Bulkhead cleaning robot

Abstract

The invention relates to the technical field of bulkhead cleaning devices, in particular to a bulkhead cleaning robot. The device comprises a four-wheel trolley capable of moving on a cabin wall and a magnetic attraction part capable of attracting the four-wheel trolley on the cabin wall in the moving process of the four-wheel trolley. A flushing part capable of spraying jet flow to the bulkhead is mounted on the four-wheel trolley, the flushing part comprises a water supply pipe and a flow guide pipe which are mounted on the four-wheel trolley, the bottom of the flow guide pipe is rotatably mounted on the water supply pipe, and the rotation axis of the flow guide pipe is perpendicular to the wall surface of the bulkhead where the four-wheel trolley is currently located; the top of the diversion pipe is provided with a nozzle in a swinging manner. The pitching swing axis of the spray head is perpendicularly intersected with the rotation axis of the flow guide pipe, and the axis of the spray head is perpendicularly intersected with the pitching swing axis of the spray head. Through the integrated design, the size of the cleaning robot is reduced; and meanwhile, control over the cleaning robot can be completed through a single person, participation of workers in the cleaning process is effectively reduced, and the safety of the workers is improved.

Description

Technical Field

[0001] The invention relates to the technical field of bulkhead cleaning devices, in particular to a bulkhead cleaning robot. Background Art

[0002] After unloading a large ocean-going vessel, a large amount of cargo and dirt will remain on the bulkheads because the bulkheads are made of frames and other skeletal materials. Therefore, the cabins need to be thoroughly cleaned before loading other cargo.

[0003] At present, the commonly used cleaning operations are usually carried out by the crew of the ship or external cleaning workers using simple cleaning tools and manpower. Although the cleaning work of the bulkhead can be completed by using a water gun to impact and clean manually, it is time-consuming and labor-intensive. At the same time, when there is dirt remaining at the top of the cargo hold, the spray force is weakened at the top due to the large spray distance of the water gun, making it impossible to wash away the dirt at the top; so the staff will use a high-altitude operation vehicle or scaffolding to climb the operation, thereby shortening the spray distance of the water gun and improving the cleaning effect. However, this method of using an external climbing frame is extremely unstable in a shaking cabin, which will further increase the danger of the staff. Therefore, patent CN112703152B discloses a bulk carrier cabin wall cleaning device, which replaces the role of the external climbing frame through an extendable arm in the device. A cleaning mechanism such as a water gun is installed at the top of the arm to complete the corresponding cleaning work. Although the above device can achieve the cleaning of the bulkhead at a high place, its device is large in size and still requires multiple people to operate directly at close range to complete the corresponding cleaning work.

[0004] It can be seen that the current bulkhead cleaning device still has the disadvantages of being large in size, inconvenient to operate, and requiring multiple people to directly operate. Therefore, there is an urgent need for a cleaning device that can overcome the above disadvantages to successfully complete the bulkhead cleaning work. Summary of the invention

[0005] In order to avoid and overcome the technical problems existing in the prior art, the present invention provides a bulkhead cleaning robot. The present invention reduces the size of the cleaning robot through an integrated design; at the same time, a single person can complete the remote control of the cleaning robot, effectively reducing the participation of personnel in the cleaning process and improving the safety of the staff.

[0006] To achieve the above object, the present invention provides the following technical solutions: A bulkhead cleaning robot comprises a four-wheeled trolley which can move on the bulkhead, and a magnetic suction part which can adsorb the four-wheeled trolley on the bulkhead during the movement of the four-wheeled trolley; a flushing part which can spray a jet toward the bulkhead is installed on the four-wheeled trolley, and the flushing part comprises a water supply pipe and a guide pipe which are installed on the four-wheeled trolley, the bottom of the guide pipe is swivel-mounted on the water supply pipe, and the swivel axis of the guide pipe is perpendicular to the bulkhead wall surface where the four-wheeled trolley is currently located; a nozzle is swivellingly installed on the top of the guide pipe, the pitch swing axis of the nozzle and the swivel axis of the guide pipe intersect perpendicularly with each other, and the axis of the nozzle itself and the pitch swing axis of the nozzle intersect perpendicularly with each other.

