Auxiliary device for cabin-washing wall-climbing robot

Abstract

The invention discloses an auxiliary device for a cabin washing wall-climbing robot, and belongs to the technical field of cabin washing. The fixed end of the telescopic assembly is connected with the device body assembly; a fixed seat of the manipulator assembly is connected with an execution end of the telescopic assembly; wherein the manipulator assembly is provided with a working position matched with the cabin-washing wall-climbing robot, and the manipulator assembly is provided with a separation position separated from the cabin-washing wall-climbing robot. According to the auxiliary device for the cabin-cleaning wall-climbing robot, the robot can be placed without manually descending the cabin, and the safety of cabin cleaning work is improved; the robot can be directly placed on the side plate of the top side cabin of the bulk cargo ship, and areas with high cleaning difficulty are preferentially cleaned so as to improve the cleaning effect; the bottom universal wheels are convenient to move and can be manually pushed to each cabin, and the flexibility is good; the rotation angle of the driving motor can be adjusted according to different cabin sizes, and universality is high; and the cost is low, the structure is simple and installation is convenient.

Description

Technical Field

[0001] The invention discloses an auxiliary device for a tank cleaning wall-climbing robot, belonging to the technical field of tank cleaning. Background Art

[0002] Bulk carriers are highly favored in international shipping. They offer advantages such as low transportation costs, a wide variety of cargoes, and a high cargo carrying capacity. Consequently, bulk carriers are capturing an increasingly larger market share. Because bulk carriers can transport a wide variety of bulk cargoes, cabin cleaning is necessary when cargo is changed. The effectiveness of this cleaning process has a direct impact on the economic benefits of bulk carriers. Currently, manual cleaning and tank-climbing robots are the most common methods. Manual cleaning involves descending the hold, using a crane, and using a high-pressure water jet to clean the cabin sidewalls. Due to the distance from the cabin's inner walls, water flow is ineffective, requiring multiple cleaning cycles to achieve optimal results. The topside tank side panels, which are furthest from the bottom panel, have the worst cleaning effect. This method is both risky and inefficient. Existing tank-climbing robots can attach to the cabin's inner walls, climb over narrow internal and external corners, and clean the interior cabin surfaces with high-pressure water jets. This replaces manual cleaning, offering improved safety and high cleaning efficiency.

[0003] However, the current wall-climbing robots usually have a small corner to climb over, making it difficult to climb over the hatch coaming. Therefore, cleaning is generally started from the bottom side tank side panel of the cabin and gradually moved upwards. This method requires the ship unloader to be hoisted to the cabin bottom panel, and the robot to be placed manually by going down to the cabin. Manually going down to the cabin still has certain risks. The dirt from the bottom-up cleaning method will cover the main body of the tank washing wall-climbing robot, affecting the effect of the sensors on the main body of the tank washing wall-climbing robot, making it difficult to achieve unmanned operation of the tank washing wall-climbing robot. Therefore, it is necessary to design an auxiliary mechanism that can assist the tank washing wall-climbing robot to climb over the hatch coaming and directly transport the wall-climbing robot to the top side tank side panel, replacing the steps of hoisting the ship unloader and manually going down to the cabin, so that the tank washing operation is performed from top to bottom, and the sensors on the robot body are not affected by dirt, thereby making the tank washing wall-climbing robot completely unmanned. Summary of the Invention

[0004] The purpose of the present invention is to solve the problem that the existing tank cleaning and wall climbing robot has small inner and outer corners to climb over and needs manual assistance to be placed on the cabin side panel, and proposes an auxiliary device for the tank cleaning and wall climbing robot.

[0005] The problem to be solved by the present invention is achieved by the following technical solutions:

[0006] An auxiliary device for a tank-cleaning and wall-climbing robot, comprising:

[0007] Install the fuselage assembly;

[0008] a telescopic assembly, wherein a fixed end of the telescopic assembly is connected to the device body assembly;

[0009] A manipulator assembly, wherein the fixing seat of the manipulator assembly is connected to the execution end of the telescopic assembly;

[0010] The manipulator assembly has a working position for cooperating with the tank washing and wall climbing robot, and the manipulator assembly has a separation position for separating from the tank washing and wall climbing robot.

[0011] Furthermore, the auxiliary device for the tank washing and wall climbing robot also includes:

[0012] A handle is connected to one side of the device body assembly.

[0013] Furthermore, the device body assembly includes:

[0014] Installation base plate;

[0015] a first support frame, wherein a first end of the first support frame is connected to the device bottom plate;

[0016] a first support frame, wherein a first end of the first support frame is connected to the bottom plate of the device, and the first support frame is set at a distance from the first support frame;

[0017] The magnetic attraction components include a plurality of magnetic attraction components, and the plurality of magnetic attraction components are respectively arranged on the first support frame and the second support frame at intervals;

[0018] The universal wheels include a plurality of universal wheels, which are arranged at intervals, and the fixing seats of the plurality of universal wheels are respectively connected to the device bottom plate, the first support frame and at least one of the first support frame.

[0019] Furthermore, the magnetic attraction component includes:

[0020] Magnetic adsorption support base, the magnetic adsorption support base includes a plurality of magnetic adsorption support bases, and the plurality of magnetic adsorption support bases are respectively arranged on the first support frame and the second support frame at intervals;

[0021] The fixed electromagnet includes a plurality of fixed electromagnets, each of which is connected to the bottom of each magnetic adsorption support seat.

[0022] Furthermore, the telescopic assembly includes: a first telescopic drive assembly and a second telescopic drive assembly, wherein:

[0023] The first telescopic drive assembly includes:

[0024] a first telescopic drive assembly, wherein a fixed end of the first telescopic drive assembly is connected to the device body assembly;

[0025] A lifting support plate, the top of which is connected to the execution end of the first telescopic drive assembly;

[0026] A horizontal moving component, wherein the fixed end of the horizontal moving component is connected to the bottom of the lifting support plate;

[0027] The second telescopic drive assembly includes:

[0028] a second telescopic drive assembly connected to an execution end of the second telescopic drive assembly;

[0029] A manipulator support seat, the manipulator support seat is connected to the execution end of the second telescopic drive assembly;

[0030] A rotary drive assembly is connected to at least one of the manipulator support seat and the second telescopic drive assembly, and the fixed seat of the manipulator assembly is connected to the execution end of the rotary drive assembly.

