Take-up and pay-off device for ship cleaning wall-climbing robot and ship cleaning system

Abstract

The invention discloses a take-up and pay-off device for a ship cleaning wall-climbing robot and a ship cleaning system. The ship cleaning system comprises a ship cleaning robot, a cable and a pay-off device. The pay-off device is composed of a frame shaped like a Chinese character'ri ', a conical wire spool, a squirrel-cage motor, a lead screw, a guide wheel, a power source, an electromagnetic chuck, a wall-climbing robot recycling frame and trundles. The pay-off device is placed on a deck of a ship, the ship cleaning wall-climbing robot is adsorbed to the side face of a ship body, when the ship cleaning wall-climbing robot climbs downwards, the conical wire spool is dragged to rotate by means of power of the wall-climbing robot, at the moment, the motor is driven to rotate through the large belt wheel, and a power source can be charged; when the wall-climbing robot climbs upwards, the pressure of the cable is tested through the pressure sensor, then the rotating speed of the motor of the conical wire spool is adjusted, the extra cable is collected, the cable between the wall-climbing robot and the pay-off device is kept in a tightened state all the time, and the situation that the falling cable interferes with movement of the wall-climbing robot is avoided.

Description

Technical Field

[0001] The present invention particularly relates to a wire-retracting and -releasing device for a ship cleaning wall-climbing robot and a ship cleaning system, belonging to the technical field of robots. Background Art

[0002] In recent years, along with the progress of science and technology and the development of international trade, China's waterway transportation, which has the advantages of strong transportation capacity and low cost, has developed rapidly. More than 90% of my country's international trade products are transported by ocean. Although most of the hulls below the waterline use modern antifouling paint, it is still difficult to avoid the attachment of marine organisms to the hulls of ships due to the long-term slowing down, drifting, port berthing and anchoring of ships. According to statistics, if marine organisms more than 3cm are attached to the bottom of the ship, the speed of the cargo ship will be reduced by 10%, and the fuel consumption will increase by 40%. The global shipping industry needs to consume nearly 10 billion US dollars each year. At present, most of the hull attachment cleaning technologies still rely on onshore dock cleaning and divers cleaning. However, onshore docks have problems such as long maintenance time, small number of docks, and potential safety hazards of divers cleaning.

[0003] Underwater robot cleaning has the advantages of no need to go ashore and no personal danger, so various magnetic wall-climbing robots for cleaning hulls have developed rapidly in recent years. However, due to the special underwater environment, the hull cleaning robot needs to be controlled by wire to achieve signal transmission. When the wall-climbing robot climbs up, if the cable is not retracted in time, the cable will interfere with the normal crawling of the wall-climbing robot, and may be involved in the magnetic wheel of the wall-climbing robot, or even cause the wall-climbing robot to fall off the wall and other dangerous situations. In addition, the use of manual reeling and releasing reduces the working efficiency of the wall-climbing robot and is inconvenient to use. Therefore, a wire releaser for a ship cleaning wall-climbing robot is proposed. Summary of the invention

[0004] The main purpose of the present invention is to provide a line-retracting and -releasing device for a ship cleaning wall-climbing robot and a ship cleaning system, so as to overcome the deficiencies in the prior art.

[0005] In order to achieve the above-mentioned invention object, the technical solution adopted by the present invention includes:

[0006] A first aspect of an embodiment of the present invention provides a wire-retracting and -releasing device for a ship cleaning wall-climbing robot, comprising:

[0007] Support frame;

[0008] A wire winding drum is arranged on the supporting frame, the wire winding drum can rotate around its own axis, the wire winding drum has a wire winding structure for winding cables, and the wire winding structure is a conical structure with a diameter gradually changing along its own axial direction;

[0009] The cable guiding structure comprises a guide rod and a guide wheel, wherein the guide rod is fixedly arranged on the supporting frame, the guide rod is spaced apart from and arranged in parallel with the winding structure, the guide wheel is movably arranged on the guide rod and can move along the guide rod, and the guide wheel is at least used to guide the traveling direction of the cable;

