Automatic ship cleaning robot

Abstract

The invention relates to the technical field of ship cleaning, in particular to an automatic ship cleaning robot which comprises a machine body, a camera is installed at one end of the machine body, strong magnets used for attracting a ship body are symmetrically installed at the bottom of the machine body, and wheels used for driving the machine body to move are installed at the bottom of the machine body at equal intervals. Supporting rods are installed on one side of the machine body at equal intervals, cleaning scrapers used for cleaning are installed at one ends of the multiple sets of supporting rods, cleaning brush rollers used for cleaning are installed at the end, away from the cleaning scrapers, of the machine body, adjusting assemblies used for adjusting the cleaning scrapers are installed at one ends of the supporting rods, and storage assemblies used for storing the supporting rods are installed at one end of the machine body. And a driving assembly used for driving the cleaning brush roller is installed at the bottom of the machine body. The ship automatic cleaning robot has the advantages that the cleaning scraper blade is adjusted, multiple cleaning modes are combined, and the supporting rod can be stored.

Description

Technical Field

[0001] The invention relates to the technical field of ship cleaning, and in particular to an automatic ship cleaning robot. Background Art

[0002] During long-term navigation and mooring, a large amount of marine organisms, dirt and impurities, such as barnacles and algae, will adhere to the surface of the ship, especially the part below the waterline, which will not only increase the navigation resistance of the ship, increase fuel consumption and reduce the operating efficiency of the ship, but also may corrode the hull and shorten the service life of the ship. The traditional ship cleaning method mainly relies on manual operation, which is labor-intensive, low-efficiency, and has certain safety risks. In addition, manual cleaning is difficult to ensure the uniformity and thoroughness of cleaning. With the development of science and technology, some automatic ship cleaning equipment has emerged, but the existing automatic ship cleaning robots still have shortcomings in cleaning effect, adaptability and ease of operation. On the one hand, the fit between the scraper and the hull surface and the pressure adjustment are not flexible enough. When facing the uneven hull surface, the cleaning effect of a single scraper is difficult to meet expectations. On the other hand, the cleaning arm of the existing device cannot be effectively stored and remains extended when not in working state. This makes the overall footprint of the robot larger, which brings great inconvenience to storage. At the same time, the larger size also means that more transportation space is required during transportation, further increasing transportation costs and resource consumption.

[0003] Therefore, it is necessary to provide a new automatic ship cleaning robot to solve the above-mentioned technical problems. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides an automatic ship cleaning robot.

[0005] The automatic ship cleaning robot provided by the present invention comprises: a body, a camera is installed at one end of the body, strong magnets for adsorbing the hull are symmetrically installed at the bottom of the body, wheels for driving the body to move are equidistantly installed at the bottom of the body, support rods are equidistantly installed on one side of the body, cleaning scrapers for cleaning are installed at one end of multiple groups of support rods, cleaning brush rollers for cleaning are installed at one end of the body away from the cleaning scrapers, an adjustment component for adjusting the cleaning scraper is installed at one end of the support rod, a storage component for storing the support rod is installed at one end of the body, and a driving component for driving the cleaning brush roller is installed at the bottom of the body.

[0006] Preferably, the adjustment assembly includes: an adjustment rod, an adjustment support rod, a spring, a gasket and a push rod, the top of the support rod is rotatably connected to the adjustment rod, the inner wall of the adjustment rod is fixedly connected to the adjustment support rod, one end of the adjustment support rod is slidably connected to the gasket, the outer wall of the adjustment support rod is sleeved with a spring, one end of the spring is fixedly connected to the inner wall of the adjustment rod, the other end of the spring is fixedly connected to the bottom of the gasket, the top of the cleaning scraper is fixedly connected to the push rod, and one end of the push rod is slidably connected to the adjustment support rod.

