A bulkhead cleaning robot

Abstract

The present invention relates to the technical field of bulkhead cleaning devices, and specifically to a bulkhead cleaning robot. The present invention includes a four-wheel trolley that can move on the bulkhead, and a magnetic adsorption part that can adsorb the four-wheel trolley on the bulkhead during the movement of the four-wheel trolley. A flushing part that can spray a jet flow towards the bulkhead is installed on the four-wheel trolley. The flushing part includes a water supply pipe and a diversion pipe installed on the four-wheel trolley. The bottom of the diversion pipe is rotatably installed on the water supply pipe, and the rotation axis of the diversion pipe is perpendicular to the wall surface of the bulkhead where the four-wheel trolley is currently located; a nozzle is swingably installed at the top of the diversion pipe. The pitching swing axis of the nozzle is perpendicular to and intersects the rotation axis of the diversion pipe, and the axis of the nozzle itself is perpendicular to and intersects the pitching swing axis of the nozzle. Through the integrated design, the present invention reduces the volume of the cleaning robot; at the same time, the cleaning robot can be controlled by a single person, effectively reducing the participation of personnel during the cleaning process and improving the safety of the staff.

Description

Technical Field

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

[0002] After a large ocean - going ship unloads its cargo, since its bulkhead is composed of frames and other structural members, a large amount of cargo and dirt will remain on the bulkhead. Therefore, before loading other cargo, it is necessary to comprehensively clean the cargo hold.

[0003] Currently, the commonly used cleaning operations are usually carried out manually by the crew of the ship or external cleaning operators using simple cleaning tools. Although the cleaning of the bulkhead can be completed by manually using a water gun to impact and clean, it is time - consuming and laborious. At the same time, when there is dirt remaining at the high places of the cargo hold, due to the excessive spraying distance of the water gun, the spraying force weakens at high places, resulting in the inability to wash away the dirt at high places. Then, the staff will use an aerial work platform or scaffolding to climb and operate, so as to shorten the spraying distance of the water gun and improve the cleaning effect. However, this method of using an external elevated structure is extremely unstable in a shaking cargo hold, which will further increase the danger to the staff. Therefore, Patent CN112703152B discloses a cleaning device for the bulkhead surface of a bulk carrier. Through the extendable arm in the device, the function of the external elevated structure is replaced. 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 - mentioned device can achieve the cleaning of the high - altitude bulkhead, its device volume is large, and still requires multiple people to directly operate at close range to complete the corresponding cleaning work.

[0004] It can be seen that the current bulkhead cleaning devices still have the deficiencies of large volume, inconvenient operation, and the need for multiple people to directly operate. Therefore, there is an urgent need for a cleaning device that can overcome the above deficiencies 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. Through an integrated design, the present invention reduces the volume of the cleaning robot; at the same time, the remote control of the cleaning robot can be completed by a single person, effectively reducing the personnel participation 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:

[0007] A bulkhead cleaning robot includes a four-wheel trolley that can move on the bulkhead and a magnetic adsorption part that can adsorb the four-wheel trolley on the bulkhead during the movement of the four-wheel trolley; a flushing part that can spray a jet onto the bulkhead is installed on the four-wheel trolley. The flushing part includes a water supply pipe and a diversion pipe installed on the four-wheel trolley. The bottom of the diversion pipe is rotatably installed on the water supply pipe, and the rotation axis of the diversion pipe is perpendicular to the wall surface of the bulkhead where the four-wheel trolley is currently located; a nozzle is swingably installed at the top of the diversion pipe. The pitching swing axis of the nozzle is perpendicular to and intersects the rotation axis of the diversion pipe, and the axis of the nozzle itself is perpendicular to and intersects the pitching swing axis of the nozzle.