[0031] Furthermore, the first telescopic drive assembly includes:

[0032] A driving support plate is connected to the top of the device body assembly, and a lifting support plate is arranged at the bottom of the driving support plate;

[0033] The first driving support base includes at least two first driving support bases, the two first driving support bases are spaced apart, and the first ends of the two first driving support bases are respectively connected to the driving support plate;

[0034] Drive motor, the fixed seat of the drive motor is connected to the drive support plate,

[0035] A drive shaft connected to the output end of the drive motor and rotatably mounted on the two first drive support seats;

[0036] The first gear includes at least two first gears, and the two first gears are respectively sleeved on both ends of the driving shaft;

[0037] A first sprocket support seat, the first sprocket support seat includes at least two, and the two first sprocket support seats are respectively connected to the driving support plate; a second sprocket support seat, the second sprocket support seat includes two, and the two second sprocket support seats are respectively connected to the bottom of the device body assembly;

[0038] A first sprocket transmission shaft, comprising at least two first sprocket transmission shafts, the two first sprocket transmission shafts being rotatably disposed on the two first sprocket support seats respectively;

[0039] A second sprocket transmission shaft, comprising at least two sprocket transmission shafts, the two sprocket transmission shafts being rotatably disposed on the two second sprocket support seats respectively;

[0040] The first sprocket includes at least two first sprockets, and the two first sprockets are respectively sleeved on the first sprocket transmission shaft;

[0041] The second sprocket includes at least two second sprockets, and the two second sprockets are respectively sleeved on the second sprocket transmission shaft;

[0042] The waist groove adjustment chain includes at least two waist groove adjustment chains. The first end of any one of the two waist groove adjustment chains passes through the driving support plate and is connected to the top of the lifting support plate. The waist groove adjustment chain is matched with the first sprocket and the second sprocket in turn. The second end of the waist groove adjustment chain is connected to the bottom of the lifting support plate;

[0043] The sliding polished rods include at least two sliding polished rods, which are respectively arranged on the inner side of the device body assembly, and the at least two sliding polished rods are arranged at intervals, and the lifting support plate slides along the at least two sliding polished rods.

[0044] Furthermore, the horizontal movement component includes:

[0045] A horizontally movable support plate is arranged at the bottom of the lifting support plate;

[0046] The dovetail trough body includes a plurality of dovetail trough bodies, and the plurality of dovetail trough bodies are spaced apart and arranged on the top of the horizontal movable support plate;

[0047] Dovetail columns, including at least two dovetail columns, at least two dovetail columns are spaced apart and arranged on the lifting support plate, and the dovetail columns cooperate with the dovetail slots;

[0048] A driving rack is arranged at the bottom of the lifting support plate;

[0049] The horizontal drive motor and the fixed seat of the mobile drive motor are connected to the lifting support plate;

[0050] The horizontal driving gear is sleeved on the main shaft of the mobile driving motor and cooperates with the driving rack.

[0051] Furthermore, the second telescopic drive assembly includes:

[0052] A telescopic drive support frame, wherein a first end of the telescopic drive support frame is connected to the bottom of the horizontally movable support plate;

[0053] a telescopic drive support plate, the telescopic drive support plate being arranged at the second end of the telescopic drive support frame;

[0054] The telescopic driving screw is rotatably mounted on the horizontal moving support plate and the telescopic driving support plate respectively;

[0055] A telescopic drive motor, wherein a fixed seat of the telescopic drive motor is arranged on the horizontal movable support plate, and an actuating end of the telescopic drive motor is connected to a first end of the telescopic drive screw;

[0056] A telescopic drive nut, the telescopic drive nut being sleeved on the telescopic drive lead screw;

[0057] The telescopic movable plate is sleeved on the telescopic drive screw and connected to the telescopic drive nut;

[0058] The optical axis includes at least two optical axes, the first ends of at least two optical axes are connected to the telescopic movable plate, at least two optical axes are arranged at intervals, part of the optical axis passes through the telescopic drive support plate, and the second ends of at least two optical axes are connected to the manipulator support seat.

[0059] Furthermore, the rotary drive assembly includes:

[0060] Polygonal prism, the polygonal prism is rotatably mounted on the telescopic movable plate and the telescopic driving support plate;

[0061] A rotary driving gear, wherein the rotary driving gear is sleeved on the polygonal prism;

[0062] A rotary drive motor, wherein the base of the rotary drive motor is fixed on the telescopic drive support frame;

[0063] A rotation driving main gear, the rotation driving main gear is sleeved on the main shaft of the rotation driving motor, and the rotation driving main gear cooperates with the rotation driving gear;

[0064] A first transmission gear, the first transmission gear is connected to the polygonal column through the telescopic drive support plate and one end of the manipulator support base;

[0065] A rotating transmission shaft is rotatably mounted on both ends of a manipulator support base;

[0066] A second transmission gear, the second transmission gear is sleeved on the rotating transmission shaft, and the second transmission gear cooperates with the first transmission gear;

[0067] The first synchronous pulley includes two first synchronous pulleys, which are rotatably arranged on both sides of the manipulator support seat;

[0068] The second synchronous pulley includes two second synchronous pulleys, which are rotatably arranged on both sides of the manipulator support seat, and the first synchronous pulley and the second synchronous pulley on the same side are arranged at intervals. The two second synchronous pulleys are coaxially arranged with the fixed seat of the manipulator assembly;

[0069] Synchronous belt, the first synchronous pulley and the second synchronous pulley on the same side are connected through a synchronous belt drive;

[0070] There are two idler wheels, which are rotatably arranged on both sides of the manipulator support seat, and the idler wheels on the same side are arranged in conjunction with the synchronous belt.

[0071] Furthermore, the manipulator assembly includes:

[0072] Rotating fixed plates, including two rotating fixed plates, which are connected to the execution end of the rotary drive assembly;

[0073] Connecting rods, including at least two connecting rods, wherein the first ends of the at least two connecting rods are respectively connected to the two rotating fixed plates;

[0074] an adsorption plate, wherein both ends of the adsorption plate are respectively connected to the second ends of the at least two connecting rods;

[0075] The electromagnet includes a plurality of electromagnets, which are arranged at intervals and are respectively connected to the bottom of the adsorption plate. The present invention has the following beneficial effects compared with the existing ones:

[0076] The present invention provides an auxiliary device for a tank cleaning and wall climbing robot, which can eliminate the need for manual lowering of the robot into the cabin, thereby improving the safety of the tank cleaning work; the robot can be directly placed on the side panel of the top side tank of a bulk carrier, giving priority to cleaning difficult areas to improve the cleaning effect; the universal wheels at the bottom facilitate movement and can be manually pushed to various cabins, with good flexibility; the driving motor angle can be adjusted according to different cabin sizes, with strong versatility; and at the same time, the cost is low, the structure is simple, and the installation is convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] Figure 1 It is an isometric view of a first embodiment of an auxiliary device for a tank-cleaning and wall-climbing robot according to the present invention.

[0078] Figure 2 It is an isometric view of a first embodiment of a device body assembly in an auxiliary device for a tank-cleaning and wall-climbing robot according to the present invention.

[0079] Figure 3 It is an isometric view of a second embodiment of an auxiliary device for a tank-cleaning and wall-climbing robot according to the present invention.

[0080] Figure 4 This invention Figure 3 Enlarged view of point A.

[0081] Figure 5 This invention Figure 3 Enlarged view of point B.

[0082] Figure 6 It is an isometric view of a third embodiment of an auxiliary device for a tank-cleaning and wall-climbing robot according to the present invention.