[0010] When the winding drum rotates forwardly around its own axis and pulls the cable to be wound on the winding structure of the winding drum, under the action of the cable's own tension, the cable is wound in sequence in the first area, the second area...the nth area of ​​the winding structure, and the guide wheel in close contact with the cable is driven to move synchronously along the guide rod, and the moving direction of the guide wheel is from the first area to the nth area, wherein the first area to the nth area are arranged in sequence along the axial direction of the winding structure, and the diameter of the winding structure increases in sequence from the first area to the nth area, n≥2, and n is a positive integer.

[0011] The second aspect of an embodiment of the present invention also provides a ship cleaning system, which includes: a wall-climbing robot, a cable, and a cable-reeling device for the ship cleaning wall-climbing robot, the cable is wound on the winding drum, one end of the cable is fixedly connected to the wall-climbing robot, and the other end is fixedly connected to the winding drum.

[0012] Compared with the prior art, the advantages of the present invention include:

[0013] The embodiment of the present invention provides a wire-reeling and wire-releasing device for a ship cleaning wall-climbing robot. The conical wire-reel cooperates with the guide rod and the guide wheel, which can not only prevent the wires from getting tangled and knotted, but also make the wires neatly wound on the wire-reel under the action of their own tension.

[0014] A line-retracting and paying-out device for a ship cleaning wall-climbing robot provided in an embodiment of the present invention can be stably fixed on the deck of a ship. When the wall-climbing robot is adsorbed on the side of the hull and moves, the conical winding drum is dragged to rotate by relying on the power of the wall-climbing robot, and the motor is driven to rotate by the pulley to charge the power supply. When the wall-climbing robot climbs, the pressure sensor is used to obtain the pressure between the cable and the guide wheel in real time, and then the motor speed is adjusted to retract the extra cable, so that the cable between the wall-climbing robot and the pay-out drum is always kept taut, thereby avoiding the problem of hanging cables interfering with the movement of the wall-climbing robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of a ship cleaning system in operation provided in a typical implementation case of the present invention;

[0016] Figure 2 It is an overall schematic diagram of a wire-retracting and -releasing device for a ship cleaning wall-climbing robot provided in a typical implementation case of the present invention;

[0017] Figure 3 It is an overall schematic diagram of a wire-retracting and -releasing device for a ship cleaning wall-climbing robot provided in a typical implementation case of the present invention;

[0018] Figure 4 It is a front view of a wire-retracting and -releasing device for a ship cleaning wall-climbing robot provided in a typical implementation case of the present invention;

[0019] Figure 5 It is a side view of a wire-retracting and -releasing device for a ship cleaning wall-climbing robot provided in a typical implementation case of the present invention;

[0020] Figure 6 It is a schematic diagram of the bottom structure of a line-retracting and -releasing device for a ship cleaning wall-climbing robot provided in a typical implementation case of the present invention. DETAILED DESCRIPTION

[0021] In view of the deficiencies in the prior art, the inventor of this case has proposed the technical solution of the present invention after long-term research and extensive practice. The technical solution, its implementation process and principle will be further explained as follows.

[0022] A first aspect of an embodiment of the present invention provides a wire-retracting and -releasing device for a ship cleaning wall-climbing robot, comprising:

[0023] Support frame;

[0024] A wire winding drum is arranged on the supporting frame, the wire winding drum can rotate around its own axis, the wire winding drum has a wire winding structure for winding cables, and the wire winding structure is a conical structure with a diameter gradually changing along its own axial direction;

[0025] The cable guiding structure comprises a guide rod and a guide wheel, wherein the guide rod is fixedly arranged on the supporting frame, the guide rod is spaced apart from and arranged in parallel with the winding structure, the guide wheel is movably arranged on the guide rod and can move along the guide rod, and the guide wheel is at least used to guide the traveling direction of the cable;

[0026] When the winding drum rotates forwardly around its own axis and pulls the cable to be wound on the winding structure of the winding drum, under the action of the cable's own tension, the cable is wound in sequence in the first area, the second area...the nth area of ​​the winding structure, and the guide wheel in close contact with the cable is driven to move synchronously along the guide rod, and the moving direction of the guide wheel is from the first area to the nth area, wherein the first area to the nth area are arranged in sequence along the axial direction of the winding structure, and the diameter of the winding structure increases in sequence from the first area to the nth area, n≥2, and n is a positive integer.