[0007] As a further solution of the present invention: the rotation speed of the guide tube is , specifically expressed as follows: ; In the formula, It indicates the displacement speed of the jet at the point where it hits the bulkhead when the nozzle rotates, i.e. the linear speed, in m / s; It represents the vertical distance between the pitching axis of the sprinkler and the wall of the bulkhead where the four-wheeled trolley is currently located, in meters; Indicates the angle between the bulkhead wall where the four-wheeled trolley is currently located and the plumb plane, in degrees; It indicates the velocity of the jet at the nozzle outlet, that is, the initial velocity of the jet, in m / s; It represents the distance between the vertical projection of the rotation axis of the guide tube on the bulkhead where the four-wheeled trolley is currently located and the point where the jet falls on the bulkhead, that is, the jet radius, in m; Indicates the acceleration due to gravity in m / s 2 ; It represents the angle between the initial jet direction at the nozzle outlet and the wall surface of the bulkhead where the four-wheeled vehicle is currently located, in degrees; It indicates the vertical distance between the pitch and swing axis of the nozzle and the nozzle outlet, in meters; represents the sine function; represents the cosine function; represents the tangent function.

[0008] As a further solution of the present invention: the guide pipe includes a straight pipe section arranged vertically on the four-wheel trolley, and a U-shaped curved pipe section arranged on the top of the straight pipe section, the straight pipe section and the curved pipe section cooperate with each other to form an upright spoon shape; a driven gear is coaxially fixed to the outer side of the straight pipe section, a driving gear is installed on the driving motor located next to the straight pipe section, and the driving gear and the driven gear are meshed with each other for transmission.

[0009] As a further solution of the present invention: the outlet end of the curved pipe section is rotary sealed and connected to a transfer pipe, the nozzle is coaxially fixed to the outlet end of the transfer pipe, and the axis of rotation of the transfer pipe around the curved pipe section constitutes the pitch and swing axis of the nozzle on the guide pipe.

[0010] As a further solution of the present invention: a support platform is fixedly installed on the outer side of the straight pipe section, a telescopic cylinder is hinged on the support platform, an annular lock buckle is hinged on the top of the telescopic cylinder, the annular lock buckle is coaxially sleeved on the nozzle, and two hinge axes at both ends of the telescopic cylinder are parallel to the pitch swing axis of the nozzle.

[0011] As a further solution of the present invention: the magnetic attraction portion includes four electromagnets fixedly installed on the bottom of the four-wheeled vehicle, and the electromagnets are connected to a power source on the four-wheeled vehicle.

[0012] As a further solution of the present invention: the same magnetic attraction gap is maintained between the four electromagnets and the wall surface of the cabin where the four-wheeled vehicle is located.

[0013] As a further solution of the present invention: the electromagnet is in the shape of a rectangular parallelepiped as a whole, and the side surface thereof close to the wall surface of the bulkhead is an arc surface coaxial with the adjacent wheel.

[0014] As a further solution of the present invention: two wheels on the same side of the four-wheeled vehicle are connected to each other by a same transmission belt, and one of them is driven by a servo motor connected to a power source.

[0015] As a further solution of the present invention: the wheels on both sides of the four-wheeled vehicle are respectively equipped with a servo motor.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention effectively reduces the size of the robot through integrated design, improves space utilization efficiency, and realizes remote single-person control. It not only simplifies the operation process, but also greatly reduces the participation of personnel in the cleaning operation, thereby significantly improving the safety and efficiency of the operation.

[0017] 2. The high-pressure water jet of the present invention is ejected from the outlet of the nozzle at a certain initial velocity, and after a period of time, it is ejected onto the bulkhead that needs to be cleaned; and because the robot will be displaced and the pitch angle of the nozzle will change during the cleaning process, the range of the water jet will change. When the left and right rotation speed of the nozzle is constant, the displacement speed of the jet sprayed onto the bulkhead will also change, which will lead to unstable cleaning limits of the wall, inconsistent contact time between the jet and dirt, and inconsistent cleaning effects. Therefore, a calculation formula for the rotation speed of the nozzle is constructed by controlling variables. The calculation formula can effectively adjust the rotation speed in real time, so that the displacement speed of the jet remains stable, and the impact force on the jet landing point is similar, thereby improving the consistency of cleaning and effectively controlling the cleaning effect.

[0018] 3. The wheels on both sides of the four-wheeled trolley of the present invention can rotate independently, which can effectively improve the flexibility of the cleaning robot, so as to move freely and quickly between the ribs of the bulkhead, thereby completing the corresponding cleaning work.