[0083] Figure 7 It is an isometric view of a fourth embodiment of an auxiliary device for a tank-cleaning and wall-climbing robot according to the present invention.

[0084] Figure 8 It is an isometric view of a fifth embodiment of an auxiliary device for a tank-cleaning and wall-climbing robot according to the present invention.

[0085] Figure 9 It is an isometric view of a sixth embodiment of an auxiliary device for a tank-cleaning and wall-climbing robot according to the present invention.

[0086] Figure 10 It is an isometric view of a seventh embodiment of an auxiliary device for a tank-cleaning and wall-climbing robot according to the present invention.

[0087] Figure 11 It is an isometric view of an eighth embodiment of an auxiliary device for a tank-cleaning and wall-climbing robot according to the present invention.

[0088] Figure 12 It is an isometric view of an eighth embodiment of an auxiliary device for a tank-cleaning and wall-climbing robot according to the present invention.

[0089] Among them, 10-device body assembly, 20-first telescopic drive assembly, 30-second telescopic drive assembly, 40-manipulator assembly, 50-handle, 101-handle, 102-first support frame, 103-first support frame, 104-universal wheel, 105-magnetic adsorption support seat, 106-fixed electromagnet, 201-drive support plate, 202-lifting support plate, 203-waist groove adjustment chain, 204-sliding polished rod, 205-drive shaft, 206-drive motor, 207-first drive support seat, 208-second sprocket support seat, 209-first sprocket, 210-first sprocket transmission shaft, 211-horizontal drive motor, 212-first gear, 213-second sprocket, 214-first sprocket support seat, 215 -Horizontal moving support plate, 216- dovetail column, 217- dovetail trough, 218- horizontal drive motor, 219- horizontal drive gear, 301- telescopic drive motor, 302- telescopic drive support frame, 303- telescopic drive support plate, 304- limit shaft, 305- telescopic drive screw, 306- optical axis, 307- rotation drive motor, 308- rotation transmission shaft, 309- manipulator support seat, 310- synchronous belt, 311- first synchronous pulley, 312- idler, 313- second transmission gear, 314- polygonal column, 315- rotation drive gear, 316- rotation drive main gear, 317- first transmission gear, 401- adsorption plate, 402- connecting rod, 403- rotation fixed plate, 404- electromagnet. DETAILED DESCRIPTION

[0090] The following is based on the attached Figure 1-12 The present invention will be further described:

[0091] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0092] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the present invention.

[0093] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0094] like Figure 1 As shown, the first embodiment of the present invention, based on existing technologies, provides an auxiliary device for a tank-cleaning and wall-climbing robot. The device comprises a body assembly 10, a telescopic assembly, and a manipulator assembly 40. The fixed end of the telescopic assembly is connected to the body assembly 10, and the fixed base of the manipulator assembly 40 is connected to the actuating end of the telescopic assembly. The manipulator assembly 40 has a working position for cooperating with the tank-cleaning and wall-climbing robot, and a detachable position for separating the manipulator assembly 40 from the tank-cleaning and wall-climbing robot.

[0095] This embodiment addresses the problem of existing tank-cleaning wall-climbing robots having limited ability to climb over internal and external corners, requiring manual intervention to position them on the side panels of the hold. An auxiliary device has been designed. The device consists of a body assembly 10, a telescopic assembly, and a manipulator assembly 40. The fixed end of the telescopic assembly is connected to the body assembly 10, while the fixed base of the manipulator assembly 40 is connected to the actuator end of the telescopic assembly. The manipulator assembly 40 has both a working position for engaging with the tank-cleaning wall-climbing robot and a detachable position for detaching from it. This auxiliary device eliminates the need for manual intervention to position the tank-cleaning wall-climbing robot, significantly improving tank cleaning safety. It also transitions the tank-cleaning method from bottom-up to top-down, preventing bulkhead dirt from covering the robot body and ensuring sensor effectiveness. The tank-cleaning wall-climbing robot can be directly positioned on the side panels of bulk carriers' topside tanks, prioritizing difficult areas for cleaning and enhancing cleaning efficiency. Universal wheels on the bottom of the device facilitate manual movement to the various tanks to be cleaned, providing high mobility. The drive motor's rotation angle can be adjusted according to different cabin sizes, making it suitable for a variety of cabins and offering good versatility. The device features low cost, simple structure, and easy installation.

[0096] Furthermore, the auxiliary device for the tank-cleaning and wall-climbing robot also includes a handle 50 connected to one side of the device's main assembly 10. The addition of this handle 50 greatly enhances the device's ease of operation. When powered on, operators can grasp the handle 50 and more easily and effortlessly maneuver the device around the cabin, precisely adjusting its position. The handle 50 optimizes the human-machine interaction experience and is ergonomically designed. Operators can operate the device in a more natural manner, tailored to their operating habits and body posture, reducing fatigue from prolonged operation.

[0097] like Figure 2 As shown, the device body assembly 10 includes: a device base plate 101, a first support frame 102, a first support frame 103, a magnetic component and a universal wheel 104, the first end of the first support frame 102 is connected to the device base plate 101, the first end of the first support frame 103 is connected to the device base plate 101, the first support frame 103 and the first support frame 102 are set at a distance, the magnetic component includes a plurality of magnetic components, and the plurality of magnetic components are respectively arranged on the first support frame 103 and the first support frame 102 at intervals, the universal wheel 104 includes a plurality of universal wheels 104, and the plurality of universal wheels 104 are arranged at intervals, and the fixing seats of the plurality of universal wheels 104 are respectively connected to at least one of the device base plate 101, the first support frame 103 and the first support frame 102.

[0098] In this embodiment, the device bottom plate 101, the first support frame 102 and the first support frame 103 form a stable frame structure, providing a solid load-bearing foundation for the entire auxiliary device, capable of bearing the weight of the tank cleaning and wall climbing robot and other components, and ensuring the stability of the device during operation; multiple magnetic suction components are arranged at intervals on the first support frame 103 and the first support frame 102, and can use magnetic force to absorb metal cabin walls or other components, so that the device can be firmly docked in a specific position during operation, preventing displacement due to external force or operation, and ensuring the accuracy of the tank cleaning and wall climbing robot operation; multiple magnetic suction components are arranged at intervals on the first support frame 103 and the first support frame 102, and can use magnetic force to absorb metal cabin walls or other components, so that the device can be firmly docked in a specific position during operation, preventing displacement due to external force or operation, and ensuring the accuracy of the tank cleaning and wall climbing robot operation; multiple magnetic suction components are arranged at intervals on the first support frame 103 and the first support frame 102, and can use magnetic force to absorb metal cabin walls or other components, so that the device can be firmly docked in a specific position during operation, preventing displacement due to external force or operation, and ensuring the accuracy of the tank cleaning and wall climbing robot operation; multiple magnetic suction components are arranged at intervals on the first support frame 103 and the first support frame 102, and can use magnetic force to absorb metal cabin walls or other components, so that the device can be firmly docked in a specific position when working ... The universal wheel 104 is connected to the bottom plate 101 of the device, the first support frame 103 and the first support frame 102, giving the device flexible mobility. The staff can easily push the device to turn, move forward or backward in the complex environment of the cabin and quickly reach different cleaning areas; the universal wheel 104 cooperates with the magnetic suction component to make the device flexible and convenient when it needs to be moved, and can be reliably adsorbed when fixed operation is required, taking into account both flexibility and stability; fifthly, the modular structural design facilitates later maintenance and upgrades. If a component fails, it can be replaced or repaired in a targeted manner, reducing maintenance costs and difficulty.