[0008] As a further scheme of the present invention: the rotation speed of the diversion pipe is , specifically expressed as follows:

[0009] ;

[0010] In the formula, represents the displacement speed, that is, the linear speed, at the water landing point where the jet is sprayed on the bulkhead wall surface during the rotation of the diversion pipe, with the unit of m / s; represents the vertical distance between the pitching swing axis of the nozzle and the bulkhead wall surface where the four-wheel trolley is currently located, with the unit of m; represents the angle between the bulkhead wall surface where the four-wheel trolley is currently located and the vertical plane, with the unit of °; represents the speed of the jet at the nozzle outlet, that is, the initial jet velocity, with the unit of m / s; represents the distance between the vertical projection of the rotation axis of the diversion pipe on the bulkhead wall surface where the four-wheel trolley is currently located and the water landing point of the jet on this bulkhead wall surface, that is, the jet radius, with the unit of m; represents the acceleration due to gravity, with the unit of m / s 2 ; represents the angle between the initial jet direction of the jet at the nozzle outlet and the bulkhead wall surface where the four-wheel trolley is currently located, with the unit of °; represents the vertical distance between the pitching swing axis of the nozzle and the nozzle outlet, with the unit of m; represents the sine function; represents the cosine function; represents the tangent function.

[0011] As a further scheme of the present invention: the diversion pipe includes a straight pipe section vertically arranged on the four-wheel trolley and a bent pipe section connected in a U shape at the top of the straight pipe section. The straight pipe section and the bent pipe section cooperate with each other to form an upright spoon shape; a driven gear is coaxially fixed on the outside of the straight pipe section, and a driving motor located beside the straight pipe section is equipped with a driving gear, and the driving gear and the driven gear are engaged and driven with each other.

[0012] As a further solution of the present invention: the outlet end of the elbow section is rotationally sealed and connected with a transfer pipe, the nozzle is coaxially fixedly connected to the outlet end of the transfer pipe, and the axis around which the transfer pipe rotates relative to the elbow section constitutes the pitching swing axis for the nozzle to swing on the diversion pipe.

[0013] 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, the top end of the telescopic cylinder is hinged with an annular lock, the annular lock is coaxially sleeved on the nozzle, and the two hinge axes at both ends of the telescopic cylinder are parallel to each other with the pitching swing axis of the nozzle.

[0014] As a further solution of the present invention: the magnetic attraction part includes four electromagnets fixedly installed at the bottom of the four-wheel trolley, and the electromagnets are connected to the power supply on the four-wheel trolley.

[0015] As a further solution of the present invention: the same magnetic attraction gap is maintained between each of the four electromagnets and the wall surface of the cabin where the four-wheel trolley is located.

[0016] As a further solution of the present invention: the electromagnet as a whole is in the shape of a cuboid, and the side surface thereof close to the wall surface of the cabin is an arc surface coaxial with the adjacent wheel.

[0017] As a further solution of the present invention: the two wheels on the same side in the four-wheel trolley are belt-driven and connected to each other through the same transmission belt, and one of them is driven by a servo motor connected to the power supply.

[0018] As a further solution of the present invention: a servo motor is arranged for each of the wheels on both sides of the four-wheel trolley.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0020] 1. Through the integrated design, the present invention effectively reduces the volume of the robot body, improves the space utilization efficiency, realizes remote single-person control, not only simplifies the operation process, but also greatly reduces the personnel participation in the cleaning operation, thus significantly improving the operation safety and efficiency.

[0021] 2. The high-pressure water jet of the present invention is ejected from the outlet of the nozzle at a certain initial velocity and hits the bulkhead to be cleaned after a period of time. And since the robot will move during the cleaning process and the pitching angle of the nozzle will change, the range of the water jet will change accordingly. As a result, when the left and right rotation speeds of the nozzle are constant, the displacement speed of the jet hitting the bulkhead will also change, which will lead to unstable cleaning limits on the wall surface, inconsistent contact times between the jet and the dirt, and inconsistent cleaning effects. Therefore, a calculation formula for the rotation speed of the nozzle is constructed by the method of controlling variables. Through this calculation formula, the rotation speed can be effectively adjusted in real time, so that the displacement speed of the jet remains stable, and then the impact forces received by the jet landing points are approximated, thereby improving the cleaning consistency and effectively controlling the cleaning effect.