[0019] 4. Maintaining the same magnetic gap is essential to ensure the stability and balance of the four-wheeled trolley on the bulkhead. If the gap is inconsistent, it may cause the trolley to tilt or become unstable during adsorption. Therefore, the stability and adsorption effect of the trolley are optimized by precisely controlling the distance between the electromagnet and the bulkhead. The electromagnet is rectangular as a whole, and its side close to the bulkhead is an arc surface coaxial with the adjacent wheel. The arc surface design makes the electromagnet fit the curved surface of the bulkhead more closely, thereby increasing the magnetic area and improving the adsorption force. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a side structural schematic diagram of the present invention.

[0021] Figure 2 It is a schematic diagram of the cross-sectional structure of the flushing part in the present invention.

[0022] Figure 3 It is a schematic diagram of the axial side structure of the present invention.

[0023] Figure 4 It is a schematic diagram of the size structure of the four-wheeled trolley and the flushing part in the present invention.

[0024] In the figure: 1. four-wheeled trolley; 11. wheels; 2. magnetic attraction part; 21. electromagnet; 3. flushing part; 31. water supply pipe; 32. guide pipe; 321. straight pipe section; 322. curved pipe section; 33. driving gear; 34. driven gear; 35. driving motor; 36. supporting platform; 37. telescopic cylinder; 38. ring lock buckle; 39. transfer pipe; 40. nozzle. DETAILED DESCRIPTION

[0025] 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.

[0026] See also Figure 1 to Figure 4 In the embodiment of the present invention, it includes a four-wheeled vehicle 1, a magnetic attraction portion 2 and a flushing portion 3.

[0027] Two servo motors and corresponding power supplies are installed inside the four-wheeled vehicle 1. Each servo motor drives a wheel 11, and the wheels 11 on the same side are connected to each other through a transmission belt. The two wheels 11 on the same side are one large and one small, the large one is the front wheel and the small one is the rear wheel. The present invention uses the servo motor rear wheel drive mode to move.

[0028] A control system connected to a remote controller is installed inside the four-wheeled vehicle 1. Through the control of the remote controller, the staff can stay away from the cleaning site as much as possible, thereby improving the safety.

[0029] In order to enable the four-wheeled trolley 1 to run stably on the bulkhead, a magnetic attraction portion 2 consisting of four groups of electromagnets 21 is provided at the bottom of the four-wheeled trolley 1. A corresponding current control button is also provided on the remote controller to control the current of the electromagnet 21, so as to adjust the magnetic force generated by the electromagnet 21 in real time, and gradually increase its magnetic attraction as the climbing height of the four-wheeled trolley 1 increases, so as to prevent the trolley from falling from the high place of the bulkhead due to the excessive gravity of the dragging pipeline.

[0030] The flushing part 3 includes an L-shaped water supply pipe 31 fixedly mounted on the body of the four-wheeled cart 1. The water supply pipe 31 is connected to a water pump temporarily installed in the cargo hold to provide water for washing. The length of the water supply pipe 31 is arranged along the length of the four-wheeled cart 1, and its short pipe section is arranged perpendicular to the four-wheeled cart 1. A guide pipe 32 is installed in a coaxial rotary seal connection on the short pipe section of the water supply pipe 31. The guide pipe 32 is divided into a straight pipe section 321 arranged vertically on the four-wheeled cart 1, and a U-shaped curved pipe section 322 connected and arranged at the top of the straight pipe section 321. The straight pipe section 321 and the curved pipe section 322 cooperate with each other to form an upright spoon shape. The straight pipe section 321 is coaxially rotary sealed and connected and installed at the top of the short pipe section, and a driven gear 34 is coaxially sleeved on the outer side of the straight pipe section 321. A driving gear 33 is installed on a driving motor 35 located beside the straight pipe section 321, and the driving gear 33 and the driven gear 34 are meshed with each other for transmission, and the guide tube 32 is driven to rotate by the driving motor 35.

[0031] The outlet end of the curved pipe section 322 is rotary sealed and connected to the transfer pipe 39 , and the nozzle 40 is coaxially fixed to the outlet end of the transfer pipe 39 , and the axis of rotation of the transfer pipe 39 around the curved pipe section 322 constitutes the pitch and swing axis of the nozzle 40 on the guide pipe 32 .

[0032] The pitching and swinging axis of the nozzle 40 and the rotation axis of the guide tube 32 intersect each other perpendicularly, and the axis of the nozzle 40 itself and the pitching and swinging axis of the nozzle 40 intersect each other perpendicularly. Such an axis arrangement enables the nozzle 40 to rotate around the rotation axis of the guide tube 32, thereby improving the accuracy of the calculation of the jet radius.

