Electromechanical device for repairing and maintaining equipment in ship transmission cabin

Abstract

The invention discloses an electromechanical device for repairing and maintaining equipment in a ship transmission cabin, and belongs to the field of production operation robot systems in limited environments. The technical problems that equipment in an existing ship power transmission cabin is repaired and maintained mainly through manual operation of professional technicians, the working intensity is large, the content is complex and variable, and the maintenance efficiency is low are solved. The hydraulic power unit is installed on the upper layer of the chassis assembly, the climbing arm is arranged on the middle rear portion of the upper surface of the chassis assembly, the cable pipe winding and unwinding component comprises a cable pipe, and the hydraulic power unit is connected with the climbing arm through the cable pipe; the magnetic adsorption component is installed on the lower layer of the chassis assembly, and the chassis assembly is limited through the magnetic force between the magnetic adsorption component and the cabin body of the transmission cabin. The four sets of crawler leg parts are connected with the four corners of the middle layer of the chassis assembly correspondingly, and displacement of the chassis assembly is achieved through the crawler leg parts. And the working efficiency is improved. The device is used for repairing and maintaining equipment in a ship transmission cabin.

Description

Technical Field

[0001] The invention relates to an electromechanical device for repairing and maintaining equipment in a ship transmission engine room, and belongs to the field of production operation robot systems in a limited environment. Background Art

[0002] The ship's power transmission engine room is usually equipped with main reduction gearbox, input and output coupling, shock absorber support, lubrication system, cooling system, hydraulic system, machine side junction box, machine side instrument panel and other equipment. As a special limited environment, the ship's power transmission engine room has the characteristics of high temperature, high humidity, salt spray, pitch and roll with the hull, and narrow space. The status of the ship's power transmission engine room equipment is crucial for the safe navigation of the ship at sea. Regular inspection and maintenance are required, and timely maintenance or repair is required when a fault occurs. The equipment in the ship's power transmission engine room has the characteristics of large power transmission, large volume, large mass, and compact space arrangement. At present, the maintenance and repair of equipment in the ship's power transmission engine room mainly rely on the manual operation of professional technicians. However, in some special scenarios such as infection of bacteria and trauma leading to physical weakness or disability of personnel, and flooding of the engine room, manual operation is difficult to complete the short-term maintenance and emergency repair tasks with high work intensity, complex and changeable content, and tight time, which in turn affects the navigation safety of the ship at sea. Therefore, an automated or intelligent movable operating electromechanical device with an operating mechanical arm and an autonomous climbing operating arm that can autonomously walk and overcome obstacles is used to partially or completely replace the on-site manual work of professional technicians, which can meet the needs of maintenance and emergency repair tasks in the ship's power transmission engine room in special scenarios.

[0003] In summary, the repair and maintenance of equipment in the existing ship power transmission engine room mainly rely on the manual work of professional and technical personnel, which has technical problems such as high work intensity, complex and changeable content, and low maintenance efficiency. Summary of the invention

[0004] The present invention aims to solve the technical problems that the repair and maintenance of the equipment in the power transmission engine room of the above-mentioned existing ship mainly rely on the manual work of professional technicians, the work intensity is high, the content is complex and changeable, and the maintenance efficiency is low. Therefore, an electromechanical device for the repair and maintenance of the equipment in the power transmission engine room of the ship is provided, which comprises a chassis assembly, a left working arm, a right working arm, a climbing arm, a cable tube retracting and releasing component, a camera folding arm, a scanning camera and a tool box at the end of the working arm;

[0005] The chassis assembly includes a chassis frame, a left arm lifting component, a right arm lifting component, a hydraulic power unit, a magnetic adsorption component and a crawler leg component. The left arm lifting component is installed at the left front part of the chassis assembly, and a left working arm is installed at the top of the left arm lifting component. The right arm lifting component is installed at the right front part of the chassis assembly, and a right working arm is installed at the top of the right arm lifting component. The tool box at the end of the working arm, the cable tube retracting component and the camera folding arm are all installed on the upper surface of the chassis assembly, and a scanning camera is installed at the free end of the camera folding arm.

[0006] The hydraulic power unit is installed on the upper layer of the chassis assembly, and the hydraulic power unit is respectively connected with the left working arm, the left arm lifting component, the right working arm, the right arm lifting component and the crawler leg component;

[0007] The climbing arm is arranged at the middle and rear part of the upper surface of the chassis assembly, the cable tube retracting and releasing component includes a cable tube, and the hydraulic power unit is connected to the climbing arm through the cable tube;

[0008] The magnetic adsorption component is installed at the lower layer of the chassis assembly, and the chassis assembly is limited by the magnetic force between the magnetic adsorption component and the cabin body of the transmission cabin;

[0009] The four groups of crawler leg components are respectively connected to the four corners of the middle layer of the chassis assembly, and the chassis assembly is displaced by the crawler leg components.

[0010] As another improvement of the present invention, the climbing arm includes a lower wrist joint of the climbing arm, a lower cross-hinged rotating joint of the climbing arm, a lower cross-hinged swing joint of the climbing arm, a folding joint of the climbing arm, an upper cross-hinged rotating joint of the climbing arm, an upper cross-hinged swing joint of the climbing arm, and an upper wrist joint of the climbing arm, and working tool rotating joints, working tool telescopic joints and climbing arm magnetic adsorption units are installed at the upper and lower ends of the climbing arm to realize the movement of the climbing arm in the transmission cabin of the ship.