[0027] Furthermore, the winding structure has a first end and a second end, the first region is a region adjacent to the first end, the nth region is a region adjacent to the second end, and the diameter of the first end is greater than the minimum bending diameter of the cable.

[0028] Furthermore, the guide rod and the winding structure are parallel to the x-axis of the axially uniform three-dimensional coordinate system, and the guide rod and the winding structure are also staggered along the y-axis and z-axis of the three-dimensional coordinate system. On the z-axis, the guide rod is arranged above the winding structure, and the spacing between the guide rod and the rotating surface of the winding structure on the y-axis and the spacing on the z-axis are both larger than the overall outer diameter of the cable wound on the winding structure, and the spacing between the guide rod and the rotating surface of the winding structure on the z-axis is also larger than the outer diameter of the winding drum.

[0029] Furthermore, the guide rod is an optical axis structure with a smooth surface, the portion where the guide wheel contacts the guide rod is also smooth, and the guide wheel contacts the guide rod in a sliding manner.

[0030] Furthermore, the winding drum also includes two wire blocking structures, which are respectively fixed at the first end and the second end of the winding structure along the circumference of the winding structure. The diameter of the wire blocking structure is larger than the maximum diameter of the winding structure. The two wire blocking structures and the winding structure enclose a winding space for storing cables.

[0031] Furthermore, the ship cleaning wall-climbing robot wire-winding and -releasing device also includes: a driving mechanism, wherein the driving mechanism is fixedly arranged on the supporting frame, the output shaft of the driving mechanism is drivingly connected to the wire winding drum, the driving mechanism drives its own output shaft and the wire winding drum to rotate forwardly around its own axis to realize wire winding, and, when releasing the wire, the output shaft of the driving mechanism can also rotate in the opposite direction under the pulling of an external force, and convert the mechanical energy of the reverse rotation of the output shaft into electrical energy, the external force being the combined force of the gravity of the wall-climbing robot, the driving force of the wall-climbing robot, the friction force exerted on the wall-climbing robot, and the gravity of the cable between the wall-climbing robot and the wire winding drum.

[0032] Furthermore, the output shaft of the driving mechanism is connected to the winding drum via a pulley and a synchronous belt. It can be understood that the combination of the pulley and the synchronous belt is a conventional transmission structure, and its specific structure and the method of realizing transmission are not described in detail here.

[0033] Specifically, the driving mechanism may be a rotary driving motor. Exemplarily, the driving mechanism may be a squirrel cage motor.

[0034] Furthermore, the line-retracting and -releasing device for the ship cleaning wall-climbing robot also includes a pressure sensor, which is arranged on the rotating surface where the guide wheel contacts the cable, and is used to monitor the pressure between the cable and the guide wheel. The pressure sensor is also communicatively connected to the driving mechanism.

[0035] In a more specific implementation manner, a limiting structure is further provided on the supporting frame, and the limiting structure is used to fix and limit the wall-climbing robot on the supporting frame.

[0036] Furthermore, the limiting structure can be detachably connected to the wall-climbing robot located in the receiving chamber.

[0037] Furthermore, the limiting structure includes at least one adsorption mechanism, and the adsorption mechanism is detachably connected to the wall-climbing robot by adsorption.

[0038] Furthermore, the adsorption mechanism includes a magnetic adsorption mechanism or a negative pressure adsorption mechanism.

[0039] Furthermore, the magnetic adsorption mechanism includes an electromagnetic chuck.

