the pumping valve and the water intake valve swap the drainage direction), and then the air intake valve discharges the plasma Ar gas / hydrogen gas mixture, and the painting begins after the local dry environment is formed. After the painting is completed, the air collection recovery valve recovers the exhaust gas. After the operation is completed, the water intake valve discharges into seawater, is freed from adsorption, and the vehicle moves forward; Cleaning machine; The ultra-high pressure spray disc adopts 8 spray gun nozzles to rotate the spray disc. The bottom and the hull are made of polyoxymethylene (POM) material to make a sealing structure. The spray disc shell has a waste recovery port and is connected to a hose to recycle waste. The spray disc cover adopts a self-aligning bearing and the shaft end is connected to the outer base. The base is equipped with guide and anti-collision rollers around it, and a telescopic device is set between the structures to enable it to fine-tune and correct the spray disc position during operation. Cavitation is the explosive growth phenomenon of microbubbles (or gas cores) caused by the evaporation of liquid due to local low pressure (lower than the saturated vapor pressure of the liquid at the corresponding temperature) in the liquid flow system. The liquids usually seen are not pure liquids, and contain many particulate impurities, such as solid particles, microorganisms and microbubbles. The radius of this microbubble is generally 20m Hereinafter, it is called gas core or cavitation core. When the liquid pressure is lower than the saturated vapor pressure at the corresponding temperature, the cavitation core begins to expand and cavitation is realized. When the ambient pressure is higher than the saturated vapor pressure at the corresponding temperature, the cavitation bubble annihilates. This design adopts a series of double-chamber Helmholtz-type self-oscillating pulse cavitation jet nozzles. The front chamber of the double-chamber nozzle forms a more intense cavitation phenomenon near the main jet than the single-chamber nozzle, and the cavitation gas in the front chamber can enter the rear chamber through the middle flow channel, so that the internal flow field of the rear chamber has a better initial cavitation environment, which promotes the increase of the cavitation degree of the flow field in the rear chamber, so that the jet fluid of the double-chamber nozzle contains more cavitation gas that can be used for cavitation cleaning. During operation, high-pressure water is ejected to the surface of the hull for cleaning and rust removal.

[0023] This bionic wall-climbing robot, through the flexibility of underwater wall-climbing robots, allows ships to be cleaned and repainted outside the dock, reducing the frequency of docking and thus reducing related expenses. The automated underwater robot replaces the complicated and dangerous manual work, uses environmentally friendly paint, ensures the safety of personnel and protects the environment from pollution, thus further developing the field of ship painting.

[0024] This underwater painting robot is based on local dry underwater plasma coating technology, adopts a double dome cavitation system, and uses the principle of cavitation water jet to achieve auxiliary cleaning of the work surface, thereby improving the work quality. It is designed with a multi-mode collaborative motion operation mode of underwater swimming-electromagnetic climbing-power electromagnetic adsorption and a multi-section track structure to ensure that the robot moves accurately and operates stably in complex environments. At the same time, it is equipped with an automated paint analysis and maintenance system to improve the efficiency and accuracy of the painting operation. A cavitation water jet cleaning disc is set at the bottom of the machine to clean the marine organisms attached to the structure and perform surface rust removal to further improve the operation effect. This underwater painting robot combines a variety of advanced technologies and innovative concepts, has efficient and precise painting operation capabilities, can greatly simplify the ship's painting maintenance steps, and provides an innovative solution for ship maintenance with broad application prospects.

[0025] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions.

[0026] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A bionic crawler machine based on local dry underwater painting technology, comprising a housing (1) and a hanging ring (2), wherein the top of the housing (1) is fixedly connected to the hanging ring (2), and characterized in that: A partition (3) is fixedly connected to the middle of the bottom of the casing (1), a fixed plate (4) is fixedly connected to the bottom of the partition (3), baffles (5) are fixedly connected to both sides of the fixed plate (4), a fixed frame (6) is fixedly connected to the bottom of the fixed plate (4), a first magnetic track (7) is fixedly connected to the surface of the fixed frame (6), a second magnetic track (8) is fixedly connected to the middle axis of both sides of the first magnetic track (7), spring telescopic rods (9) are fixedly connected to both sides of the surface of the first magnetic track (7), a magnetic wheel support frame (10) is fixedly connected to the bottom end of the spring telescopic rod (9), and a permanent magnetic wheel (11) is fixedly connected to the surface of the magnetic wheel support frame (10); A cleaning mechanism is fixedly connected to the bottom of the fixed plate (4); One side of the fixed plate (4) is rotatably connected to a drainage mechanism via a rotating member; A control processor is fixedly connected to the surface of the fixing plate (4).

2. The bionic crawler machine based on local dry underwater painting technology according to claim 1 is characterized by: The drainage mechanism comprises a drainage cover (12), the top of the drainage cover (12) being rotationally connected to a rotating member via a rotating shaft, and a sealing ring (13) being fixedly connected to the surface of the bottom of the drainage cover (12).

3. The bionic crawler machine based on local dry underwater painting technology according to claim 2 is characterized by: A movable frame (14) is fixedly connected to one side of the inner cavity of the drainage cover (12), and a paint spraying mechanism is fixedly connected to the surface of the movable frame (14).

4. The bionic crawler machine based on local dry underwater painting technology according to claim 2 is characterized by: A water inlet valve and a drain valve are respectively provided on both sides of the surface of the drain cover (12); the left side of the top of the drain cover (12) is connected to an air inlet valve; and the right side of the top of the drain cover (12) is connected to an air collection recovery valve.

5. The bionic crawler machine based on local dry underwater painting technology according to claim 1 is characterized by: The cleaning mechanism comprises a mounting frame (15), the mounting frame (15) being fixedly connected to a fixing plate (4), a rotating spray disc (16) being fixedly connected to a surface of the mounting frame (15), and a high-pressure nozzle (17) being fixedly connected to a surface of the rotating spray disc (16).

6. The bionic crawler machine based on local dry underwater painting technology according to claim 1 is characterized by: Fixing members (18) are fixedly connected to both sides between the fixing plate (4) and the casing (1), a first propeller (19) is fixedly connected to the surface of the fixing member (18), and a second propeller (20) is fixedly connected to the surface of the casing (1).

7. The bionic crawler machine based on local dry underwater painting technology according to claim 6 is characterized by: A driver (21) is fixedly connected to the output shafts of the first propeller (19) and the second propeller (20), and the driver (21) is fixedly connected to the surface of the fixing plate (4).

8. The bionic crawler machine based on local dry underwater painting technology according to claim 3 is characterized by: The paint spraying mechanism comprises a stepping motor (22), the output shaft of the stepping motor (22) is drivingly connected to a pulley (23), and the outer surface of the pulley (23) is fixedly connected to a paint spraying nozzle (24).

9. The bionic crawler machine based on local dry underwater painting technology according to claim 8 is characterized by: A waterproof valve is fixedly connected to the bottom of the movable frame (14) and located on the outer surface of the paint spray nozzle (24).

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