[0011] As another improvement of the present invention, the hydraulic power unit includes a diesel engine, a generator, an electric motor, an oil pump, a main fuel tank, an auxiliary fuel tank, a hydraulic oil tank, a high-pressure pipe, an oil return pipe, an oil drain pipe, a power battery and a communication storage control unit. The diesel engine, the generator, the electric motor and the oil pump are arranged in a straight line in sequence and maintain a mechanical transmission connection. The auxiliary fuel tank and the hydraulic oil tank are arranged on the left side of the diesel engine; the main fuel tank and the communication storage control unit are arranged on the right side of the diesel engine.

[0012] As another improvement of the present invention, the magnetic adsorption component includes two permanent magnetic adsorption components and two electromagnetic adsorption components, and the two permanent magnetic adsorption components and the two electromagnetic adsorption components are respectively arranged crosswise along the diagonal lines of the chassis frame;

[0013] The electromagnetic adsorption component includes an electromagnetic coil and an electromagnetic iron core. The electromagnetic iron core is an M-shaped iron core. The electromagnetic coil is sleeved in the middle of the M-shaped iron core.

[0014] The permanent magnetic adsorption component includes a permanent magnetic yoke, two magnetic isolation blocks, a permanent magnetic core N-stage, a permanent magnetic core S-stage and a magnetic core hydraulic motor. The permanent magnetic yoke is separated by two upper and lower magnetic isolation blocks. After the permanent magnetic core N-stage and the permanent magnetic core S-stage are combined, they are driven by the magnetic core hydraulic motor and are rotatably placed in the middle of the permanent magnetic yoke.

[0015] As another improvement of the present invention, the crawler leg component includes a crawler arm hydraulic motor, a crawler arm driving sprocket, a swing arm hydraulic motor, a swing arm, a crawler arm, a crawler arm driven sprocket, a driving crawler wheel, a driven crawler wheel, a crawler track, a transmission chain and a crawler hydraulic motor;

[0016] The crawler arm hydraulic motor is arranged concentrically with the swing arm hydraulic motor. The crawler arm hydraulic motor is located at the rear of the swing arm hydraulic motor. The output shaft of the crawler arm hydraulic motor passes through the output shaft of the swing arm hydraulic motor concentric with it, and the end of the output shaft of the crawler arm hydraulic motor is fixedly connected to the crawler arm driving sprocket; the housing of the crawler arm hydraulic motor and the housing of the swing arm hydraulic motor are fixedly connected to the chassis frame; one end of the swing arm is fixedly connected to the end of the output shaft of the swing arm hydraulic motor, and the other end of the swing arm is a bearing with a rotatable inner ring, one end of the crawler arm is fixedly connected to the other end of the swing arm, and the crawler arm passive sprocket is fixedly connected to the other end of the swing arm; the transmission chain connects the crawler arm driving sprocket and the crawler arm passive sprocket, the crawler hydraulic motor is fixedly installed at one end of the long crawler arm and is located inside the active track wheel, the active track wheel is fixedly connected to the output end of the crawler hydraulic motor, and the passive track wheel is installed at the other end of the crawler arm and can rotate continuously; the crawler connects the active track wheel and the passive track wheel.

[0017] As another improvement of the present invention, the left working arm includes a left arm waist joint, a left arm shoulder joint, a left arm elbow joint, a left arm wrist pitch joint, a left arm wrist swing joint, a left arm end effector telescopic joint and a left arm end effector rotation joint arranged from bottom to top.

[0018] As another improvement of the present invention, the right working arm includes a right arm waist joint, a right arm shoulder joint, a right arm elbow joint, a right arm wrist pitch joint, a right arm wrist swing joint, a right arm end effector telescopic joint, and a right arm end effector rotation joint arranged from bottom to top.

[0019] As another improvement of the present invention, the camera folding arm includes a folding arm tilt joint, a folding arm folding joint, a folding arm horizontal rotation joint and a folding arm pitch joint arranged from bottom to top, and a scanning camera is installed at the end of the folding arm pitch joint.

[0020] As another improvement of the present invention, the cable tube retracting and releasing component includes a reel base, a cable tube reel, a cable tube retracting and releasing motor and a cable tube, and the cable tube retracting and releasing motor drives the cable tube reel to rotate forward and reversely to retract and release the cable tube. The cable tube retracting and releasing component is fixedly connected to the middle part of the upper surface of the chassis assembly through the reel base, and the axis of the cable tube reel is perpendicular to the front-rear direction of the chassis frame.

[0021] Beneficial effects of the present invention:

[0022] The present invention provides an electromechanical device that can be operated autonomously or remotely for the ship's power transmission engine room, so that maintenance and emergency repair tasks with high work intensity, complex and changeable content, and tight time can be quickly completed in special scenarios such as maintenance personnel are physically weak or disabled, the engine room is flooded, and part of the engine room is damaged, thereby ensuring that the ship has sufficient power capacity to cope with different sea conditions, improving maintenance efficiency, and ensuring navigation safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 The present invention is a schematic diagram of a main view of an electromechanical device for repairing and maintaining equipment in a ship transmission engine room.