[0022] 3. The wheels on both sides of the four-wheel trolley of the present invention can rotate independently, which can effectively improve the flexibility of the cleaning robot, facilitate free and rapid movement between the various rib plates of the bulkhead, and then complete the corresponding cleaning work.

[0023] 4. Maintaining the same magnetic adsorption gap is crucial for ensuring the stability and balance of the four-wheel trolley on the bulkhead. If the gaps are inconsistent, it may cause the trolley to tilt or become unstable during adsorption. Therefore, by precisely controlling the distance between the electromagnet and the bulkhead, the stability and adsorption effect of the trolley are optimized. The electromagnet as a whole is in the shape of a cuboid, and the side surface 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 better, thereby increasing the magnetic adsorption area and improving the adsorption force. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic side view structure diagram of the present invention.

[0025] Figure 2 It is a schematic cross-sectional structure diagram of the flushing part in the present invention.

[0026] Figure 3 It is an isometric structure diagram of the present invention.

[0027] Figure 4 It is a schematic dimensional structure diagram of the cooperation between the four-wheel trolley and the flushing part in the present invention.

[0028] In the figure: 1. Four-wheel trolley; 11. Wheel; 2. Magnetic adsorption part; 21. Electromagnet; 3. Flushing part; 31. Water supply pipe; 32. Diversion pipe; 321. Straight pipe section; 322. Elbow pipe section; 33. Driving gear; 34. Driven gear; 35. Driving motor; 36. Support platform; 37. Telescopic cylinder; 38. Ring lock; 39. Adapter pipe; 40. Nozzle. DETAILED DESCRIPTION OF THE INVENTION

[0029] 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.

[0030] See also Figures 1 to 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] The outlet end of the elbow section 322 is rotationally sealed and connected to a transfer pipe 39. The nozzle 40 is coaxially and fixedly connected to the outlet end of the transfer pipe 39, and the axis of rotation of the transfer pipe 39 around the elbow section 322 constitutes the pitching swing axis of the nozzle 40 on the diversion pipe 32.

[0036] The pitching swing axis of the nozzle 40 and the rotational axis of the diversion pipe 32 are perpendicular to each other and intersect. Moreover, the axis of the nozzle 40 itself and the pitching swing axis of the nozzle 40 are perpendicular to each other and intersect. Such an axis setting enables the nozzle 40 to rotate around the rotational axis of the diversion pipe 32, improving the accuracy of the calculation of the jet radius.

[0037] A support platform 36 is fixedly installed on the outer side of the straight pipe section 321. An expansion cylinder 37 is hinged on the support platform 36. The top end of the expansion cylinder 37 is hinged to an annular lock 38. The annular lock 38 is coaxially sleeved on the nozzle 40, and the two hinge axes of the expansion cylinder 37 are both perpendicular to the pitching swing axis of the nozzle 40. By the expansion and contraction of the expansion cylinder 37, the pitching angle of the nozzle 40 is controlled.

[0038] The high-pressure water jet of the present invention is ejected from the outlet of the nozzle 40 with a certain initial velocity and hits the cabin wall to be cleaned after a period of time. And since the robot will move during the cleaning process and the pitching angle of the nozzle 40 will change, the range of the water jet will change accordingly. As a result, when the left and right rotation speed of the nozzle 40 is constant, the displacement speed of the jet hitting the cabin wall will also change, which will lead to instability of the cleaning limit on the wall surface, inconsistent contact time between the jet and the dirt, and inconsistent cleaning effects. Therefore, a calculation formula for the rotational speed of the diversion pipe 32 as shown in formula (1) is constructed by the method of controlling variables. Through this calculation formula, the rotational speed can be effectively adjusted in real time, so that the displacement speed of the jet remains stable, thereby improving the cleaning consistency and effectively controlling the cleaning effect.

