Underwater cleaning wall-climbing robot

Abstract

The invention discloses an underwater cleaning wall-climbing robot. The robot comprises a main body frame, wall climbing mechanisms and a cleaning mechanism, the wall climbing mechanisms are located on the two sides of the main body frame and used for supporting the robot to conduct adsorption and walking, a mounting base and a control cabin are mounted above the main body frame, the main body frame and the mounting base are connected through an inverted-U-shaped adjusting frame, and the inverted-U-shaped adjusting frame is used for adjusting the height of the mounting base; the cleaning mechanism comprises a rolling brush and a rolling brush driving cabin which are connected through a chain wheel, the rolling brush driving cabin is installed above the installation base, the rolling brush is installed below the installation base, and a shovel piece used for further cleaning the working surface is arranged at the tail end of the installation base. The device has the advantages that forward rotation, reverse rotation or differential rotation of the two rolling brushes can be independently controlled, and appropriate schemes can be provided for different situations; the damping blocks can reduce direct collision with a working plane, and meanwhile the distance is adjusted; most components are made of aluminum alloy and are low in cost and light in weight; parts of components are made of sectional materials, and dismounting and position adjusting are convenient.

Description

Technical Field

[0001] The invention relates to an underwater robot, in particular to an underwater cleaning wall-climbing robot. Background Art

[0002] During the construction of a ship, scale, rust and other debris will appear on the surface of the hull, which needs to be removed before painting. Ships in operation sail in the ocean, and due to the electrochemical reaction of seawater and the effect of salt spray, there are serious rust problems. At the same time, in the marine environment for 1-3 months, marine organisms (such as barnacles, oysters, seaweed, etc.) will attach to the hull and secrete acidic mucus to further damage the hull paint and aggravate rust. The accumulation of marine organisms on the hull will destroy the smoothness of the hull, greatly increase the resistance of the ship, cause the speed to decrease, and increase energy consumption by up to 40%. Severe rust on the hull will cause damage to the hull structure and pose a safety risk, so it is necessary to enter the dock for rust removal and decontamination. Therefore, ship inspections stipulate that seagoing ships must be docked every 3-5 years for maintenance, inspection, decontamination, rust removal and repainting.

[0003] Underwater robots are robots that can perform various tasks in underwater environments, especially for cleaning rust and decontamination of metal plates. However, the current price of underwater cleaning robots equipped with water jet devices is relatively high, and most of them are used for cleaning sea vessels, which is too expensive for inland ships. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide an underwater cleaning wall-climbing robot for cleaning rust and attachments on underwater parts of inland ships, which has a simple structure, is easy to install and maintain, and is safe and reliable.

[0005] In order to solve the above technical problems, the underwater cleaning wall-climbing robot of the present invention comprises a main frame, a wall-climbing mechanism and a cleaning mechanism. A mounting seat and a control cabin are installed above the main frame, and the main frame and the mounting seat are connected by an inverted U-shaped adjustment frame, and the inverted U-shaped adjustment frame is used to adjust the height of the mounting seat; the wall-climbing mechanism is located on both sides of the main frame, and is used to support the robot to perform adsorption and walking; the cleaning mechanism comprises a roller brush and a roller brush driving cabin connected by a sprocket, and the roller brush driving cabin is installed above the mounting seat, and the roller brush is installed below the mounting seat; the control cabin is used to control the roller brush driving cabin to drive the roller brush to rotate forward, reverse, rotate at the same speed or rotate at a differential speed; the tail end of the mounting seat is provided with a shovel blade for further cleaning the working surface.

[0006] The inverted U-shaped adjustment frame includes vertical plates on both sides and a horizontal plate on the top, and a compression spring is arranged inside the vertical plates; the bottom of the vertical plates is fixedly connected to the main frame; an adjustment hole is opened on the horizontal plate; an adjustment rod is fixed on the mounting seat, and the adjustment rod passes through the compression spring and the adjustment hole in sequence from the bottom, and an adjustment nut is installed on the part above the adjustment hole.