[0024] Figure 2 The present invention is a partial cross-sectional schematic diagram of an electromechanical device for repairing and maintaining equipment in a ship transmission engine room.

[0025] Figure 3 It is a schematic diagram of the upper surface structure of the chassis assembly.

[0026] Figure 4 It is a structural diagram of a climbing arm.

[0027] Figure 5 It is a schematic diagram of the layout of the hydraulic power unit.

[0028] Figure 6 It is the schematic diagram of the hydraulic power unit control circuit.

[0029] Figure 7 This is a schematic diagram of the chassis' magnetic adsorption status.

[0030] Figure 8 This is a schematic diagram of the chassis magnetic desorption state.

[0031] Fig. 9 It is a structural schematic diagram of the magnetic adsorption component.

[0032] Fig.10 It is the first schematic diagram of the track leg in a vertical ground posture.

[0033] Fig.11 This is the second schematic diagram of the track legs in a vertical position on the ground.

[0034] Fig.12 It is a schematic diagram of the tracked legs’ obstacle-crossing posture.

[0035] Fig.13 This is a schematic diagram of the walking posture of the tracked legs.

[0036] Fig.14 It is a schematic diagram of the crawler leg component in the retracted state.

[0037] Fig.15 It is a schematic diagram of the crawler leg parts in the unfolded state.

[0038] Fig.16 It is a schematic diagram of the installation position of the crawler leg components.

[0039] Fig.17 It is a structural schematic diagram of the left working arm.

[0040] Fig.18 It is a structural schematic diagram of the right working arm.

[0041] Fig.19 It is a schematic diagram of the structure of the camera folding arm.

[0042] Fig. 20 It is a structural schematic diagram of the cable tube retracting and releasing components. DETAILED DESCRIPTION

[0043] Specific implementation method 1: Combination Figures 1 to 3 To explain this embodiment,

[0044] The present embodiment is an electromechanical device for repairing and maintaining equipment in a ship transmission engine room, characterized in that it includes a chassis assembly 3000, a left working arm 1200, a right working arm 1400, a climbing arm 400, a cable tube retracting component 600, a camera folding arm 800, a scanning camera 1000 and a tool box 1800 at the end of the working arm.

[0045] The chassis assembly 3000 includes a chassis frame 3100, a left arm lifting component 1600, a right arm lifting component 1610, a hydraulic power unit 6000, a magnetic adsorption component 4000 and a crawler leg component 5000. The chassis assembly 3000 is divided into an upper layer, a middle layer and a lower layer. The left arm lifting component 1600 is installed at the left front part of the chassis assembly 3000, and a left working arm 1200 is installed at the top of the left arm lifting component 1600. The right arm lifting component 1610 is installed at the right front part of the chassis assembly 3000, and a right working arm 1400 is installed at the top of the right arm lifting component 1610. The tool box 1800 at the end of the working arm, the cable tube retracting component 600 and the camera folding arm 800 are all installed on the upper surface of the chassis assembly 3000, and a scanning camera 1000 is installed at the free end of the camera folding arm 800.

[0046] The hydraulic power unit 6000 is installed on the upper layer of the chassis assembly 3000, and the hydraulic power unit 6000 is respectively connected to the left working arm 1200, the left arm lifting component 1600, the right working arm 1400, the right arm lifting component 1610 and the crawler leg component 5000; when the left arm lifting component 1600 and the right arm lifting component 1610 are raised, the operating range of the left working arm 1200 and the right working arm 1400 can be expanded;

[0047] The climbing arm 400 is arranged at the middle and rear part of the upper surface of the chassis assembly 3000, the cable tube retracting component 600 includes a cable tube 610, and the hydraulic power unit 6000 is connected to the climbing arm 400 through the cable tube 610;

[0048] The magnetic adsorption component 4000 is installed at the lower layer of the chassis assembly 3000, and the chassis assembly 3000 is limited by the magnetic force between the magnetic adsorption component 4000 and the cabin of the transmission cabin;

[0049] The four groups of track leg components 5000 are respectively connected to the four corners of the middle layer of the chassis assembly 3000, and the chassis assembly 3000 is displaced by the track leg components 5000.

[0050] Specific implementation method 2: Combination Figure 4 The present embodiment is described. The difference between the present embodiment and the specific embodiment 1 is that the climbing arm 400 includes a climbing arm lower wrist joint 410, a climbing arm lower cross hinge rotation joint 420, a climbing arm lower cross hinge swing joint 430, a climbing arm folding joint 440, a climbing arm upper cross hinge rotation joint 450, a climbing arm upper cross hinge swing joint 460, and a climbing arm upper wrist joint 470, which are arranged from bottom to top. An operating tool rotation joint 480, an operating tool telescopic joint 490 and a climbing arm magnetic adsorption unit 402 are installed at the upper and lower ends of the climbing arm to realize the movement of the climbing arm 400 in the ship's transmission engine room.