[0040] In a more specific embodiment, the line-retracting and -releasing device for the ship cleaning wall-climbing robot also includes: a wall-climbing robot recovery frame, which is arranged on the support frame and is used to carry the wall-climbing robot, and the restriction structure is used to fix the wall-climbing robot on the wall-climbing robot recovery frame.

[0041] Furthermore, the magnetic adsorption mechanism is arranged on the recovery frame of the wall-climbing robot.

[0042] Furthermore, the bottom of the support frame is also provided with lockable casters.

[0043] Furthermore, the line-retracting and -releasing device for the ship cleaning wall-climbing robot also includes a power supply, and the power supply is arranged on the supporting frame, and the power supply is electrically connected to the driving mechanism.

[0044] Furthermore, the power supply is also electrically connected to the electromagnetic chuck.

[0045] Furthermore, the power supply is arranged between the wall-climbing robot recovery frame and the supporting frame.

[0046] The second aspect of an embodiment of the present invention also provides a ship cleaning system, which includes: a wall-climbing robot, a cable, and a cable-reeling device for the ship cleaning wall-climbing robot, the cable is wound on the winding drum, one end of the cable is fixedly connected to the wall-climbing robot, and the other end is fixedly connected to the winding drum.

[0047] The technical solution, its implementation process and principle will be further explained below in conjunction with the attached drawings and specific embodiments. Unless otherwise specified, components such as motors, pulleys, synchronous belts, electromagnetic chucks, power supplies, and wall-climbing robots used in the embodiments of the present invention are known to those skilled in the art and can be obtained through commercial purchase or known customized processing techniques.

[0048] Embodiment

[0049] Please refer to Figure 1 , a ship cleaning system, including a wall-climbing robot 8, a cable 100, and a cable winding and unwinding device 200. The cable 100 is wound around the cable winding and unwinding device 200. One end of the cable 100 is fixedly connected to the wall-climbing robot 8, and the other end is fixedly connected to the cable winding and unwinding device 200. The wall-climbing robot 8 can walk on the hull 300 of the ship and perform cleaning work on the hull 300 of the ship. When the wall-climbing robot 8 walks on the hull 300 of the ship, the cable winding and unwinding device 200 can wind and unwind the cable and keep the cable always in a taut state.

[0050] Please refer to Figure 2 , the cable winding and unwinding device 200 includes two "day" - shaped frames 7, a cable reel base 18, a cable reel bottom frame 19, a wall-climbing robot recovery frame 9, four casters 11, a winding disc 12, a squirrel-cage motor 2, a motor protection box 3, a motor mounting plate 4, a synchronous belt 5, pulleys 6, guide rods 14, guide wheels 15, a power supply 10, four first electromagnetic chucks 16, and four second electromagnetic chucks 17;

[0051] The cable reel bottom frame 19 is fixedly arranged at the bottom of two spaced "day" - shaped frames 7. The cable reel base 18 is fixedly arranged on the cable reel bottom frame 19. The two "day" - shaped frames 7, the cable reel base 18, and the cable reel bottom frame 19 together form a support frame. An armrest 1 is also fixedly installed at the top of the "day" - shaped frame 7. Four casters 11 with locking functions are fixed at the four corners of the cable reel bottom frame 19;

[0052] The motor mounting plate 4 is fixedly installed at the top of the "day" - shaped frame 7. The squirrel-cage motor 2 and the motor protection box 3 are installed on the motor mounting plate 4. The motor protection box 3 is used to protect the squirrel-cage motor 2,