[0007] Preferably, the storage assembly includes: an electric push rod, a connecting rod, a first swivel, a second swivel, a first fixed rod, a second fixed rod, a first rotating rod and a second rotating rod, the electric push rod is rotatably connected to the top of the body, the output end of the electric push rod is fixedly connected to the connecting rod, one end of the connecting rod is rotatably connected to the first swivel, one end of the connecting rod is rotatably connected to the second swivel, the first swivel and the second swivel are rotatably connected, the first fixed rod is fixedly connected to the top of the body, the first fixed rod is rotatably connected to one end of the first swivel, the second fixed rod is fixedly connected to the top of the body, the first fixed rod is rotatably connected to the outer wall of the second fixed rod, the bottom of the first rotating rod is fixedly connected to the support rod, the end of the second swivel close to the support rod is rotatably connected to the second rotating rod, and the bottom of the second rotating rod is fixedly connected to the support rod.

[0008] Preferably, the driving assembly includes: a driving motor, a worm, a worm wheel, a rotating shaft and a reciprocating screw. The driving motor is fixedly connected to the inside of the machine body, the output end of the driving motor is fixedly connected to the worm, the bottom of the machine body is rotatably connected to the worm wheel, the worm wheel is meshed with the worm, the inner wall of the cleaning brush roller is slidingly connected to the rotating shaft through a spline, one end of the rotating shaft is fixedly connected to the worm wheel, the bottom of the machine body is fixedly connected to the reciprocating screw, and the inner wall of the cleaning brush roller is threadedly connected to the reciprocating screw.

[0009] Preferably, one end of the support rod is rotatably connected to a bolt, one end of the bolt is threadedly connected to a nut, and the cleaning scraper is rotatably connected to the bolt.

[0010] Preferably, both ends of the cleaning brush roller are rotatably connected with telescopic protective sleeves.

[0011] Preferably, the support rod, the body and the connecting rod are all provided with grooves.

[0012] Preferably, a support frame for placing the support rod is fixedly connected to the top of the body, a support block for auxiliary support is installed on one side of the first fixed rod, the support block is fixedly connected to the body, and a gripping handle is fixedly connected to the top of the body.

[0013] Preferably, the cleaning blade and the wheel are located at the same horizontal plane.

[0014] Preferably, the surface of the cleaning blade is hydrophobic treated.

[0015] Compared with the related art, the automatic ship cleaning robot provided by the present invention has the following beneficial effects: Cleaning blade adjustment: The adjustment component can flexibly adjust the angle and pressure of the cleaning scraper according to the actual situation of the hull surface. When encountering an uneven hull surface, the cleaning scraper can automatically adapt to the surface fluctuations through the elastic action of the spring, always maintaining a good fit and appropriate pressure with the hull surface, effectively improving the ability to remove dirt and marine organisms of different shapes and states, solving the problem of inflexible fit and pressure adjustment of existing robot scrapers, and ensuring the uniformity and thoroughness of the cleaning effect; Combination of multiple cleaning methods: The combination of the cleaning scraper and the cleaning brush roller adopts different cleaning methods for different types of dirt. The cleaning scraper can first remove large-area, loose dirt and attachments, and the cleaning brush roller can then finely scrub the surface of the hull to further remove stubborn dirt. This double cleaning method greatly improves the overall cleaning effect, which is significantly improved compared to single scraper cleaning; Retractable support rod design: The setting of the storage component enables the support rod to be effectively stored when not in use. When not in use, the support rod is stored, which greatly reduces the overall footprint of the robot and solves the problem of inconvenient storage of existing robots due to the inability to store the arm rod. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of the structure of the automatic ship cleaning robot provided by the present invention; Figure 2 for Figure 1 A schematic diagram of the structure of the wheel shown; Figure 3 for Figure 1 A schematic diagram of the structure of the support rod shown; Figure 4 for Figure 3 The structural schematic diagram of the cleaning scraper shown; Figure 5 for Figure 4 A schematic diagram of the structure of part A shown; Figure 6 for Figure 1 A schematic structural diagram of the second rotating ring shown; Figure 7 for Figure 3 A schematic diagram of the structure of the connecting rod shown; Figure 8 for Figure 3 A structural schematic diagram of the support rod in a stowed state is shown; Fig. 9 for Figure 2 The structural schematic diagram of the cleaning brush roller shown; Fig.10 for Fig. 9The cross-sectional structure diagram of the cleaning brush roller is shown.