[0051] Under the instruction of the communication storage control unit 7000, the joints of the climbing arm 400 are connected to the high-pressure pipe 6610 and the return oil pipe 6620 through the control valve, and can cooperate with each other for movement or positioning. The two ends of the climbing arm 400 are climbing arm magnetic adsorption units 402. During the climbing process, the two climbing arm magnetic adsorption units 402 alternately perform adsorption and de-adsorption actions, so that the climbing arm 400 completes the climbing action. After leaving the chassis assembly 3000, the climbing arm 400 maintains the exchange of motion energy and information with the chassis assembly 3000 through the cable tube 610, and is always in a controlled state. Other components and connection methods are the same as those of the specific embodiment 1.

[0052] Specific implementation method three: Combination Figure 5 and Figure 6This embodiment is described. The difference between this embodiment and the specific embodiment 1 is that the hydraulic power unit 6000 includes a diesel engine 6100, a generator, an electric motor 6200, an oil pump 6300, a main fuel tank 6400, an auxiliary fuel tank 6500, a hydraulic oil tank 6600, a high-pressure pipe 6610, an oil return pipe 6620, an oil drain pipe 6630, a power battery 6800 and a communication storage control unit 7000. The diesel engine 6100, the generator, the electric motor 6200 and the oil pump 6300 are arranged in a straight line in sequence and maintain a mechanical transmission connection. The auxiliary fuel tank 6500 and the hydraulic oil tank 6600 are arranged on the left side of the diesel engine 6100; the main fuel tank 6400 and the communication storage control unit 7000 are arranged on the right side of the diesel engine 6100; the right arm lifting component 1610 and the left arm lifting component 1600 are arranged at the left and right corners of the front end of the chassis assembly 3000.

[0053] The oil pump 6300 is driven by the generator or motor 6200 or the diesel engine 6100 to rotate continuously. The low-pressure hydraulic oil drawn from the hydraulic oil tank 6600 by the oil pump 6300 is discharged back to the oil tank 6600 through the overflow valve. The overflow valve keeps the oil discharge port of the oil pump 6300 at high pressure, and can output high-pressure oil through the high-pressure pipe 6610. The output high-pressure oil becomes low-pressure oil after the hydraulic motor works, and flows back to the hydraulic oil tank 6600 from the return oil pipe 6620 or the drain oil pipe 6630. The fuel for the diesel engine 6100 to work comes from the main fuel tank 6400 and the auxiliary fuel tank 6500.

[0054] When the diesel engine 6100 drives the motor 6200 and the oil pump 630 to rotate continuously, the motor 6200 is in a power generation state, and the generated electric energy is stored in the power battery 6800. The electric energy of the power battery 6800 is used to power the communication storage control unit 7000 or to power the motor or the motor 6200 in a powering state when the diesel engine 6100 is stopped.

[0055] The communication storage control unit 7000 is connected to the controlled device through the generator-battery cable 7100, the control computer-battery cable 7200, the diesel engine control cable 7300, the magnetic adsorption control cable 7400, and the solenoid valve control cable 7500 to realize the electric control function. Other components and connection methods are the same as those of the specific implementation method one or two.

[0056] Specific implementation method four: Combination Figures 7 to 9 This embodiment is described. The difference between this embodiment and the first embodiment is that the magnetic adsorption component 4000 includes two permanent magnetic adsorption components 4200 and two electromagnetic adsorption components 4100. The two permanent magnetic adsorption components 4200 and the two electromagnetic adsorption components are arranged crosswise along the diagonal of the chassis frame 3100.

[0057] The electromagnetic adsorption component 4100 includes an electromagnetic coil 4120 and an electromagnetic iron core 4130. The electromagnetic iron core 4130 is an m-shaped iron core. The electromagnetic coil 4120 is sleeved in the middle of the m-shaped iron core.

[0058] The permanent magnetic adsorption assembly 4200 includes a permanent magnetic yoke 4230, two magnetic isolation blocks 4240, a permanent magnetic core N-stage 4220, a permanent magnetic core S-stage 4222 and a magnetic core hydraulic motor 4210. The permanent magnetic yoke 4230 is separated by two upper and lower magnetic isolation blocks 4240. After the permanent magnetic core N-stage 4220 and the permanent magnetic core S-stage 4222 are combined, they are rotatably placed in the middle of the permanent magnetic yoke 4230 by the drive of the magnetic core hydraulic motor 4210. The permanent magnetic core N-stage 4220 and the permanent magnetic core S-stage 4222 are combined together, and the shape of the combination is cylindrical. The cylindrical combination of the permanent magnetic core N-stage 4220 and the permanent magnetic core S-stage 4222 is located in the middle of the permanent magnetic yoke 4230 and can rotate under the drive of the magnetic core hydraulic motor 4210. The permanent magnetic yoke 4230 is separated by two upper and lower magnetic isolation blocks 4240 and is divided into two left and right parts. When the boundary line between the permanent magnetic core N-level 4220 and the permanent magnetic core S-level 4222 is perpendicular to the cabin steel floor 10, the permanent magnetic field lines 4250 pass through the non-magnetic bottom plate of the chassis frame 3100 and then close through the magnetic cabin steel floor 10, generating a permanent magnetic adsorption force. When the boundary line between the permanent magnetic core N-level 4220 and the permanent magnetic core S-level 4222 is parallel to the cabin steel floor 10, the permanent magnetic field lines 4250 pass through the left part of the permanent magnetic yoke 4230 and no longer pass through the cabin steel floor 10, and the permanent magnetic adsorption force is released. After the permanent magnetic adsorption force is released, the chassis assembly 3000 retreats and advances respectively, so that the electromagnetic adsorption assembly 4100 is aligned with the position of the permanent magnetic adsorption assembly 4200, and demagnetization is performed, which can eliminate the residual magnetism generated by the permanent magnetic adsorption assembly 4200 during adsorption. The other components and connection methods are the same as any one of the specific implementation modes 1 to 3.