[0053] The winding drum 12 is installed in the middle position of the Japanese-shaped frame 7 through a rotating shaft. The winding drum 12 is connected to the pulley 6 through a coupling. The pulley 6 and the squirrel-cage motor 2 transmit power through a synchronous belt 5. The guide rods 14 are arranged in front of the winding drum 12 at intervals along the width direction of the support frame (i.e., the y-axis of the three-dimensional coordinate system). The axis of the guide rod 14 is parallel to the axis of the winding drum 12 (the axis of the guide rod 14 extends along the x-axis of the three-dimensional coordinate system), and in the height direction of the support frame (i.e., the z-axis of the three-dimensional coordinate system), the guide rod 14 is located above the winding drum 12 (i.e., the guide rod 14 is located on the upper front side of the winding drum 12), and the guide wheel 15 is arranged on the guide wheel 15. On the rod 14, the guide wheel 15 and the guide rod 14 are slidably matched, and the guide wheel 15 can move left and right along the guide rod 14. The cable passes around the guide wheel 15. When the cable is wound onto the winding drum 12 or unwound from the winding drum 12, the cable always remains taut. Under the tension of the cable itself and the friction between the cable and the guide wheel 15, the guide wheel 15 will be driven to move left and right along the guide rod 14. The guide rod 14, the guide wheel 15 and the winding drum 12 together form an anti-winding structure to prevent the cable from being disorderly wound and stuck. At the same time, the guide rod 14 and the guide wheel 15 also serve as a guiding structure to allow the cable to be wound on the winding drum 12 in an orderly manner.

[0054] The wall-climbing robot recovery frame 9 is fixedly arranged above the wire-releasing device base 18 and below the wire-reel 12. The wall-climbing robot recovery frame 9 is used to place and carry the wall-climbing robot 8. The power supply 10 and the second electromagnetic suction cup 17 are arranged on the wire-releasing device base 18 and are located between the wall-climbing robot recovery frame 9 and the wire-releasing device base 18. Four first electromagnetic suction cups 16 are arranged at intervals on the wall-climbing robot recovery frame 9. The first electromagnetic suction cup 16 and the second electromagnetic suction cup 17 are connected to the power supply 10, and are energized and magnetized by the power supply 10. The first electromagnetic suction cup 16 is used to fix or release the wall-climbing robot 8, and the second electromagnetic suction cup 17 is used to be adsorbed and fixed to the ship's clamping plate, etc.

[0055] In this embodiment, the output shaft of the squirrel cage motor 2 is transmission connected to the winding drum 12, and the squirrel cage motor 2 drives its own output shaft and the winding drum 12 to rotate forward around its own axis to realize cable winding, and, 3. when the wall-climbing robot 8 climbs down and pulls the cable to release the cable, the output shaft of the squirrel cage motor 2 can also rotate in the opposite direction under the traction of an external force, and convert the mechanical energy of the reverse rotation of the output shaft into electrical energy, thereby achieving the effect of power recovery and increasing the service life of the wall-climbing robot 8 and the wire-releasing device, wherein the external force is the combined force of the gravity of the wall-climbing robot, the driving force of the wall-climbing robot, the friction force exerted on the wall-climbing robot, and the gravity of the cable between the wall-climbing robot and the winding drum.

[0056] It should be noted that electrical energy is stored in the power supply. The three-phase squirrel cage motor can be used as a generator without any modification, just adding a few appropriate capacitors. The external large pulley drives the motor shaft to rotate, and then power generation can be achieved. That is, when the motor is powered, the motor can convert electrical energy into mechanical energy; conversely, the large pulley drives the motor shaft to rotate, and the mechanical energy on the large pulley can be converted into electrical energy.

[0057] In this embodiment, the winding drum 12 includes a winding roller and two wire retaining drums, which are coaxially fixed on the first end and the second end of the winding roller, respectively. The two wire retaining drums and the winding roller enclose a winding space for storing cables, wherein the winding roller is a conical roller, and its first end has a minimum diameter and the second end has a maximum diameter. When the winding drum 12 rotates forward around its own axis and pulls the cable to be wound around the winding roller of the winding drum, under the action of the cable's own tension, the cable is wound in the first area, the second area...the nth area of ​​the winding roller in sequence along the axial direction of the winding roller, and the guide wheel in close contact with the cable is driven to move synchronously along the guide rod, and the moving direction of the guide wheel is from the first area to the nth area, wherein the first area to the nth area are arranged in sequence along the axial direction of the winding roller from its first end to the second end, n≥2, and n is a positive integer. Specifically, when the winding drum 12 is winding the cable, the cable is in a taut state. At this time, due to the taper of the winding roller, the cable will be preferentially wound around a section of the winding roller with a smaller diameter, and then gradually wound towards a section of the winding roller with a larger diameter. The guide wheel 15 reciprocates along the guide rod 14 under the interaction with the cable, so that the cable is evenly wound on the conical winding roller.