[0017] Numbers in the figure: 1. body; 2. camera; 3. strong magnet; 4. wheel; 5. support rod; 6. cleaning scraper; 7. cleaning brush roller; 21. adjustment rod; 22. adjustment support rod; 23. spring; 24. gasket; 25. push rod; 31. electric push rod; 32. connecting rod; 33. first rotating ring; 34. second rotating ring; 35. first fixed rod; 36. second fixed rod; 37. first rotating rod; 38. second rotating rod; 41. driving motor; 42. worm; 43. worm wheel; 44. rotating shaft; 45. reciprocating screw; 51. bolt; 52. nut; 61. telescopic protective cover; 81. support frame; 82. support block; 83. gripping handle. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0019] The specific implementation of the present invention is described in detail below in conjunction with specific embodiments.

[0020] See also Figures 1 to 10 , a ship automatic cleaning robot, the ship automatic cleaning robot comprises: a body 1, a camera 2 is installed at one end of the body 1, a strong magnet 3 for adsorbing the hull is symmetrically installed at the bottom of the body 1, wheels 4 for driving the body 1 to move are equidistantly installed at the bottom of the body 1, support rods 5 are equidistantly installed on one side of the body 1, a cleaning scraper 6 for cleaning is installed at one end of multiple groups of the support rods 5, a cleaning brush roller 7 for cleaning is installed at one end of the body 1 away from the cleaning scraper 6, an adjusting component for adjusting the cleaning scraper 6 is installed at one end of the support rod 5, a storage component for storing the support rod 5 is installed at one end of the body 1, a driving component for driving the cleaning brush roller 7 is installed at the bottom of the body 1, a bolt 51 is rotatably connected to one end of the support rod 5, a nut 52 is threadedly connected to one end of the bolt 51, the cleaning scraper 6 is rotatably connected to the bolt 51, and telescopic protective covers 61 are rotatably connected to both ends of the cleaning brush roller 7, and the cleaning scraper 6 and the wheel 4 are located in the same horizontal plane; It should be noted that the cleaning scraper 6 is mounted on the support rod 5 by means of the bolts 51 and nuts 52, so that the worn cleaning scraper 6 can be easily replaced. When the cleaning brush roller 7 reciprocates, the telescopic protective cover 61 can extend and contract with the movement to prevent impurities from entering the cleaning brush roller 7. When the wheels 4 push the body 1 forward, the cleaning scraper 6 can clean the impurities on the surface of the ship. See also Figures 1 to 5The adjusting assembly includes: an adjusting rod 21, an adjusting support rod 22, a spring 23, a gasket 24 and a push rod 25. The top of the support rod 5 is rotatably connected to the adjusting rod 21, the inner wall of the adjusting rod 21 is fixedly connected to the adjusting support rod 22, one end of the adjusting support rod 22 is slidably connected to the gasket 24, the outer wall of the adjusting support rod 22 is sleeved with a spring 23, one end of the spring 23 is fixedly connected to the inner wall of the adjusting rod 21, and the other end of the spring 23 is fixedly connected to the bottom of the gasket 24. The top of the cleaning scraper 6 is fixedly connected to the push rod 25, and one end of the push rod 25 is slidably connected to the adjusting support rod 22; It should be noted that there is a gap between the adjustment rod 21 and the adjustment support rod 22, and the spring 23 is located in the gap. When the push rod 25 applies pressure to the spring 23 through the gasket 24, the spring 23 contracts in the gap. See also Figure 1 , Figure 3 , Figure 6 , Figure 7 and Figure 8 The storage assembly includes: an electric push rod 31, a connecting rod 32, a first rotating