[0059] Specific implementation method five: Combination Figures 10 to 16 This embodiment is described. This embodiment is different from the first embodiment in that the crawler leg component 5000 includes a crawler arm hydraulic motor 5100, a crawler arm driving sprocket 5110, a swing arm hydraulic motor 5200, a swing arm 5300, a crawler arm 5400, a crawler arm driven sprocket 5410, a driving crawler wheel 5500, a driven crawler wheel 5600, a crawler 5700, a transmission chain 5800 and a crawler hydraulic motor 5900;

[0060] The crawler arm hydraulic motor 5100 is arranged concentrically with the swing arm hydraulic motor 5200. The crawler arm hydraulic motor 5100 is located at the rear of the swing arm hydraulic motor 5200. The output shaft of the crawler arm hydraulic motor 5100 passes through the output shaft of the swing arm hydraulic motor 5200 which is concentric with it. The end of the output shaft of the crawler arm hydraulic motor 5100 is fixedly connected to the crawler arm driving sprocket 5110; the housing of the crawler arm hydraulic motor 5100 and the housing of the swing arm hydraulic motor 5200 are fixedly connected to the chassis frame 3100; one end of the swing arm 5300 is fixedly connected to the end of the output shaft of the swing arm hydraulic motor 5200, and the other end of the swing arm 5300 is a bearing with a rotatable inner ring. One end of the crawler arm 5400 is fixedly connected to the other end of the swing arm 5300, and the crawler arm driven sprocket 5410 is fixedly connected to the other end of the swing arm 5300; the transmission chain 580 0 connects the track arm driving sprocket 5110 and the track arm passive sprocket 5410, and when the output shaft of the track arm hydraulic motor 5100 rotates, the track arm driving sprocket 5110 is driven to rotate synchronously, and the track arm driving sprocket 5110 drives the track arm passive sprocket 5410 and the track arm 5400 to rotate synchronously through the transmission chain 5800; when the output shaft of the swing arm hydraulic motor 5200 rotates, the swing arm 5300 and the track arm 5400 are driven to rotate synchronously; the crawler hydraulic motor 5900 is fixedly installed at one end of the long track arm 5400 and is located inside the active track wheel 5500, the active track wheel 5500 is fixedly connected to the output end of the crawler hydraulic motor 5900, and the passive track wheel 5600 is installed at the other end of the track arm 5400 and can rotate continuously; the crawler 5700 connects the active track wheel 5500 and the passive track wheel 5600. When the crawler hydraulic motor 5900 drives the active track wheel 5500 to rotate forward or reversely, the passive track wheel 5600 and the crawler track 5700 also rotate forward or reversely. When the crawler track 5700 contacts the steel floor 10 of the cabin, friction is generated to push the chassis assembly 3000 to overcome obstacles or move.

[0061] When the crawler leg component 5000 is in a fully retracted state, the bottom surface of the chassis frame 3100 is completely in contact with the steel floor 10 of the cabin, and a distance A is left between the crawler and the steel floor 10 of the cabin. The bottom surface of the chassis frame 3100 is made of non-magnetic conductive material, and the magnetic lines of force generated by the magnetic adsorption component 4000 can penetrate the bottom surface of the chassis frame 3100 and close through the steel floor 10 of the cabin, so that the chassis assembly 3000 is firmly adsorbed on the steel floor 10 of the cabin.

[0062] After closing the magnetic lines of force of the magnetic adsorption component 4000 and eliminating the residual magnetism of the cabin steel floor 10, the swing arm 5300 and the track arm 5400 of the track leg component 5000 are controlled to deflect, so that the chassis assembly 3000 can be separated from the cabin steel floor 10. The track legs of the track leg component 5000 are in a vertical posture to the ground, and the distance between the track and the cabin steel floor 10 is B. Distance B represents an obstacle crossing height of this embodiment. In order to facilitate crossing obstacles, the front end, rear end, left and right sides of the bottom surface of the chassis frame 3100 of the present invention have guide angles of different angles according to the obstacle crossing requirements.

[0063] When overcoming obstacles in this embodiment, the swing arm 5300 and the track arm 5400 on the front and rear track leg parts 5000 at the same position can be swung to different angles according to the need of overcoming obstacles to assist in overcoming obstacles. At the same time, the left working arm 1200 and the right working arm 1400 can be tilted forward or backward to adjust the center of gravity position of the present invention according to the need of overcoming obstacles to assist in overcoming obstacles.

[0064] The track arm 5400 of the track leg component 5000 is parallel to the steel floor 10 of the cabin. The extension line of the center of gravity G of the present invention falls between the front and rear track arms. Driven by the track 5700, the chassis assembly 3000 can move forward and backward smoothly.