[0058] Specifically, in order to ensure that the cable can be evenly wound on the conical winding roller when winding, the diameter of the first end of the winding roller is larger than the minimum bending diameter of the cable, and the relationship between the diameter of the first end and the minimum bending diameter of the cable is satisfied. The guide rod and the axial direction of the winding structure are parallel to the x-axis of the uniform three-dimensional coordinate system, and the guide rod and the winding structure are also staggered along the y-axis and z-axis of the three-dimensional coordinate system. On the z-axis, the guide rod is arranged above the winding structure, and the spacing between the guide rod and the rotating surface of the winding structure on the y-axis and the spacing on the z-axis are both larger than the overall outer diameter of the cable wound on the winding structure, and the spacing between the guide rod and the rotating surface of the winding structure on the z-axis is also larger than the outer diameter of the winding drum.

[0059] In this embodiment, the guide rod 14 is an optical axis structure with a smooth surface. Both ends of the guide rod 14 are fixed on the fixing seat 13, and the fixing seat 13 is installed on the I-shaped frame 7. The portion where the guide wheel 15 contacts the guide rod 14 is also smooth. Specifically, in order to better guide the cable, a wire groove is provided on the rotating surface of the guide wheel 15. The wire groove is an annular groove extending continuously along the circumference of the guide wheel 15, and the groove wall surface of the guide groove is smooth.

[0060] In this embodiment, a pressure sensor is also provided in the wire groove of the guide wheel 15. The pressure sensor is used to monitor the pressure between the cable and the guide wheel. The pressure sensor is also communicated with the driving mechanism. The tension of the cable is obtained by monitoring the pressure between the cable and the guide wheel through the pressure sensor. The cable is reeled in and released in accordance with the moving speed of the wall-climbing robot to ensure that the cable between the cable releaser and the wall-climbing robot is always kept taut.

[0061] Specifically, when the wall-climbing robot climbs, the pressure sensor obtains the pressure between the cable and the guide wheel in real time, and then adjusts the motor speed to retract the extra cable, so that the cable between the wall-climbing robot and the cable reel is always kept taut, avoiding the problem of the hanging cable interfering with the movement of the wall-climbing robot. The cable speed measuring device includes an encoder and a pressure sensor installed inside the guide wheel. The encoder collects the cable retraction speed, and the pressure sensor collects the cable tension.

[0062] In this embodiment, four casters 11 are fixed to the four corners of the bottom frame 19 of the unwinder by bolts, and the casters 11 have a self-locking function. On the one hand, the bottom frame 19 of the unwinder is provided with casters 11 with a locking function, which can realize self-locking while realizing the flexible movement of the unwinding device 200 as a whole. On the other hand, the second electromagnetic suction cup 17 provided on the bottom frame 19 of the unwinder can also fix the unwinding device 200 as a whole on the clamping plate to avoid the unwinding device 200 being stably fixed as a whole on the clamping plate of the ship. Exemplarily, the Japanese-shaped frame 7 and the bottom frame 19 of the unwinder can be composed of aluminum profiles, and the wall-climbing robot recovery frame 9 can also be iron profiles, etc.