[0007] The main frame is a rectangular structure composed of two opposite long beams and two short beams; the mounting seat is located on both sides above the main frame; two drive cabin bearing seats are arranged above the mounting seat on the right side, and the roller brush drive cabin is installed in the drive cabin bearing seats; two roller brush bearing seats are respectively arranged below the mounting seats on both sides, and the roller brush is installed in the roller brush bearing seats; a driving motor and a reducer are arranged in the roller brush drive cabin, which are used to drive the roller brush to rotate through a chain drive; the tail ends of the mounting seats on both sides are respectively connected to bent rods, and the shovel blade is installed on the bent rods.

[0008] The wall-climbing mechanism includes a wall-climbing drive cabin, a driving double sprocket, a driven double sprocket and a double chain connecting the driving double sprocket and the driven double sprocket; two wall-climbing drive cabin support seats are arranged on the upper long beam, the wall-climbing drive cabin is installed in the wall-climbing drive cabin support seats and is connected to the driving double sprocket, wherein a driving motor and a reducer are arranged therein for driving the robot to move through chain transmission; a permanent magnet unit and a shock-absorbing block are installed on the chain wing plate of the double chain, the permanent magnet unit is used to realize the adsorption function of the robot and the working plane, the shock-absorbing block is used to reduce the direct collision between the permanent magnet unit and the working plane, and can adjust the distance between them.

[0009] A column is arranged on the long beam at the lower side, and two clamps are arranged on the column for fixing the roller brush driving cabin.

[0010] A control cabin support seat is arranged on the long beam at the lower side, and the control cabin is installed on the control cabin support seat.

[0011] A visual module frame is arranged in the middle of the long beam on the upper side, a camera and a lamp holder are mounted on the visual module frame, and a lighting lamp is mounted on the lamp holder.

[0012] A protective shell is installed outside the roller brush and the chain transmission system of the roller brush driving cabin.

[0013] The roller brush driving cabin, the control cabin and the wall climbing driving cabin are made of aluminum alloy, and the main frame, the mounting seat, the column and the visual module frame are made of aluminum alloy profiles.

[0014] The advantages of the present invention are: the two roller brushes can independently control forward rotation, reverse rotation or differential rotation, and can provide suitable solutions for different working scenarios; the shock-absorbing block can reduce the direct collision between the permanent magnet unit and the working plane, and adjust the distance between them; most component materials are aluminum alloy, which is low in cost and light in weight; each frame and some components are made of profiles, which is convenient for disassembly and assembly and adjustment of component positions. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A perspective view of the present invention; Figure 2 A top view of the present invention; Figure 3 It is a right side view of the present invention; Figure 4 It is a right side cross-sectional view of the present invention; Figure 5 For the present invention Figure 4 A magnified cross-sectional view of the A; Figure 6 It is a front view of the present invention; Figure 7 It is a rear view of the present invention. DETAILED DESCRIPTION

[0016] The underwater cleaning wall-climbing robot of the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0017] like Figure 1 , 4 As shown, the underwater cleaning wall-climbing robot of the present invention comprises a main frame 1, a wall-climbing mechanism 2 and a cleaning mechanism 3. The main frame 1 is a rectangular structure composed of two opposite long beams and two short beams. A mounting seat 4 is installed above the main frame 1, and the mounting seat 4 is located on both sides above the main frame 1. Two drive cabin bearing seats 11 are arranged above the right mounting seat 4, and the driving end of the roller brush driving cabin 6 is installed in the drive cabin bearing seat 11 and connected with a driving sprocket 12. Two roller brush bearing seats 13 are arranged below the mounting seats 4 on both sides, and two roller brushes 5 are respectively installed between the two groups of roller brush bearing seats 13 corresponding to the left and right, and the right end is connected with a driven sprocket 14, and the driven sprocket 14 is located in the same plane as the driving sprocket 12 and connected by a chain. A protective shell is installed on the outer side of the driving sprocket 12, the driven sprocket 14 and the chain as a whole. A driving motor and a reducer are arranged in the roller brush driving cabin 6, which are used to drive the driving sprocket 12 to rotate, thereby driving the driven sprocket 14 to rotate. The roller brush driving cabin 6 and the roller brush 5 together constitute the cleaning mechanism 3. The tail ends of the mounting seats 4 on both sides are respectively connected with bent rods 15, on which shovel blades 16 for further cleaning the working surface are installed.