ring 33, a second rotating ring 34, a first fixed rod 35, a second fixed rod 36, a first rotating rod 37 and a second rotating rod 38. The top of the body 1 is rotatably connected to the electric push rod 31, the output end of the electric push rod 31 is fixedly connected to the connecting rod 32, one end of the connecting rod 32 is rotatably connected to the first rotating ring 33, one end of the connecting rod 32 is rotatably connected to the second rotating ring 34, the first rotating ring 33 is rotatably connected to the second rotating ring 34, the top of the body 1 is fixedly connected to the first fixed rod 35, the first fixed rod 35 is rotatably connected to one end of the first rotating ring 33, and the top of the body 1 The first fixing rod 36 is fixedly connected to the body 1, and the outer wall of the second fixing rod 36 is rotatably connected to the first rotating rod 37. The bottom of the first rotating rod 37 is fixedly connected to the support rod 5. The end of the second rotating ring 34 close to the support rod 5 is rotatably connected to the second rotating rod 38. The bottom of the second rotating rod 38 is fixedly connected to the support rod 5. The support rod 5, the body 1 and the connecting rod 32 are all provided with grooves. The top of the body 1 is fixedly connected to a support frame 81 for placing the support rod 5. A support block 82 for auxiliary support is installed on one side of the first fixing rod 35. The support block 82 is fixedly connected to the body 1, and a gripping handle 83 is fixedly connected to the top of the body 1. It should be noted that: the output end of the electric push rod 31 in the storage state is not parallel to the top of the body 1 and the output end is tilted upward. The groove design can prevent the movement of the various components of the storage assembly from affecting each other when it is stored or unfolded. The support rod 5 after storage can be placed above the support frame 81. The support rod 5 after unfolding is in contact with the support block 82. The pressure generated by the cleaning scraper 6 on the support rod 5 when cleaning the surface of the ship can be shared by the support block 82, avoiding damage to the first rotating rod 37 and the second rotating rod 38. The gripping handle 83 facilitates the installation of the body 1 on the surface of the ship and is also convenient for the operator to transport the device. See also Figure 2 , Fig. 9 and Fig.10 The driving assembly includes: a driving motor 41, a worm 42, a worm wheel 43, a rotating shaft 44 and a reciprocating screw 45. The driving motor 41 is fixedly connected inside the machine body 1, and the output end of the driving motor 41 is fixedly connected to the worm 42. The bottom of the machine body 1 is rotatably connected to the worm wheel 43, and the worm wheel 43 is meshed with the worm 42. The inner wall of the cleaning brush roller 7 is slidably connected to the rotating shaft 44 through a spline, and one end of the rotating shaft 44 is fixedly connected to the worm wheel 43. The bottom of the machine body 1 is fixedly connected to the reciprocating screw 45, and the inner wall of the cleaning brush roller 7 is threadedly connected to the reciprocating screw 45. It should be noted that: the length of the rotating shaft 44 is longer than the cleaning brush roller 7. The cleaning brush roller 7 can reciprocate along the axis of the rotating shaft 44 through the reciprocating screw rod 45. The spline on the inner wall of the cleaning brush roller 7 enables the rotating shaft 44 to drive the cleaning brush roller 7 to rotate. Compared with single cleaning, the cleaning brush roller 7 can expand the cleaning range, so that areas that may have been missed can also be brushed, thereby improving the overall cleaning coverage.