[0099] In this embodiment, the magnetic attraction component includes: a magnetic adsorption support seat 105 and a fixed electromagnet 106. The magnetic adsorption support seat 105 includes multiple magnetic adsorption support seats 105, and the multiple magnetic adsorption support seats 105 are respectively arranged at intervals on the first support frame 103 and the first support frame 102. The fixed electromagnet 106 includes multiple fixed electromagnets 106, and each fixed electromagnet 106 is respectively connected to the bottom of each magnetic adsorption support seat 105.

[0100] Multiple magnetic adsorption support bases 105 are arranged at intervals on the support frame, and can evenly distribute magnetic points according to the structural characteristics of the metal wall of the cabin. When combined with the fixed electromagnet 106 at the bottom, they can generate strong magnetic force to adsorb to the cabin wall when powered on, ensuring that the device is stable and does not shake during operation, avoiding displacement caused by hull shaking or robot vibration, and improving the reliability of the tank cleaning operation. The fixed electromagnet 106 controls the presence or absence of magnetic force by turning the power on and off. When the device needs to be moved, the adsorption can be released by turning the power off, which is convenient to operate. After reaching the designated position, the adsorption can be turned on to achieve "stop and fix" effect, which not only ensures the flexibility of the device during movement, but also allows for quick fixation during operation, improving work efficiency. The magnetic force of the electromagnet can be adjusted by current. When combined with magnetic adsorption support bases 105 of different specifications, it can adapt to metal walls of different thicknesses and materials in the cabin, enhancing the applicability of the device in complex cabin environments, especially in areas with variable structures such as the topside tanks of bulk carriers.

[0101] like Figure 3-Figure 11As shown, the telescopic assembly includes: a first telescopic drive assembly 20 and a second telescopic drive assembly 30, wherein: the first telescopic drive assembly 20 includes: a first telescopic drive component, a lifting support plate 202 and a horizontal movement component, the fixed end of the first telescopic drive component is connected to the device body assembly 10, the top of the lifting support plate 202 is connected to the execution end of the first telescopic drive component, and the fixed end of the horizontal movement component is connected to the bottom of the lifting support plate 202; the second telescopic drive assembly 30 includes: a second telescopic drive component, a manipulator support seat 309 and a rotation drive component, the second telescopic drive component is connected to the execution end of the second telescopic drive component, the manipulator support seat 309 is connected to the execution end of the second telescopic drive component, the rotation drive component is connected to at least one of the manipulator support seat 309 and the second telescopic drive component, and the fixed seat of the manipulator assembly 40 is connected to the execution end of the rotation drive component.

[0102] In this embodiment, the lifting support plate 202 of the first telescopic drive assembly 20 cooperates with the horizontal movement assembly to enable flexible vertical and horizontal displacement of the manipulator assembly 40. The rotational drive assembly of the second telescopic drive assembly 30 further enables multi-angle rotation. These three components work together to enable the robot to precisely reach complex corners within a ship's cabin, such as the side panels of bulk carriers' topside tanks, which are difficult to clean. The telescopic movement of the first and second telescopic drive assemblies adjusts the manipulator's operating range to the size of the cabin, effectively covering the cleaning area in both small and large cabins, effectively improving the device's environmental adaptability.

[0103] Stable and reliable operation: The fixed and actuating ends of each drive component are connected in layers, forming a stable transmission structure. This reduces shaking and displacement during extension, movement, and rotation, ensuring smooth movement of the manipulator assembly 40 when grasping and placing the robot, preventing equipment damage from collisions and improving operational safety. The modular drive component design allows each part to be independently disassembled and replaced. In the event of a malfunction, personnel can quickly locate and replace the corresponding drive assembly or component, reducing downtime, maintenance costs, and technical difficulty.

[0104] Furthermore, the first telescopic drive assembly includes: a drive support plate 201, a first drive support seat 207, a drive shaft 205, a first gear 212, a drive motor 206, a first sprocket support seat 214, a first sprocket transmission shaft 210, a second sprocket transmission shaft, a first sprocket 209, a second sprocket 213, a waist groove adjustment chain 203 and a sliding polished rod 204. The drive support plate 201 is connected to the top of the device body assembly 10, the lifting support plate 202 is arranged at the bottom of the drive support plate 201, and the first drive support seat 207 includes at least two, the two first drive support seats 207 are arranged at intervals, and the first ends of the two first drive support seats 207 are respectively connected to the drive support plate 201;

[0105] , the fixed seat of the driving motor 206 is connected to the driving support plate 201, the driving shaft 205 is connected to the output end of the driving motor 206, the driving shaft 205 is rotatably mounted on the two first driving support seats 207, the first gear 212 includes at least two, the two first gears 212 are respectively sleeved on the two ends of the driving shaft 205, the first sprocket support seat 214 includes at least two, the two first sprocket support seats 214 are respectively connected to the driving support plate 201; the second sprocket support seat 208, the second sprocket support seat 208 includes two, the two second sprocket support seats 208 are respectively connected to the bottom of the device body assembly 10, the first sprocket transmission shaft 210 includes at least two, the two first sprocket transmission shafts 210 are respectively rotatably set on the two first sprocket support seats 214, the sprocket transmission shaft includes at least two, the two sprocket transmission shafts are respectively rotatably set on the two first sprocket support seats 214, On the second sprocket support seat 208, the first sprocket 209 includes at least two, and the two first sprockets 209 are respectively mounted on the first sprocket transmission shaft 210, the second sprocket 213 includes at least two, and the two second sprockets 209 are respectively mounted on the second sprocket transmission shaft, the waist groove adjustment chain 203 includes at least two, and the first end of any one of the two waist groove adjustment chains 203 passes through the driving support plate 201 and is connected to the top of the lifting support plate 202, the waist groove adjustment chain 203 cooperates with the first sprocket 209 and the second sprocket 213 in turn, and the second end of the waist groove adjustment chain 203 is connected to the bottom of the lifting support plate 202, and the sliding light rod 204 includes at least two, and the at least two sliding light rods 204 are respectively arranged on the inner side of the device body assembly 10, and the at least two sliding light rods 204 are arranged at intervals, and the lifting support plate 202 slides along the at least two sliding light rods 204.