[0033] A support platform 36 is fixedly installed on the outside of the straight pipe section 321, and a telescopic cylinder 37 is hinged on the support platform 36. A ring lock 38 is hinged on the top of the telescopic cylinder 37. The ring lock 38 is coaxially sleeved on the nozzle 40, and the two hinge axes of the telescopic cylinder 37 are perpendicular to the pitch swing axis of the nozzle 40. The pitch angle of the nozzle 40 is controlled by the extension and contraction of the telescopic cylinder 37.

[0034] The high-pressure water jet of the present invention is ejected from the outlet of the nozzle 40 at a certain initial velocity, and after a period of time, it is ejected onto the bulkhead to be cleaned; and because the robot will move during the cleaning process and the pitch angle of the nozzle 40 will change, the range of the water jet will change. When the left and right rotation speed of the nozzle 40 is constant, the displacement speed of the jet sprayed onto the bulkhead will also change, which will lead to unstable cleaning limits of the wall, inconsistent contact time between the jet and the dirt, and inconsistent cleaning effects. Therefore, a calculation formula for the rotation speed of the guide tube 32 such as formula (1) is constructed by controlling variables. The calculation formula can effectively adjust the rotation speed in real time, so that the displacement speed of the jet remains stable, thereby improving the consistency of cleaning and effectively controlling the cleaning effect.

[0035] (1); In the formula, The rotation speed of the guide tube 32 is detected in real time by a rotation speed sensor installed on the four-wheeled vehicle 1.

[0036] It indicates the displacement speed of the point where the jet hits the water wall when the jet rotates in the guide tube 32, that is, the linear velocity, in m / s.

[0037] It represents the vertical distance between the pitching and swinging axis of the nozzle 40 and the wall surface of the cabin where the four-wheeled vehicle 1 is currently located, in units of m, which is a fixed value, that is, it will not change after the robot design is completed.

[0038] It indicates the angle between the wall surface of the bulkhead where the four-wheeled vehicle 1 is currently located and the plumb plane. The unit is °. It is a real-time changing value and is detected in real time by the angle sensor installed on the four-wheeled vehicle 1.

[0039] It represents the speed of the cleaning water at the outlet of the nozzle 40, that is, the initial jet speed, in m / s, and is obtained by real-time monitoring by a speed sensor arranged at the outlet of the nozzle 40.

[0040] The distance between the vertical projection of the rotation axis of the guide tube 32 on the bulkhead wall where the four-wheeled trolley 1 is currently located and the point where the jet falls on the bulkhead, i.e., the jet radius, is in m. Real-time monitoring can be performed by a distance sensor installed on the four-wheeled trolley 1.

[0041] It represents the angle between the initial jet direction at the outlet of the nozzle 40 and the bulkhead where the four-wheeled vehicle 1 is currently located, in degrees. This angle is adjusted in real time by the telescopic cylinder 37 and detected in real time by the angle sensor installed on the nozzle 40.

[0042] It represents the vertical distance between the pitch and roll axis of the nozzle 40 and the nozzle outlet, in meters. It is fixed in the design of the robot and will not change.

[0043] In this embodiment, the initial velocity of the jet v =24.868m / s, nozzle length L =250mm, nozzle height h =730mm, nozzle pitch angle a =15° or -15°, robot inclination b = 45° or 90°, respectively, to calculate the jet flow at different constant velocities V The angular velocity required to hit the bulkhead is shown in Table 1.

[0044] Table 1 Angular velocity calculation results ; When the remote controller is used to control the four-wheeled vehicle 1 to move on the bulkhead, the sensors in the flushing unit 3 start to work, and the central processor having the formula (1) recorded therein, according to the preset displacement speed and the jet radius Request, timely obtain the current moment , , , and , and perform calculations to determine the relationship between the calculated displacement speed and the set displacement speed. If the error is within the set range, keep the current data. Otherwise, the central processor needs to adjust the data in sequence or simultaneously according to the priority to meet the error requirements. The priority order is as follows: , , .

[0045] Through the above adjustment, the displacement speed of the jet is kept stable, thereby improving the consistency of cleaning and effectively controlling the cleaning effect.