[0065] Each of the four crawler leg components 5000 in the crawler leg control circuit includes three hydraulic motors: crawler arm hydraulic motor 5100, swing arm hydraulic motor 5200, crawler hydraulic motor 5900. The oil port of each motor is connected to its own control valve through a hydraulic pipeline, and each control valve is hydraulically connected to the high-pressure pipe 6610 and the return oil pipe 6620 through a hydraulic pipeline. The control valve is a three-position four-way electromagnetic directional valve with double electromagnets. The two electromagnets of the control valve are alternately energized or de-energized to control the on-off connection between the oil port of each hydraulic motor and the high-pressure pipe 6610 or the return oil pipe 6620, thereby realizing the forward and reverse rotation of each hydraulic motor. When the two electromagnets of the control valve are de-energized, each hydraulic motor remains in the state before the power failure. The oil drain port of each hydraulic motor is directly connected to the oil drain pipe 6630 without passing through the control valve. Other components and connection methods are the same as any one of the specific implementation methods one to four.

[0066] Specific implementation method six: Combination Fig.17This embodiment is described. The difference between this embodiment and the first embodiment is that the left working arm 1200 includes a left arm waist joint 1210, a left arm shoulder joint 1220, a left arm elbow joint 1230, a left arm wrist pitch joint 1240, a left arm wrist swing joint 1250, a left arm end effector telescopic joint 1260 and a left arm end effector rotation joint 1270 arranged from bottom to top. Under the instruction of the communication storage control unit 7000, the joints of the left working arm 1200 are connected to the high pressure pipe 6610 and the oil return pipe 6620 through the control valve, and can cooperate with each other to move or position, so that the left working arm 1200 can complete different inspection and maintenance actions.

[0067] In the working arm control circuit, the oil ports of each (joint) hydraulic motor or double-acting cylinder of the left working arm 1200, the right working arm 1400, the climbing arm 400, the camera folding arm 800, the magnetic core hydraulic motor 4210, and the cable tube retracting motor 620 are connected to their respective control valves through hydraulic pipelines, and each control valve is hydraulically connected to the high-pressure pipe 6610 and the return oil pipe 6620 through hydraulic pipelines. The control valve is a three-position four-way electromagnetic directional valve with double electromagnets. The two electromagnets of the control valve are alternately energized or de-energized to control the on-off connection of the oil ports of each joint hydraulic motor or double-acting cylinder with the high-pressure pipe 6610 or the return oil pipe 6620, thereby realizing the forward and reverse rotation and forward and reverse extension of the hydraulic motor or double-acting cylinder. When the two electromagnets of the control valve are both de-energized, the magnetic core hydraulic motor 4210 can rotate freely, and the remaining hydraulic motors or double-acting cylinders remain unchanged before the power failure. The oil drain port of each joint hydraulic motor is directly connected to the oil drain pipe 6630 without passing through the control valve. Other components and connection methods are the same as any one of the specific implementation methods 1 to 5.

[0068] Specific implementation method seven: Combination Fig.18 This embodiment is described. The difference between this embodiment and the specific embodiment 1 is that the right working arm 1400 includes a right arm waist joint 1410, a right arm shoulder joint 1420, a right arm elbow joint 1430, a right arm wrist pitch joint 1440, a right arm wrist swing joint 1450, a right arm end effector telescopic joint 1460, and a right arm end effector rotation joint 1470 arranged from bottom to top. Under the instruction of the communication storage control unit 7000, the joints of the right working arm 1400 are connected to the high-pressure pipe 6610 and the return oil pipe 6620 through the control valve, and can cooperate with each other to move or position, so that the left working arm 1400 can complete different inspection and maintenance actions. Other components and connection methods are the same as any one of the specific embodiments 1 and 6.

[0069] Specific implementation method eight: Combination Fig.19This embodiment is described. The difference between this embodiment and the first embodiment is that the camera folding arm 800 includes a folding arm roll joint 810, a folding arm folding joint 820, a folding arm horizontal rotation joint 830 and a folding arm pitch joint 840 arranged from bottom to top, and a scanning camera 1000 is installed at the end of the folding arm pitch joint 840. Under the instruction of the communication storage control unit 7000, the joints of the camera folding arm 800 are connected to the high-pressure pipe 6610 and the return oil pipe 6620 through the control valve, and can cooperate with each other to move or position, so that the camera folding arm 800 can complete the roll, folding, deflection and pitching actions at different angles, thereby driving the scanning camera 1000 located at the end of the camera folding arm 800 to explore and identify the maintenance site environment at different azimuths. Other components and connection methods are the same as any one of the first to seventh embodiments.

[0070] Specific implementation method nine: Combination Fig. 20 This embodiment is described. This embodiment is different from the first embodiment in that the cable tube retracting and releasing component 600 includes a drum base 640, a cable tube reel 630, a cable tube retracting and releasing motor 620 and a cable tube 610. The cable tube retracting and releasing motor 620 drives the cable tube reel 630 to rotate forward and reversely to retract the cable tube 610. The cable tube retracting and releasing component 600 is fixedly connected to the middle part of the upper surface of the chassis assembly 3000 through the drum base 640. The axis of the cable tube reel 630 is perpendicular to the front-rear direction of the chassis frame 3100. The cable tube retracting and releasing motor 620 drives the cable tube reel 630 to rotate forward and reversely to retract the cable tube 610. Other components and connection methods are the same as any one of the first to eighth embodiments.