[0063] In this embodiment, the wall-climbing robot recovery frame 9 is located below the winding reel 12, and four small electromagnetic suction cups 16 are installed on the wall-climbing robot recovery frame 9 (for example, they can be embedded in the wall-climbing robot recovery frame 9). When the wall-climbing robot 8 is placed in the wall-climbing robot recovery frame 9, the first electromagnetic suction cup 16 is demagnetized and does not generate magnetic force. At this time, the wall-climbing robot 8 relies on the magnetic wheel to be adsorbed on the wall-climbing robot recovery frame 9 to ensure the safety of the wall-climbing robot 8 during transportation; when the wall-climbing robot 8 is to be taken out, the small electromagnetic suction cup 16 is energized and magnetized to form the same magnetization direction as the magnetic wheel of the wall-climbing robot 8, that is, the magnetic poles of the two are the same, forming opposite forces, so as to facilitate the removal of the wall-climbing robot 8 from the wall-climbing robot recovery frame 9.

[0064] In this embodiment, the power supply 10 is placed under the wall-climbing robot recovery frame 9 to protect the power supply 10 from collision. The power supply 10 supplies power to the wall-climbing robot 8, the squirrel-cage motor 2, the first electromagnetic suction cup 16 and the second electromagnetic suction cup 17. The wire-releasing device base 18 is installed under the power supply 10, and four second electromagnetic suction cups 17 are installed on its lower surface. When the wall-climbing robot 8 is working on the wall of the ship, the second electromagnetic suction cup 17 will be magnetized to generate magnetic force, and a certain adsorption force will be generated on the deck of the ship. At this time, the locking caster 11 can ensure that the wire-retracting device does not move relative to the deck. At this time, if the wall-climbing robot falls, it can also ensure that the wall-climbing robot 8 can be pulled by the wire-retracting device, so that the wire-retracting device and the wall-climbing robot will not fall completely; when the wall-climbing robot finishes the operation, the second electromagnetic suction cup 17 can be demagnetized, eliminate the magnetic force, and unlock the caster 11, so as to follow the working position of the wall-climbing robot 8 and change the wire-releasing position of the wire-retracting device.

[0065] It should be understood that the above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable people familiar with the technology to understand the content of the present invention and implement it accordingly, and they cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. A wire-reeling device for a ship cleaning wall-climbing robot, characterized in that: include: Support frame; A wire winding drum is arranged on the supporting frame, the wire winding drum can rotate around its own axis, the wire winding drum has a wire winding structure for winding cables, and the wire winding structure is a conical structure with a diameter gradually changing along its own axial direction; The cable guiding structure comprises a guide rod and a guide wheel, wherein the guide rod is fixedly arranged on the supporting frame, the guide rod is spaced apart from and arranged in parallel with the winding structure, the guide wheel is movably arranged on the guide rod and can move along the guide rod, and the guide wheel is at least used to guide the traveling direction of the cable; When the winding drum rotates forwardly around its own axis and pulls the cable to be wound on the winding structure of the winding drum, under the action of the cable's own tension, the cable is wound in sequence in the first area, the second area...the nth area of ​​the winding structure, and the guide wheel in close contact with the cable is driven to move synchronously along the guide rod, and the moving direction of the guide wheel is from the first area to the nth area, wherein the first area to the nth area are arranged in sequence along the axial direction of the winding structure, and the diameter of the winding structure increases in sequence from the first area to the nth area, n≥2, and n is a positive integer.

2. The line-retracting and -releasing device for a ship cleaning wall-climbing robot according to claim 1 is characterized in that: The winding structure has a first end and a second end, the first region is a region adjacent to the first end, the nth region is a region adjacent to the second end, and a diameter of the first end is greater than a minimum bending diameter of the cable.

3. The line-retracting and -releasing device for a ship cleaning wall-climbing robot according to claim 1 or 2, characterized in that: The guide rod and the axially uniform three-dimensional coordinate system of the winding structure are parallel to the x-axis, and the guide rod and the winding structure are also staggered along the y-axis and z-axis of the three-dimensional coordinate system. On the z-axis, the guide rod is arranged above the winding structure. The distance between the guide rod and the rotating surface of the winding structure on the y-axis and the distance on the z-axis are both larger than the overall outer diameter of the cable wound on the winding structure. The distance between the guide rod and the rotating surface of the winding structure on the z-axis is also larger than the outer diameter of the winding drum.