[0018] like Figure 5As shown, the main frame 1 and the mounting seat 4 are connected by an inverted U-shaped adjustment frame 8. The inverted U-shaped adjustment frame 8 is used to adjust the height of the mounting seat 4, and includes vertical plates on both sides and a horizontal plate on the top, and a compression spring 9 is arranged inside. The bottom of the vertical plate is fixedly connected to the main frame 1. An adjustment hole 33 is opened on the horizontal plate. An adjustment rod 10 is fixed on the mounting seat 4, and the adjustment rod 10 passes through the compression spring 9 and the adjustment hole 33 from the bottom in sequence, and an adjustment nut 34 is installed on the part above the adjustment hole 33. The height of the mounting seat 4 can be adjusted by screwing the adjustment nut 34.

[0019] like Figure 3 As shown, the wall climbing mechanism 2 is located on both sides of the main frame 1, and is used to support the robot to adsorb and walk, including a wall climbing drive cabin 20, an active double sprocket 18, a driven double sprocket 19, and a double chain connecting the active double sprocket 18 and the driven double sprocket 19. Two wall climbing drive cabin support seats 23 are arranged on the upper long beam, and the rear end of the wall climbing drive cabin 20 is fixed inward on the wall climbing drive cabin support seat 23, and the driving end of the wall climbing drive cabin 20 is connected to the active double sprocket 18, and the active double sprocket 18 and the driven double sprocket 19 are connected through a double chain. A driving motor and a reducer are arranged in the wall climbing drive cabin 20, which are used to drive the active double sprocket 18 to rotate, thereby driving the driven double sprocket 19 to rotate, so as to realize the walking of the robot. A permanent magnet unit 24 and a shock absorber block 25 are installed on the chain wing plate of the double chain. The permanent magnet unit 24 is used to realize the adsorption function of the robot and the working plane, and the shock absorber block 25 is used to reduce the direct collision between the permanent magnet unit 24 and the working plane, and can adjust the distance between them.

[0020] like Figure 2 As shown, a column 26 is provided on the lower long beam, and two clamps 27 are provided on the column 26 for fixing the roller brush driving cabin 6.

[0021] like Figure 6 As shown, a control cabin support seat 28 is provided on the lower long beam, on which a control cabin 7 is installed. The control cabin 7 is installed with a power module, a motor drive module, a depth module, etc., which are used to control the roller brush drive cabin 6 to drive the roller brush 5 to rotate forward, reverse, at the same speed or at a differential speed.

[0022] like Figure 7 As shown, a visual module frame 29 is provided in the middle of the upper long beam, a camera 30 and a lamp holder 31 are mounted on the visual module frame 29 , and a lighting lamp 32 is mounted on the lamp holder 31 .

[0023] The roller brush driving cabin 6, the control cabin 7 and the wall climbing driving cabin 20 are made of aluminum alloy and the cabins are watertight. The main frame 1, the mounting seat 4, the column 26 and the visual module frame 29 are made of aluminum alloy profiles.

[0024] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by technicians in this technical field within the essential scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. An underwater cleaning wall-climbing robot, comprising a main frame (1), a wall-climbing mechanism (2) and a cleaning mechanism (3), characterized in that: A mounting seat (4) and a control cabin (7) are installed above the main frame (1); the main frame (1) and the mounting seat (4) are connected via an inverted U-shaped adjustment frame (8); the inverted U-shaped adjustment frame (8) is used to adjust the height of the mounting seat (4); the wall climbing mechanism (2) is located on both sides of the main frame (1) and is used to support the robot to perform adsorption and walking; the cleaning mechanism (3) comprises a roller brush (5) and a roller brush driving cabin (6) connected via a sprocket; the roller brush driving cabin (6) is installed above the mounting seat (4), and the roller brush (5) is installed below the mounting seat (4); the control cabin (7) is used to control the roller brush driving cabin (6) to drive the roller brush (5) to perform forward rotation, reverse rotation, same speed rotation or differential rotation; a shovel blade (16) is provided at the rear end of the mounting seat (4) for further cleaning the working surface.