[0039] (1);

[0040] In the formula, represents the rotational speed of the diversion pipe 32, which is detected in real time by a rotational speed sensor installed on the four-wheel trolley 1.

[0041] represents the displacement speed of the water landing point when the jet is ejected on the cabin wall during the rotation of the diversion pipe 32, that is, the linear velocity, with the unit of m / s.

[0042] represents the perpendicular distance between the pitching swing axis of the nozzle 40 and the wall surface of the cabin where the four-wheel trolley 1 is currently located, with the unit of m, which is a fixed value, that is, after the robot is designed, it will not change anymore.

[0043] It represents the angle between the bulkhead wall surface where the four-wheel trolley 1 is currently located and the vertical plane, with the unit of °, which is a real-time changing value and is detected in real time by the angle sensor installed on the four-wheel trolley 1.

[0044] It represents the velocity of the cleaning water at the outlet of the nozzle 40, that is, the initial jet velocity, with the unit of m / s, and is obtained by real-time monitoring with the velocity sensor arranged at the outlet of the nozzle 40.

[0045] It represents the distance between the vertical projection of the rotation axis of the guide pipe 32 on the bulkhead wall surface where the four-wheel trolley 1 is currently located and the water landing point of the jet on this bulkhead, that is, the jet radius, with the unit of m. It can be monitored in real time by the distance sensor installed on the four-wheel trolley 1.

[0046] It represents the angle between the initial jet direction of the jet at the outlet of the nozzle 40 and the bulkhead where the four-wheel trolley 1 is currently located, with the unit of °. This angle is adjusted in real time by the telescopic cylinder 37 and is detected in real time by the angle sensor installed on the nozzle 40.

[0047] It represents the vertical distance between the pitching swing axis of the nozzle 40 and the outlet of the nozzle 40, with the unit of m, which is fixed during the robot design and will not change.

[0048] In this embodiment, the initial jet velocity v = 24.868 m / s, the nozzle length L = 250 mm, the nozzle height h = 730 mm, the nozzle pitching angle a = 15° or -15°, the robot inclination angle b = 45° or 90°. The angular velocities required for the jet to hit the bulkhead wall surface at different constant velocities V are calculated respectively, and the calculation results are shown in Table 1.

[0049] Table 1 Angular velocity calculation results

[0050] ;

[0051] During the process of using the remote controller to control the movement of the four-wheel trolley 1 on the bulkhead, the various sensors in the flushing unit 3 start to work, and the central processing unit with the formula (1) recorded, according to the preset displacement velocity and the requirements of the jet radius , timely obtains the , , , 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, maintain the current data. Otherwise, the central processing unit needs to adjust the data item by item or simultaneously according to the priority to meet the error requirements. The priority order is as follows: , , .

[0052] Through the above adjustments, the displacement speed of the jet is kept stable, thereby improving the cleaning consistency and effectively controlling the cleaning effect.

[0053] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and 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 swivel 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 swivel 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; 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, and is detected in real time by an angle sensor installed on the four-wheeled trolley (1); represents the velocity of the jet at the outlet of the nozzle (40), that is, the initial velocity of the jet, in units of m / s, and is obtained by real-time monitoring by a velocity sensor arranged at the outlet of the nozzle (40); 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, i.e., the jet radius, is expressed in m and is monitored in real time by a distance sensor installed on the four-wheeled trolley (1); 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.

2. A bulkhead cleaning robot according to claim 1, 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.

3. A bulkhead cleaning robot according to claim 2, 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).

4. A bulkhead cleaning robot according to claim 3, 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).

5. A bulkhead cleaning robot according to claim 4, 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).

6. A bulkhead cleaning robot according to claim 5, 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.

7. A bulkhead cleaning robot according to claim 6, 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.

8. A bulkhead cleaning robot according to claim 7, 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.

9. A bulkhead cleaning robot according to claim 8, characterized in that: The wheels (11) on both sides of the four-wheeled vehicle (1) are each equipped with a servo motor.

Images