4. The line-retracting and -releasing device for a ship cleaning wall-climbing robot according to claim 3 is characterized in that: The guide rod is an optical axis structure with a smooth surface, the portion where the guide wheel contacts the guide rod is also smooth, and the guide wheel contacts the guide rod in a sliding manner.

5. The line-retracting and -releasing device for a ship cleaning wall-climbing robot according to claim 2 is characterized in that: The winding drum also includes two wire blocking structures, which are respectively fixed at the first end and the second end of the winding structure along the circumference of the winding structure. The diameter of the wire blocking structure is larger than the maximum diameter of the winding structure. The two wire blocking structures and the winding structure enclose a winding space for storing cables.

6. The line-retracting and releasing device for a ship cleaning wall-climbing robot according to claim 1, characterized in that: Also includes: A driving mechanism, wherein the driving mechanism is fixedly arranged on the supporting frame, the output shaft of the driving mechanism is drivingly connected with the winding drum, the driving mechanism drives its own output shaft and the winding drum to rotate in the positive direction around its own axis to achieve the winding of the cable, and, when releasing the cable, the output shaft of the driving mechanism can also rotate in the reverse direction under the pulling of an external force, and convert the mechanical energy of the reverse rotation of the output shaft into electrical energy, wherein the external force is the combined force of the gravity of the wall-climbing robot, the driving force of the wall-climbing robot, the friction force on the wall-climbing robot, and the gravity of the cable between the wall-climbing robot and the winding drum; Preferably, the output shaft of the driving mechanism is connected to the winding drum through a pulley and a synchronous belt; And / or, the line-retracting and -releasing device for the ship cleaning wall-climbing robot also includes a pressure sensor, which is arranged on the rotating surface where the guide wheel contacts the cable, and is used to monitor the pressure between the cable and the guide wheel, and the pressure sensor is also communicatively connected to the driving mechanism.

7. The line-retracting and -releasing device for a ship cleaning wall-climbing robot according to claim 6, characterized in that: The support frame is also provided with a restriction structure, and the restriction structure is used to fix and restrict the wall-climbing robot on the support frame; Preferably, the restriction structure can be detachably connected to the wall-climbing robot located in the receiving chamber; Preferably, the limiting structure includes at least one adsorption mechanism, and the adsorption mechanism is detachably connected to the wall-climbing robot by adsorption; Preferably, the adsorption mechanism includes a magnetic adsorption mechanism or a negative pressure adsorption mechanism; Preferably, the magnetic adsorption mechanism includes an electromagnetic chuck.

8. The line-retracting and releasing device for a ship cleaning wall-climbing robot according to claim 7, characterized in that: Also includes: A wall-climbing robot recovery frame, the wall-climbing robot recovery frame is arranged on the supporting frame and is used to carry the wall-climbing robot, and the limiting structure is used to fix and limit the wall-climbing robot on the wall-climbing robot recovery frame; Preferably, the magnetic adsorption mechanism is arranged on the recovery frame of the wall-climbing robot.

9. The line-retracting and -releasing device for a ship cleaning wall-climbing robot according to claim 8, characterized in that: The bottom of the support frame is also provided with lockable casters; And / or, the line-retracting and -releasing device for the ship cleaning wall-climbing robot further comprises a power supply, the power supply is arranged on the supporting frame, and the power supply is electrically connected to the driving mechanism; Preferably, the power supply is also electrically connected to the electromagnetic chuck; Preferably, the power supply is arranged between the wall-climbing robot recovery frame and the supporting frame.

10. A ship cleaning system, characterized in that: include: A wall-climbing robot, a cable, and a wire-reeling device for a ship cleaning wall-climbing robot as claimed in any one of claims 1 to 9, wherein the cable is wound on the wire winding drum, one end of the cable is fixedly connected to the wall-climbing robot, and the other end is fixedly connected to the wire winding drum.

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