[0106] In this embodiment, the drive motor 206 transmits power through components such as the drive shaft 205 and the first gear 212. This multi-gear and sprocket combination effectively reduces the load pressure on individual components, minimizing wear while ensuring stable power output, providing a continuous, powerful driving force for the lifting and lowering of the lifting support plate 202. The waist-grooved adjustment chain 203 cooperates with the first and second sprockets 209 and 213 to form a chain transmission system. By adjusting the chain tension and the sprocket rotation angle, the lifting height of the lifting support plate 202 can be precisely controlled, allowing the manipulator assembly 40 to be precisely adjusted to the appropriate height according to the requirements of different cabin locations and adapt to complex cabin structures. Multiple sliding polished rods 204 are spaced along the inner side of the device body assembly 10 to provide stable guidance for the sliding of the lifting support plate 202, preventing it from deflecting or shaking during the lifting process. This enhances the stability and reliability of the entire telescopic operation and ensures the safety and positioning accuracy of the manipulator assembly 40 during lifting and lowering.

[0107] In an exemplary embodiment, the horizontal movement assembly includes: a horizontal movement support plate 215, a dovetail groove 217, a dovetail column 216, a lowering support plate 202, a driving rack 217, a horizontal driving motor 218 and a horizontal driving gear 219. The horizontal movement support plate 215 is arranged at the bottom of the lifting support plate 202, the dovetail groove 217 includes multiple dovetail grooves 217, and multiple dovetail grooves 217 are spaced apart at the top of the horizontal movement support plate 215. The dovetail column 216 includes at least two, and at least two dovetail columns 216 are spaced apart at the lifting, the dovetail column 216 cooperates with the dovetail groove 217, the driving rack 217 is arranged at the bottom of the lifting support plate 202, the fixed seat of the moving driving motor 211 is connected to the lifting support plate 202, the horizontal driving gear 219 is sleeved on the main shaft of the moving driving motor 211, and the horizontal driving gear 219 cooperates with the driving rack 217.

[0108] In this embodiment, the dovetail groove 217 and the dovetail column 216 cooperate to form a precise guide structure, effectively limiting the shaking and offset of the horizontal movable support plate 215 during movement, ensuring its smooth sliding along a fixed direction. At the same time, the meshing transmission of the horizontal drive gear 219 and the drive rack 217 can accurately convert the rotational power of the horizontal drive motor 211 into linear motion, achieving high-precision control of horizontal movement and ensuring that the manipulator assembly 40 can accurately reach the target position. The gear rack transmission method has high transmission efficiency and can withstand large loads. When driving the tank washing and climbing robot for horizontal movement, it can stably transmit power. Even in the face of the weight of the robot and the cleaning equipment, it can ensure smooth horizontal movement and is less likely to cause jamming, thereby improving operational efficiency.

[0109] Multiple spaced-apart dovetail slots 217 and dovetail columns 216 allow for adjustment of the stroke and range of horizontal movement according to actual needs. This structure also offers relatively flexible requirements for installation precision, facilitating its adaptability to various sizes of device fuselage assemblies. Furthermore, by adjusting the speed and direction of the horizontal drive motor 211, the speed and direction of horizontal movement can be flexibly controlled to meet diverse operational requirements within complex shipboard environments. The assembly's compact layout effectively saves space and reduces the overall size of the device. The modular structure, including the dovetail slots and dovetail columns, gears, and racks, facilitates easy disassembly and replacement of damaged components. Maintenance personnel can quickly locate and repair faulty components, reducing maintenance difficulty and costs, shortening downtime, and ensuring the continuity of tank cleaning operations.

[0110] In this embodiment, the second telescopic drive assembly includes: a telescopic drive support frame 302, a telescopic drive support plate, a telescopic drive screw 305, a telescopic drive motor 301, a telescopic drive nut, a telescopic movable plate 303, an optical axis 306 and a limit shaft 304. The first end of the telescopic drive support frame 302 is connected to the bottom of the horizontally movable support plate 215, the telescopic drive support plate is arranged at the second end of the telescopic drive support frame 302, the telescopic drive screw 305 is rotatably mounted on the horizontally movable support plate 215 and the telescopic drive support plate 303 respectively, the fixing seat of the telescopic drive motor 301 is arranged on the horizontally movable support plate 215, the executing end of the telescopic drive motor 301 is connected to the first end of the telescopic drive screw 305, and the telescopic drive nut is sleeved on the telescopic drive screw 305;

[0111] The telescopic movable plate 303 is sleeved on the telescopic drive screw 305, the telescopic movable plate 303 is connected to the telescopic drive nut, the optical axis 306 includes at least two, the first ends of at least two optical axes 306 are connected to the telescopic movable plate 303, the at least two optical axes 306 are arranged at intervals, part of the optical axis 306 passes through the telescopic drive support plate, the second ends of at least two optical axes 306 are connected to the manipulator support seat 309, the limiting shaft 304 includes at least two, the first ends of at least two optical axes 306 are connected to the horizontal moving support plate 215, the first ends of at least two optical axes 306 are connected to the telescopic drive support plate, and the telescopic movable plate 303 can slide along the at least two optical axes 306.

[0112] In this embodiment, the telescopic drive motor 301 rotates the telescopic drive screw 305, which, in conjunction with the telescopic drive nut, converts the rotational motion into linear motion of the telescopic movable plate 303. The screw-nut transmission has high transmission accuracy, enabling precise control of the telescopic distance of the manipulator support base 309, allowing the manipulator assembly 40 to accurately reach any depth within the cabin to meet the needs of different cleaning operations. At least two optical axes 306 are connected to the telescopic movable plate 303 and pass through the telescopic drive support plate, providing stable guidance for the sliding of the telescopic movable plate 303, effectively preventing it from deflecting or twisting during the telescopic process. At the same time, the limit shaft 304 further limits the range of motion, ensuring that the telescopic motion occurs within a safe and controllable range, enhancing the stability and reliability of the entire telescopic system.

[0113] The combination of the telescopic drive screw 305 and the telescopic drive nut can withstand significant axial loads. This ensures stable power transmission when driving the manipulator support base 309 and manipulator assembly 40 to extend and retract, even when carrying a heavy tank cleaning and wall-climbing robot. Slippage and jamming are unlikely to occur, ensuring smooth operation. The various components of the assembly are compactly arranged around the telescopic drive screw 305. The connection between the telescopic drive support frame 302 and the horizontally movable support plate 215 utilizes space efficiently, ensuring structural strength while effectively reducing the overall size of the device. This adapts the assembly to the limited space within a ship's cabin, facilitating installation and operation.