2. The underwater cleaning wall-climbing robot according to claim 1, characterized in that: The inverted U-shaped adjustment frame (8) comprises vertical plates on both sides and a horizontal plate on the top, wherein a compression spring (9) is arranged inside the vertical plates; the bottom of the vertical plates is fixedly connected to the main frame (1); an adjustment hole (33) is opened on the horizontal plate; an adjustment rod (10) is fixed on the mounting seat (4), the adjustment rod (10) passes through the compression spring (9) and the adjustment hole (33) in sequence from below, and an adjustment nut (34) is installed on the portion of the adjustment rod (10) located above the adjustment hole (33).

3. The underwater cleaning wall-climbing robot according to claim 2, characterized in that: The main frame (1) is a rectangular structure formed by two opposite long beams and two short beams; the mounting seat (4) is located on both sides above the main frame (1); two drive cabin bearing seats (11) are arranged above the mounting seat (4) on the right side, and the roller brush driving cabin (6) is installed in the drive cabin bearing seats (11); two roller brush bearing seats (13) are arranged below the mounting seats (4) on both sides, and the roller brush (5) is installed in the roller brush bearing seats (13); a driving motor and a reducer are arranged in the roller brush driving cabin (6), which are used to drive the roller brush (5) to rotate through a chain drive; the tail ends of the mounting seats (4) on both sides are respectively connected to curved rods (15), and the shovel blade (16) is installed on the curved rods (15).

4. The underwater cleaning wall-climbing robot according to claim 3, characterized in that: The wall climbing mechanism (2) comprises a wall climbing drive cabin (20), a driving double sprocket (18), a driven double sprocket (19), and a double chain connecting the driving double sprocket (18) and the driven double sprocket (19); two wall climbing drive cabin support seats (23) are arranged on the upper long beam, the wall climbing drive cabin (20) is installed in the wall climbing drive cabin support seat (23) and is connected to the driving double sprocket (18), wherein a drive motor and a reducer are arranged therein, and are used to drive the robot to move through chain transmission; a permanent magnet unit (24) and a shock absorber (25) are installed on the chain wing plate of the double chain, the permanent magnet unit (24) is used to realize the adsorption function of the robot and the working plane, and the shock absorber (25) is used to reduce the direct collision between the permanent magnet unit (24) and the working plane, and can adjust the distance between them.

5. The underwater cleaning wall-climbing robot according to claim 4, characterized in that: A column (26) is provided on the long beam at the lower side, and two clamps (27) are provided on the column (26) for fixing the roller brush drive cabin (6).

6. The underwater cleaning wall-climbing robot according to claim 5, characterized in that: A control cabin support seat (28) is provided on the long beam at the lower side, and the control cabin (7) is mounted on the control cabin support seat (28).

7. The underwater cleaning wall-climbing robot according to claim 6, characterized in that: A visual module frame (29) is provided in the middle of the long beam on the upper side, a camera (30) and a lamp holder (31) are mounted on the visual module frame (29), and an illuminating lamp (32) is mounted on the lamp holder (31).

8. The underwater cleaning wall-climbing robot according to any one of claims 1 to 7, characterized in that: A protective shell is installed on the outer side of the chain drive system of the roller brush (5) and the roller brush drive cabin (6).

9. The underwater cleaning wall-climbing robot according to claim 8, characterized in that: The roller brush drive cabin (6), the control cabin (7) and the wall climbing drive cabin (20) are made of aluminum alloy, and the main frame (1), the mounting seat (4), the column (26) and the visual module frame (29) are made of aluminum alloy profiles.

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