[0021] The working principle of the automatic ship cleaning robot provided by the present invention is as follows: Movement and positioning: First, the body 1 is hoisted to the surface of the ship through the gripping handle 83. The strong magnet 3 at the bottom of the body 1 generates an adsorption force to firmly fix the body 1 on the surface of the ship to ensure the stability of the body 1 during the movement and cleaning process. The automatic ship cleaning robot is started, and the camera 2 starts to work to collect image information on the surface of the ship and transmit it to the control system. The control system analyzes the distribution of dirt on the ship according to the image information and plans the optimal cleaning path. Each wheel 4 is driven to rotate by a separate driving device, so that the robot moves on the surface of the ship along the planned path and accurately reaches the position that needs to be cleaned. Cleaning blade 6 unfolded: After reaching the designated position, the electric push rod 31 is started, and the electric push rod 31 pushes the connecting rod 32 to move. Since the connecting rod 32 is rotatably connected to the first rotating ring 33 and the second rotating ring 34, and the position where the connecting rod 32 is rotatably connected to the first rotating ring 33 and the second rotating ring 34 is the same, the connecting rod 32 extends out to push the first rotating ring 33 and the second rotating ring 34 to rotate clockwise with the first fixed rod 35 as the rotation center. When the second rotating ring 34 rotates, the second rotating rod 38 rotatably connected to the second rotating ring 34 rotates along with the second rotating ring 34, and the first rotating rod 37 is rotatably connected to the first fixed rod 35. The second rotating rod 38 and the first rotating rod 37 are both fixedly connected to the support rod 5, so that the second rotating rod 38 drives the support rod 5 to rotate with the second fixed rod 36 as the rotation center until the support rod 5 contacts the support block 82, and the deployment of the cleaning scraper 6 is completed; Initial cleaning: As the machine body 1 moves forward, the cleaning scraper 6 scrapes off impurities such as barnacles on the surface of the ship. When the cleaning scraper 6 touches the raised surface of the ship, the pressure transmitted from the surface of the ship to the cleaning scraper 6 is transmitted to the push rod 25. The push rod 25 pushes the gasket 24, so that the gasket 24 slides along the adjustment support rod 22 and compresses the spring 23. The spring 23 is pressed into the adjustment rod 21. During this process, one end of the adjustment support rod 22 slides inside the push rod 25 throughout the entire process. The cleaning scraper 6 is rotated and adjusted with the axis of the bolt 51 as the rotation center. The cleaning scraper 6 is installed on the support rod 5 through the matching connection of the bolt 51 and the nut 52, so that the worn cleaning scraper 6 can be easily replaced. Secondary cleaning: During the forward movement of the machine body 1, the cleaning brush roller 7 will pass through the area preliminarily cleaned by the cleaning scraper 6, the output shaft of the driving motor 41 drives the worm 42 to rotate, the worm wheel 43 meshes with the worm 42, the worm wheel 43 rotates in the machine body 1 following the worm 42, the rotating shaft 44 is fixedly connected to the worm wheel 43, the worm wheel 43 drives the rotating shaft 44 to rotate, the rotating shaft 44 drives the cleaning brush roller 7 to rotate through the spline, the inner wall of the cleaning brush roller 7 is threadedly connected to the reciprocating screw 45, the reciprocating screw 45 is fixedly connected to the bottom of the machine body 1, so the reciprocating screw 45 The cleaning brush roller 7 is fixed and does not move. The cleaning brush roller 7 reciprocates on its own axis under the action of the reciprocating screw rod 45, so that the cleaning brush roller 7 can reciprocate on the surface of the ship while rotating, thereby improving the cleaning efficiency. Both ends of the cleaning brush roller 7 are fixedly connected to the telescopic protective cover 61, and the other ends of the two telescopic protective covers 61 are fixedly connected to the bottom of the body 1. When the cleaning brush roller 7 reciprocates, the telescopic protective cover 61 can extend and contract with its movement, thereby preventing impurities from entering the interior of the cleaning brush roller 7 and protecting its operation from being affected. Support rod 5 storage: After completing the cleaning work, the ship automatic cleaning robot is removed from the surface of the ship, and the electric push rod 31 is started, so that the connecting rod 32 drives the first swivel ring 33 and the second swivel ring 34 to rotate counterclockwise with the first fixed rod 35 as the rotation center, so that the second rotating rod 38 on the second swivel ring 34 drives the support rod 5 to rotate counterclockwise with the second fixed rod 36 as the rotation center, until the support rod 5 is placed on the support frame 81, and the storage of the support rod 5 is completed.