[0114] Furthermore, the rotation drive assembly includes: a polygonal prism 314, a rotation drive gear 315, a rotation drive motor 307, a rotation drive main gear 316, a first transmission gear 317, a rotation drive shaft 308, a second transmission gear 313, a first synchronous pulley 311, a second synchronous pulley 313, a synchronous belt 310, and an idler wheel 312. The polygonal prism 314 is rotatably mounted on the telescopic movable plate 303 and the telescopic drive support plate. The rotation drive gear 315 is sleeved on the polygonal prism 314. The base of the rotation drive motor 307 is fixed on the telescopic movable plate 303. On the telescopic drive support frame 302, the rotation drive main gear 316 is sleeved on the main shaft of the rotation drive motor 307, the rotation drive main gear 316 cooperates with the rotation drive gear 315, the first transmission gear 317 and the polygonal column 314 are connected through the telescopic drive support plate and one end of the manipulator support seat 309, the rotation transmission shaft 308 is rotatably mounted on both ends of the manipulator support seat 309, and the second transmission gear 313 is sleeved on the rotation transmission shaft 308, that is, the polygonal column 314 can slide on the telescopic drive support plate while realizing rotation.

[0115] The second transmission gear 313 cooperates with the first transmission gear 317, the first synchronous pulley 311 includes two, the two first synchronous pulleys 311 are respectively rotatably set on both sides of the manipulator support seat 309, the second synchronous pulley 313 includes two, the two second synchronous pulleys 313 are respectively rotatably set on both sides of the manipulator support seat 309, the first synchronous pulley 311 and the second synchronous pulley 313 on the same side are arranged at intervals, the two second synchronous pulleys 313 are coaxially arranged with the fixed seat of the manipulator assembly 40, the first synchronous pulley 311 and the second synchronous pulley 313 on the same side are connected by a synchronous belt 310, the idler pulley 312 includes two, the two idler pulleys 312 are rotatably set on both sides of the manipulator support seat 309, and the idler pulley 312 on the same side is arranged in coordination with the synchronous belt 310.

[0116] In this embodiment, the rotary drive motor 307 drives the polygonal prism 314 via the rotary drive main gear 316 and the rotary drive gear 315. This, in conjunction with components such as the first transmission gear 317, the second transmission gear 313, and the timing belt 310, enables flexible rotation of the manipulator assembly 40 in multiple dimensions, enabling full adjustment of the robot's posture to precisely meet the complex curved surface cleaning requirements of the cabin. The gear transmission (such as the rotary drive main gear 316 and the rotary drive gear 315, and the first transmission gear 317 and the second transmission gear 313) offers high transmission accuracy and stability, while the timing belt 310 ensures smooth power transmission, reduces vibration and noise, and ensures precise and accurate rotation of the manipulator assembly 40, improving positioning accuracy during cabin cleaning operations.

[0117] The multi-stage transmission structure effectively distributes the power of the rotary drive motor 307 to the manipulator assembly 40, amplifying torque to cope with the robot's own weight and the load during cleaning operations. It also optimizes the tension of the timing belt 310 via the idler pulley 312, improving transmission efficiency and ensuring stable operation under heavy loads. The multi-prism 314 simultaneously rotates and slides along the telescopic drive support plate, enabling a combined motion that allows for independent rotation and telescopic movement, adapting to varying cabin layouts. Furthermore, the modular transmission components facilitate adjustment of the transmission ratio or replacement of components based on actual needs, enhancing the device's adaptability to diverse operational scenarios.

[0118] Furthermore, the manipulator assembly 40 includes: a rotating fixed plate 403, a connecting rod 402, an adsorption plate 401 and an electromagnet 404, the rotating fixed plate 403 includes two, the two rotating fixed plates 403 are connected to the execution end of the rotating drive assembly, the connecting rod 402 includes at least two, the first ends of at least two connecting rods 402 are respectively connected to the two rotating fixed plates 403, the two ends of the adsorption plate 401 are respectively connected to the second ends of at least two connecting rods 402, the electromagnet 404 includes multiple, the multiple electromagnets 404 are arranged at intervals, and the multiple electromagnets 404 are respectively connected to the bottom of the adsorption plate 401.

[0119] In this embodiment, multiple electromagnets 404 are spaced apart at the bottom of the adsorption plate 401. When powered on, they can generate strong magnetic force to adsorb the metal surface of the tank cleaning and wall climbing robot. The adsorption force is uniform and strong, which can effectively prevent the robot from falling off during transportation. The layout of the interval arrangement can adjust the distribution of adsorption points according to the robot's appearance, adapt to robots of different specifications, and improve grasping stability. The two rotating fixed plates 403 are connected to the rotary drive component, which can realize multi-angle rotation (such as pitch and horizontal rotation) of the manipulator assembly 40 through the rotary drive component. Combined with the rigid support of the connecting rod 402, the adsorption plate 401 can be accurately adjusted to any angle in the cabin, ensuring that the robot maintains the best working posture when placed in complex positions such as the top side tank side panel.

[0120] The connecting rod 402 rigidly connects the rotating fixed plate 403 and the adsorption plate 401 to form a simple frame structure, reducing redundant components and reducing the overall weight of the manipulator assembly 40. At the same time, the modular layout (such as the independent electromagnet 404 and the detachable connecting rod 402) facilitates installation and maintenance, saving space while improving the portability of the device. The electromagnet 404 controls the adsorption state by turning on and off the power. When the robot needs to be grasped, it is energized for adsorption and de-energized for release when it is placed. The operation responds quickly and there is no mechanical wear. Compared with the mechanical grasping structure, electromagnetic adsorption does not require complex gripping movements, which can reduce failure points and improve operational efficiency and reliability.

[0121] The first embodiment of the present invention provides a control method for an auxiliary device of a tank cleaning and wall climbing robot based on the existing technology:

[0122] The control method for the auxiliary device is based on multi-sensor fusion. A force sensor and camera are mounted below the suction placement manipulator assembly 40 at the end of the device. The camera's visual information and the force sensor's tactile information collect information about the auxiliary device's position relative to the cabin edge and the surrounding environment. This data is then recorded in an industrial computer. The industrial computer then uses a trajectory planning algorithm to determine the motion trajectory of the suction placement manipulator assembly 40 during operation. This allows the mechanism to eliminate the influence of the device's placement position and adapt to cabins of varying sizes. Teleoperation: The auxiliary device is manually controlled using a remote control to transport the tank cleaning and wall-climbing robot to a designated location. Teaching and replay: The auxiliary device allows both online and offline teaching. Online teaching involves manually controlling the drive motors to perform a series of movements. Sensors record parameters such as position and speed during the movement in the industrial computer. Offline teaching involves manually programming the industrial computer based on the dimensional and physical parameters of the cabin and the tank cleaning and wall-climbing robot. The industrial computer then executes the program to drive the auxiliary device to perform the corresponding movements. Therefore, for a tank of the same structural dimensions and the same model of tank cleaning and wall-climbing robot, the first operation can be achieved through manual remote control. The industrial computer records the relevant motion parameters during the movement and stores them on the industrial computer. For the same working conditions, the relevant motion parameters stored in the industrial computer can be directly executed, or the relevant geometric parameters of the tank can be known and the corresponding program can be written to achieve the specified action. The following describes the specific implementation process:

[0123] like Figure 12As shown, the auxiliary device is first manually moved to a designated position in the cabin. Each stepper motor in the mechanism is controlled by an industrial computer. Rotary encoders are installed on each stepper motor, providing precise feedback on the absolute position and real-time speed of each motor. The fixed electromagnet 106 is controlled by a relay via the industrial computer. When the device is powered on, the fixed electromagnet 106 is energized, firmly adsorbing the device. A Hall-effect sensor is installed on the electromagnet to detect the current flowing through it. Photoelectric switches are installed on the sliding polished rod 204, the lifting support plate 202, the limit shaft 304, and the adsorption manipulator assembly 40 to detect whether the device is in the initial position. If the device is not in the initial mode, the drive motor receives a drive signal from the industrial computer, causing it to move and return the device to its initial position. When the device is in the initial position, all photoelectric switches send signals to the industrial computer, and the electromagnets are providing normal operating current. At this point, the industrial computer is set to multi-sensor fusion mode and the system is operational. At this point, the industrial computer drives the various stepper motors to move the suction placement robot assembly 40. Force sensors and accelerometers are installed at the bottom of the robot assembly 40, causing it to move according to a data collection trajectory preset in the industrial computer program. The force sensors sense changes in contact force, collect environmental information, and calculate the three-dimensional coordinates of the suction placement robot's end using a kinematic model. This process incorporates camera calibration to obtain more accurate environmental information, which is then recorded in the industrial computer. This determines the device's position relative to the cabin and its structural dimensions. Based on this environmental information, the industrial computer plans an L-shaped motion path. The distance collected from the device to the cabin's hatch coaming determines the length of path L1, the required forward distance for the clearance placement robot. The height of the cabin coaming determines the descent height of path L2, the clearance climbing robot. Since the torque speed of the driving motor is limited, the maximum acceleration and the maximum speed limit need to be considered, and the trajectory planning algorithm of the fifth-order polynomial is used to enable the adsorption placement robot 400 to work efficiently and smoothly along the path, avoiding unnecessary vibration, thereby ensuring that the adsorption placement robot 400 adsorbs the wall-climbing robot and moves smoothly.

[0124] The fifth-order polynomial trajectory planning algorithm is as follows. Assume that the motion equation of the gear-driven adsorption placement manipulator is:

[0125] x(t)=a0t 5 +a1t 4 +a2t 3 +a3t 2 +a4t+a5 (1)

[0126] v(t)=x′(t)=5a0t 4 +4a1t 3 +3a2t 2+2a3t+a4 (2)

[0127] a(t)=x″(t)=20a0t 3 +12a1t 2 +6a2t+2a3 (3)

[0128] Among them: x(t) is the function of the horizontal displacement of the adsorption placement manipulator over time, v is the function of the horizontal velocity of the adsorption placement manipulator over time, a is the function of the horizontal acceleration of the adsorption placement manipulator over time, a1~a5 are the unknown coefficients of the polynomial, and t is the time variable.

[0129] Initial conditions: At t = 0, initial displacement, velocity, acceleration, that is, x(0) = 0, v(0) = 0, a(0) = 0

[0130] So we can get a5=0,a4=0,a3=0

[0131] Termination condition: at t = T x When the movement ends, the horizontal displacement of the adsorption placement manipulator is x f , velocity and acceleration are 0.

[0132] x(T x )=x f ,v(T x )=0,a(T x )=0 (4)

[0133] x(T x )=a0T x 5 +a1T x 4 +a2T x 3 =x f (5)

[0134] v(T x )=5a0T x 4 +4a1T x 3 +3a2T x 2 =0 (6)

[0135] a(T x )=20a0T x 3 +12a1T x 2 +6a2T x =0 (7)

[0136] Create a matrix

[0137]

[0138] So the solution is

[0139]

[0140] The final position function is

[0141]

[0142] Moving according to this motion equation avoids sudden changes in acceleration and improves control accuracy and comfort.

[0143] The same method can be used to obtain the motion equation of the vertical displacement of the chain-driven adsorption placement manipulator:

[0144]

[0145] Where: y(t) is the vertical displacement of the adsorption placement manipulator as a function of time;

[0146] When the movement time is T y When the vertical displacement is y f The motion equation of the sliding telescopic driving arm that causes the secondary telescopic displacement of the adsorption placement manipulator is:

[0147]

[0148] Where: z(t) is the function of the vertical displacement of the secondary telescopic manipulator over time. When the movement time is T z When the secondary telescopic vertical displacement is z f .

[0149] At this point, the industrial computer energizes the electromagnet 404 of the manipulator assembly 40. After the tank cleaning robot moves from the rear of the device to the designated suction position of the manipulator assembly 40, the limit switch on the manipulator assembly 40 detects whether the tank cleaning and wall-climbing robot is in the designated position, feeds a signal back to the industrial computer, and then secures the tank cleaning robot. A Hall effect sensor then checks whether the electromagnet's operating current is normal and feeds a signal back to the industrial computer. If the electromagnet's operating current is normal and the tank cleaning and wall-climbing robot is in the designated position, the industrial computer enables each drive stepper motor. The industrial computer issues a drive signal to cause the suction and placement manipulator to move according to the trajectory calculated by the trajectory planning algorithm. The rotary encoder feeds the rotation angle, rotation speed, and acceleration of the manipulator assembly 40 back to the industrial computer, achieving closed-loop control. In teleoperation mode, the motion trajectory of the manipulator assembly 40 is manually controlled. In teach-and-play mode, the motion of the suction and placement manipulator is controlled by a teleoperation program recorded by the industrial computer, or by a manually programmed program. The specific motion process of the device is as follows: the industrial computer drives the horizontal drive motor 218 to rotate a certain angle according to the planned motion trajectory. Through the rack and pinion mechanism, the second telescopic drive assembly 30 is pushed forward a certain distance, thereby simultaneously driving the manipulator assembly 40 to move the tank cleaning robot forward a certain distance. The industrial computer detects the rotation angle and speed of the drive motor and the acceleration of the manipulator assembly 40 based on information from the rotary encoder, and adjusts the motion trajectory in real time. When the second telescopic drive assembly 30 advances the specified distance, the horizontal drive motor 218 stops. The industrial computer drives the stepper drive motor 208 according to the planned motion trajectory. Through the worm gear reducer 206, the bevel gear drive shaft 207 drives the bevel gear drive sprocket. The sprocket drives the lifting support plate 201 downward along the guide mechanism, causing the sliding telescopic drive arm 300 to move downward, thereby moving the tank cleaning robot downward. After the lifting support plate reaches the specified position, the drive motor 206 stops. The industrial computer adjusts the motion trajectory in real time based on information such as the rotation angle and speed detected by the rotary encoder and the acceleration feedback from the accelerometer. The industrial computer drives the telescopic drive motor 301, which in turn rotates the telescopic drive screw 305. The rotation of the telescopic drive screw 305 drives the telescopic drive screw 305 up and down, which in turn drives the telescopic drive support plate 303 to move. The telescopic drive support plate 303 pushes the optical axis 306 and the polygonal prism 314 downward, thus causing the manipulator assembly 40 to move downward. The industrial computer adjusts the motion trajectory in real time based on feedback information such as the detected drive motor rotation angle, speed, and acceleration. After the manipulator assembly 40 moves downward along the specified motion trajectory, the telescopic drive motor 301 stops rotating. After the manipulator is positioned at the specified position, the industrial computer detects feedback from each rotary encoder and the operating current of the electromagnet. If the rotation angles of each motor are within the specified range and the electromagnet is operating normally, the results are as follows:At this time, the industrial computer drives the rotary drive motor 307 to rotate slowly at a certain speed, and transmits power to the rotating fixed plate 403 through the rotary drive gear 315 and the polygonal prism 314. The adsorption plate drives the tank cleaning robot to rotate, and the operating current of the rotary drive motor 307 is detected by the Hall effect sensor. If the operating current reaches a certain threshold, it means that the bottom of the robot is adsorbed on the side panel of the top side tank of the cabin. At this time, the industrial computer receives a signal and slowly reduces the operating current of the electromagnet 404 until the tank cleaning robot detaches from the device and operates along the side panel of the top side tank. After that, the industrial computer drives the rotary drive motor 307, the telescopic drive motor 301, the horizontal drive motor 218, and the drive motor 206 to move according to the preset return trajectory, so that the device returns to its initial position, thus completing a working cycle.