[0071] Combination Figures 1 to 20 The working principle of the present invention is described:

[0072] The driving hydraulic motors of the crawler leg components: crawler arm hydraulic motor and swing arm hydraulic motor are located inside the chassis assembly. The swing arm, crawler arm and crawler track of the crawler leg components are located outside the chassis assembly. The crawler track is driven by the crawler hydraulic motor located inside the active crawler wheel. When the crawler track is running, it can drive the chassis assembly forward and backward. The swing arm and crawler arm can swing, extend and retract. When the swing arm and crawler arm are extended, the obstacle crossing height of the chassis assembly can be increased. When the swing arm and crawler arm are fully retracted, the bottom surface of the chassis frame contacts the steel floor of the cabin, and the magnetic lines of force generated by the magnetic adsorption component located at the bottom of the chassis assembly can pass through the steel floor of the cabin, so that the chassis assembly is firmly adsorbed on the steel floor of the cabin. The adsorption force generated by the magnetic adsorption component can resist the reaction force generated when the working arm is repaired and maintained. The scanning camera is located on the upper part of the camera folding arm. With the help of the scanning camera, the communication storage control unit or the rear operator can identify the on-site environment and the parts that need to be repaired, and command the left working arm, the right working arm, and the climbing arm to perform maintenance operations. Each control solenoid valve is equipped with a manual button. When the solenoid valve is not powered, the state of the control solenoid valve can be manually changed through the manual button. The hydraulic motor of the swing joint is equipped with an absolute position encoder, the hydraulic motor of the continuous rotation joint is equipped with an angular velocity encoder, and each cylinder is equipped with a linear displacement encoder. The control computer and communication storage components can determine the working state of each joint at every moment of the operation by reading the state value of each encoder, thereby achieving precise control.

Claims

1. An electromechanical device for repairing and maintaining equipment in a ship's transmission engine room, characterized in that It comprises a chassis assembly (3000), a left working arm (1200), a right working arm (1400), a climbing arm (400), a cable retracting and releasing component (600), a camera folding arm (800), a scanning camera (1000) and a tool box (1800) at the end of the working arm; The chassis assembly (3000) comprises a chassis frame (3100), a left arm lifting component (1600), a right arm lifting component (1610), a hydraulic power unit (6000), a magnetic adsorption component (4000) and a crawler leg component (5000); the left arm lifting component (1600) is mounted on the left front part of the chassis assembly (3000); a left working arm (1200) is mounted on the top of the left arm lifting component (1600); the right arm lifting component (1610) is mounted on the right front part of the chassis assembly (3000); a right working arm (1400) is mounted on the top of the right arm lifting component (1610); a tool box (1800) at the end of the working arm, a cable tube retracting component (600) and a camera folding arm (800) are all mounted on the upper surface of the chassis assembly (3000); and a scanning camera (1000) is mounted on the free end of the camera folding arm (800); The hydraulic power unit (6000) is installed on the upper layer of the chassis assembly (3000), and the hydraulic power unit (6000) is respectively connected to the left working arm (1200), the left arm lifting component (1600), the right working arm (1400), the right arm lifting component (1610) and the crawler leg component (5000); The climbing arm (400) is arranged at the middle and rear part of the upper surface of the chassis assembly (3000); the cable tube retracting component (600) comprises a cable tube (610); and the hydraulic power unit (6000) is connected to the climbing arm (400) via the cable tube (610); The magnetic adsorption component (4000) is installed on the lower layer of the chassis component (3000), and the chassis component (3000) is limited by the magnetic force between the magnetic adsorption component (4000) and the cabin body of the transmission cabin; The four groups of crawler leg components (5000) are respectively connected to the four corners of the middle layer of the chassis assembly (3000), and the chassis assembly (3000) is displaced by means of the crawler leg components (5000).

2. An electromechanical device for repairing and maintaining equipment in a ship transmission engine room according to claim 1, characterized in that: The climbing arm (400) comprises, arranged from bottom to top, a climbing arm lower wrist joint (410), a climbing arm lower cross hinge rotation joint (420), a climbing arm lower cross hinge swing joint (430), a climbing arm folding joint (440), a climbing arm upper cross hinge rotation joint (450), a climbing arm upper cross hinge swing joint (460), and a climbing arm upper wrist joint (470); an operating tool rotation joint (480), an operating tool telescopic joint (490), and a climbing arm magnetic adsorption unit (402) are installed at both upper and lower ends of the climbing arm, thereby realizing the movement of the climbing arm (400) in the ship transmission engine room.

3. The electromechanical device for repairing and maintaining equipment in a ship transmission engine room according to claim 1, characterized in that: The hydraulic power unit (6000) comprises a diesel engine (6100), a generator, an electric motor (6200), an oil pump (6300), a main fuel tank (6400), an auxiliary fuel tank (6500), a hydraulic oil tank (6600), a power battery (6800) and a communication storage control unit (7000). The diesel engine (6100), the generator, the electric motor (6200) and the oil pump (6300) are arranged in a straight line in sequence and are mechanically connected. The auxiliary fuel tank (6500) and the hydraulic oil tank (6600) are arranged on the left side of the diesel engine (6100); the main fuel tank (6400) and the communication storage control unit (7000) are arranged on the right side of the diesel engine (6100).