[0022] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A ship automatic cleaning robot, characterized in that: include: A body (1), a camera (2) is installed at one end of the body (1), strong magnets (3) for adsorbing the hull are symmetrically installed at the bottom of the body (1), and wheels (4) for driving the body (1) to move are equidistantly installed at the bottom of the body (1); Support rods (5), with support rods (5) being equidistantly mounted on one side of the machine body (1), and a cleaning scraper (6) for cleaning being mounted on one end of each of the plurality of groups of support rods (5); A cleaning brush roller (7), wherein a cleaning brush roller (7) for cleaning is installed at one end of the machine body (1) away from the cleaning scraper (6); An adjustment component, wherein an adjustment component for adjusting the cleaning scraper (6) is mounted on one end of the support rod (5); A storage component, wherein a storage component for storing a support rod (5) is installed at one end of the body (1); A driving assembly is installed at the bottom of the machine body (1) and is used to drive the cleaning brush roller (7).

2. The automatic ship cleaning robot according to claim 1, characterized in that: The adjustment component comprises: an adjustment rod (21), an adjustment support rod (22), a spring (23), a gasket (24) and a push rod (25); the top of the support rod (5) is rotatably connected to the adjustment rod (21); the inner wall of the adjustment rod (21) is fixedly connected to the adjustment support rod (22); one end of the adjustment support rod (22) is slidably connected to the gasket (24); the outer wall of the adjustment support rod (22) is sleeved with a spring (23); one end of the spring (23) is fixedly connected to the inner wall of the adjustment rod (21); the other end of the spring (23) is fixedly connected to the bottom of the gasket (24); the top of the cleaning scraper (6) is fixedly connected to the push rod (25); one end of the push rod (25) is slidably connected to the adjustment support rod (22).

3. The automatic ship cleaning robot according to claim 1, characterized in that: The storage assembly comprises: an electric push rod (31), a connecting rod (32), a first rotating ring (33), a second rotating ring (34), a first fixed rod (35), a second fixed rod (36), a first rotating rod (37) and a second rotating rod (38); the top of the machine body (1) is rotatably connected to the electric push rod (31); the output end of the electric push rod (31) is fixedly connected to the connecting rod (32); one end of the connecting rod (32) is rotatably connected to the first rotating ring (33); one end of the connecting rod (32) is rotatably connected to the second rotating ring (34); the first rotating ring (33) and the second rotating ring (38) are rotatably connected to each other. The two rotating rings (34) are rotatably connected, a first fixed rod (35) is fixedly connected to the top of the machine body (1), the first fixed rod (35) is rotatably connected to one end of the first rotating ring (33), a second fixed rod (36) is fixedly connected to the top of the machine body (1), an outer wall of the second fixed rod (36) is rotatably connected to a first rotating rod (37), the bottom of the first rotating rod (37) is fixedly connected to the support rod (5), the end of the second rotating ring (34) close to the support rod (5) is rotatably connected to a second rotating rod (38), and the bottom of the second rotating rod (38) is fixedly connected to the support rod (5).

4. The automatic ship cleaning robot according to claim 1, characterized in that: The driving assembly comprises: a driving motor (41), a worm (42), a worm wheel (43), a rotating shaft (44) and a reciprocating screw (45); the driving motor (41) is fixedly connected inside the machine body (1); the output end of the driving motor (41) is fixedly connected to the worm (42); the bottom of the machine body (1) is rotatably connected to the worm wheel (43); the worm wheel (43) is meshed with the worm (42); the inner wall of the cleaning brush roller (7) is slidably connected to the rotating shaft (44) via a spline; one end of the rotating shaft (44) is fixedly connected to the worm wheel (43); the bottom of the machine body (1) is fixedly connected to the reciprocating screw (45); and the inner wall of the cleaning brush roller (7) is threadedly connected to the reciprocating screw (45).

5. The automatic ship cleaning robot according to claim 1, characterized in that: One end of the support rod (5) is rotatably connected to a bolt (51), one end of the bolt (51) is threadedly connected to a nut (52), and the cleaning scraper (6) is rotatably connected to the bolt (51).

6. The automatic ship cleaning robot according to claim 1, characterized in that: Both ends of the cleaning brush roller (7) are rotatably connected to telescopic protective sleeves (61).

7. The automatic ship cleaning robot according to claim 3, characterized in that: The support rod (5), the machine body (1) and the connecting rod (32) are all provided with grooves.

8. The automatic ship cleaning robot according to claim 3, characterized in that: A support frame (81) for placing a support rod (5) is fixedly connected to the top of the machine body (1); a support block (82) for auxiliary support is installed on one side of the first fixed rod (35); the support block (82) is fixedly connected to the machine body (1); and a gripping handle (83) is fixedly connected to the top of the machine body (1).

9. The automatic ship cleaning robot according to claim 1, characterized in that: The cleaning scraper (6) and the wheel (4) are located on the same horizontal plane.

10. The automatic ship cleaning robot according to claim 1, characterized in that: The surface of the cleaning scraper (6) is treated to be hydrophobic.

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