[0046] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A bulkhead cleaning robot, characterized in that: The invention comprises a four-wheeled trolley (1) which can move on a bulkhead, and a magnetic attraction portion (2) which can adsorb the four-wheeled trolley (1) on the bulkhead during the movement of the four-wheeled trolley (1); a flushing portion (3) which can spray a jet toward the bulkhead is installed on the four-wheeled trolley (1); the flushing portion (3) comprises a water supply pipe (31) and a flow guide pipe (32) which are installed on the four-wheeled trolley (1); the bottom of the flow guide pipe (32) is swivel-mounted on the water supply pipe (31), and the rotation axis of the flow guide pipe (32) is perpendicular to the wall surface of the bulkhead where the four-wheeled trolley (1) is currently located; a spray head (40) is swivellingly installed on the top of the flow guide pipe (32); the pitch swing axis of the spray head (40) and the rotation axis of the flow guide pipe (32) intersect each other perpendicularly, and the axis of the spray head (40) itself and the pitch swing axis of the spray head (40) intersect each other perpendicularly.

2. A bulkhead cleaning robot according to claim 1, characterized in that: The rotation speed of the flow guide tube (32) is , specifically expressed as follows: ； In the formula, represents the displacement velocity at the point where the jet hits the bulkhead when the guide tube (32) rotates, that is, the linear velocity, in m / s; represents the vertical distance between the pitching and swinging axis of the nozzle (40) and the wall surface of the bulkhead where the four-wheeled vehicle (1) is currently located, in meters; represents the angle between the wall surface of the bulkhead where the four-wheeled trolley (1) is currently located and the plumb plane, in degrees; represents the velocity of the jet at the outlet of the nozzle (40), that is, the initial velocity of the jet, in m / s; represents the distance between the vertical projection of the rotation axis of the guide tube (32) on the bulkhead wall surface where the four-wheeled trolley (1) is currently located and the point where the jet falls on the bulkhead wall surface, that is, the jet radius, in m; Indicates the acceleration due to gravity in m / s 2 ; represents the angle between the initial jet direction at the nozzle (40) outlet and the wall surface of the bulkhead where the four-wheeled vehicle (1) is currently located, in degrees; represents the vertical distance between the pitch swing axis of the nozzle (40) and the nozzle (40) outlet, in m; represents the sine function; represents the cosine function; represents the tangent function.

3. A bulkhead cleaning robot according to claim 2, characterized in that: The flow guide pipe (32) comprises a straight pipe section (321) vertically arranged on the four-wheeled trolley (1), and a U-shaped curved pipe section (322) arranged on the top of the straight pipe section (321), the straight pipe section (321) and the curved pipe section (322) cooperate with each other to form an upright spoon shape; a driven gear (34) is coaxially fixedly connected to the outer side of the straight pipe section (321), a driving gear (33) is installed on the driving motor (35) located beside the straight pipe section (321), and the driving gear (33) and the driven gear (34) are meshed with each other for transmission.

4. A bulkhead cleaning robot according to claim 3, characterized in that: The outlet end of the curved pipe section (322) is connected to a transfer pipe (39) in a rotational seal, the nozzle (40) is coaxially fixedly connected to the outlet end of the transfer pipe (39), and the axis of rotation of the transfer pipe (39) around the curved pipe section (322) constitutes a pitching and swinging axis of the nozzle (40) on the guide pipe (32).

5. A bulkhead cleaning robot according to claim 4, characterized in that: A support platform (36) is fixedly mounted on the outer side of the straight pipe section (321), a telescopic cylinder (37) is hingedly connected to the support platform (36), an annular lock buckle (38) is hingedly connected to the top end of the telescopic cylinder (37), the annular lock buckle (38) is coaxially sleeved on the nozzle (40), and two hinge axes at both ends of the telescopic cylinder (37) are parallel to the pitching and swinging axis of the nozzle (40).

6. A bulkhead cleaning robot according to claim 5, characterized in that: The magnetic attraction portion (2) comprises four electromagnets (21) fixedly mounted on the bottom of the four-wheeled vehicle (1), and the electromagnets (21) are connected to a power source on the four-wheeled vehicle (1).

7. A bulkhead cleaning robot according to claim 6, characterized in that: The four electromagnets (21) all maintain the same magnetic attraction gap with the wall surface of the cabin where the four-wheeled vehicle (1) is located.

8. A bulkhead cleaning robot according to claim 7, characterized in that: The electromagnet (21) is in the shape of a rectangular parallelepiped as a whole, and its side surface close to the bulkhead wall surface is an arc surface coaxial with the wheel (11) adjacent to it.

9. A bulkhead cleaning robot according to claim 8, characterized in that: Two wheels (11) located on the same side of the four-wheeled vehicle (1) are connected to each other by a same transmission belt, and one of the wheels is driven by a servo motor connected to a power source.

10. A bulkhead cleaning robot according to claim 9, characterized in that: The wheels (11) on both sides of the four-wheeled vehicle (1) are each equipped with a servo motor.

Images