4. The electromechanical device for repairing and maintaining equipment in a ship transmission engine room according to claim 1, characterized in that: The magnetic adsorption component (4000) comprises two permanent magnetic adsorption components (4200) and two electromagnetic adsorption components (4100), and the two permanent magnetic adsorption components (4200) and the two electromagnetic adsorption components are respectively arranged crosswise along the diagonal lines of the chassis frame (3100); The electromagnetic adsorption component (4100) comprises an electromagnetic coil (4120) and an electromagnetic core (4130), wherein the electromagnetic core (4130) is an m-shaped core, and the electromagnetic coil (4120) is sleeved in the middle of the m-shaped core. The permanent magnetic adsorption component (4200) comprises a permanent magnetic yoke (4230), two magnetic isolation blocks (4240), a permanent magnetic core N-stage (4220), a permanent magnetic core S-stage (4222) and a magnetic core hydraulic motor (4210). The permanent magnetic yoke (4230) is separated by two upper and lower magnetic isolation blocks (4240). After the permanent magnetic core N-stage (4220) and the permanent magnetic core S-stage (4222) are combined, they are driven by the magnetic core hydraulic motor (4210) to be rotatably placed in the middle of the permanent magnetic yoke (4230).

5. The electromechanical device for repairing and maintaining equipment in a ship transmission engine room according to claim 1, characterized in that The crawler leg component (5000) includes a crawler arm hydraulic motor (5100), a crawler arm driving sprocket (5110), a swing arm hydraulic motor (5200), a swing arm (5300), a crawler arm (5400), a crawler arm driven sprocket (5410), a driving crawler wheel (5500), a driven crawler wheel (5600), a crawler track (5700), a transmission chain (5800) and a crawler hydraulic motor (5900); The crawler arm hydraulic motor (5100) is arranged concentrically with the swing arm hydraulic motor (5200). The crawler arm hydraulic motor (5100) is located at the rear of the swing arm hydraulic motor (5200). The output shaft of the crawler arm hydraulic motor (5100) passes through the output shaft of the swing arm hydraulic motor (5200) concentric with the crawler arm hydraulic motor (5100). The end of the output shaft of the crawler arm hydraulic motor (5100) is fixedly connected to the crawler arm driving sprocket (5110); the housing of the crawler arm hydraulic motor (5100) and the housing of the swing arm hydraulic motor (5200) are fixedly connected to the chassis frame (3100); one end of the swing arm (5300) is fixedly connected to the end of the output shaft of the swing arm hydraulic motor (5200), and the other end of the swing arm (5300) is a bearing with a rotatable inner ring. One end of the arm (5400) is fixedly connected to the other end of the swing arm (5300), and the track arm passive sprocket (5410) is fixedly connected to the other end of the swing arm (5300); the transmission chain (5800) connects the track arm active sprocket (5110) and the track arm passive sprocket (5410); the track hydraulic motor (5900) is fixedly installed at one end of the long track arm (5400) and is located inside the active track wheel (5500); the active track wheel (5500) is fixedly connected to the output end of the track hydraulic motor (5900); the passive track wheel (5600) is installed at the other end of the track arm (5400) and can rotate continuously; the track (5700) connects the active track wheel (5500) and the passive track wheel (5600).

6. The electromechanical device for repairing and maintaining equipment in a ship transmission engine room according to claim 1, characterized in that: The left working arm (1200) comprises, arranged from bottom to top, a left arm waist joint (1210), a left arm shoulder joint (1220), a left arm elbow joint (1230), a left arm wrist pitch joint (1240), a left arm wrist swing joint (1250), a left arm end effector telescopic joint (1260) and a left arm end effector rotation joint (1270).

7. The electromechanical device for repairing and maintaining equipment in a ship transmission engine room according to claim 1, characterized in that: The right working arm (1400) includes, arranged from bottom to top, a right arm waist joint (1410), a right arm shoulder joint (1420), a right arm elbow joint (1430), a right arm wrist pitch joint (1440), a right arm wrist swing joint (1450), a right arm end effector telescopic joint (1460), and a right arm end effector rotation joint (1470).

8. The electromechanical device for repairing and maintaining equipment in a ship transmission engine room according to claim 1, characterized in that: The camera folding arm (800) comprises a folding arm roll joint (810), a folding arm folding joint (820), a folding arm horizontal rotation joint (830) and a folding arm pitch joint (840) arranged from bottom to top, and a scanning camera (1000) is installed at the end of the folding arm pitch joint (840).

9. The electromechanical device for repairing and maintaining equipment in a ship transmission engine room according to claim 1, characterized in that: The cable tube retracting and releasing component (600) comprises a reel base (640), a cable tube reel (630), a cable tube retracting and releasing motor (620) and a cable tube (610). The cable tube retracting and releasing motor (620) drives the cable tube reel (630) to rotate forward and reversely to retract and release the cable tube (610). The cable tube retracting and releasing component (600) is fixedly connected to the middle part of the upper surface of the chassis assembly (3000) through the reel base (640), and the axis of the cable tube reel (630) is perpendicular to the front-rear direction of the chassis frame (3100).

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