[0150] Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and exemplary embodiments. They can be applied to a variety of fields suitable for the present invention. Further modifications will be readily apparent to those skilled in the art. Therefore, the present invention is not limited to the specific details and illustrations shown and described herein without departing from the general concept defined by the claims and their equivalents.

Claims

1. An auxiliary device for a tank cleaning and wall climbing robot, characterized in that: include: Installing the fuselage assembly (10); a telescopic assembly, wherein a fixed end of the telescopic assembly is connected to the device body assembly (10); A manipulator assembly (40), wherein a fixed seat of the manipulator assembly (40) is connected to the execution end of the telescopic assembly; The manipulator assembly (40) has a working position for cooperating with the tank-cleaning and wall-climbing robot, and the manipulator assembly (40) has a separation position for separating from the tank-cleaning and wall-climbing robot.

2. The auxiliary device for the tank cleaning wall-climbing robot according to claim 1, characterized in that: The auxiliary device for the tank washing and wall climbing robot also includes: A handle (50) is connected to one side of the device body assembly (10).

3. The auxiliary device for the tank washing wall climbing robot according to claim 1 or 2, characterized in that: The device body assembly (10) comprises: Device base plate (101); a first support frame (102), wherein a first end of the first support frame (102) is connected to the device bottom plate (101); a first support frame (103), wherein a first end of the first support frame (103) is connected to the device bottom plate (101), and the first support frame (103) is spaced apart from the first support frame (102); A magnetic attraction component, comprising a plurality of magnetic attraction components, wherein the plurality of magnetic attraction components are respectively arranged at intervals on the first support frame (103) and the first support frame (102); Universal wheels (104), the universal wheels (104) include a plurality of universal wheels (104), the plurality of universal wheels (104) are arranged at intervals, and the fixing seats of the plurality of universal wheels (104) are respectively connected to the device base plate (101), the first support frame (103) and at least one of the first support frame (102).

4. The auxiliary device for the tank cleaning wall-climbing robot according to claim 3, characterized in that: The magnetic attraction component includes: A magnetic adsorption support seat (105), wherein the magnetic adsorption support seat (105) comprises a plurality of magnetic adsorption support seats (105), and the plurality of magnetic adsorption support seats (105) are respectively arranged at intervals on the first support frame (103) and the first support frame (102); The fixed electromagnet (106) includes a plurality of fixed electromagnets (106), and each fixed electromagnet (106) is respectively connected to the bottom of each magnetic adsorption support seat (105).

5. The auxiliary device for the tank cleaning wall-climbing robot according to claim 1, characterized in that: The telescopic assembly comprises: a first telescopic drive assembly (20) and a second telescopic drive assembly (30), wherein: The first telescopic drive assembly (20) comprises: a first telescopic drive assembly, wherein a fixed end of the first telescopic drive assembly is connected to the device body assembly (10); A lifting support plate (202), the top of which is connected to the execution end of the first telescopic drive assembly; A horizontal moving component, wherein the fixed end of the horizontal moving component is connected to the bottom of the lifting support plate (202); The second telescopic drive assembly (30) comprises: a second telescopic drive assembly connected to an actuating end of the second telescopic drive assembly; A manipulator support seat (309), the manipulator support seat (309) being connected to the execution end of the second telescopic drive assembly; A rotary drive assembly is connected to at least one of the manipulator support seat (309) and the second telescopic drive assembly, and a fixed seat of the manipulator assembly (40) is connected to an execution end of the rotary drive assembly.

6. The auxiliary device for the tank cleaning wall-climbing robot according to claim 5, characterized in that: The first telescopic drive assembly includes: A driving support plate (201), the driving support plate (201) is connected to the top of the device body assembly (10), and the lifting support plate (202) is arranged at the bottom of the driving support plate (201); A first driving support seat (207), comprising at least two first driving support seats (207), the two first driving support seats (207) being spaced apart, and the first ends of the two first driving support seats (207) being respectively connected to the driving support plate (201); A driving motor (206), wherein a fixing seat of the driving motor (206) is connected to the driving support plate (201), A driving shaft (205), the driving shaft (205) being connected to an output end of the driving motor (206), and the driving shaft (205) being rotatably mounted on the two first driving support seats (207); A first gear (212), comprising at least two first gears (212), the two first gears (212) being respectively sleeved on both ends of the drive shaft (205); a first sprocket support seat (214), the first sprocket support seats (214) comprising at least two, the two first sprocket support seats (214) being respectively connected to the driving support plate (201); a second sprocket support seat (208), the second sprocket support seats (208) comprising two, the two second sprocket support seats (208) being respectively connected to the bottom of the device body assembly (10); A first sprocket transmission shaft (210), comprising at least two first sprocket transmission shafts (210), wherein the two first sprocket transmission shafts (210) are rotatably disposed on two first sprocket support seats (214) respectively; A second sprocket transmission shaft, comprising at least two sprocket transmission shafts, the two sprocket transmission shafts being rotatably disposed on two second sprocket support seats (208) respectively; A first sprocket (209), comprising at least two first sprockets (209), the two first sprockets (209) being respectively sleeved on the first sprocket transmission shaft (210); A second sprocket (213), wherein the second sprocket (213) comprises at least two second sprockets (209), and the two second sprockets (209) are respectively sleeved on the second sprocket transmission shaft; A waist groove adjusting chain (203), wherein the waist groove adjusting chain (203) comprises at least two, wherein the first end of any one of the two waist groove adjusting chains (203) passes through the driving support plate (201) and is connected to the top of the lifting support plate (202), the waist groove adjusting chain (203) is matched with the first sprocket (209) and the second sprocket (213) in sequence, and the second end of the waist groove adjusting chain (203) is connected to the bottom of the lifting support plate (202); A sliding light rod (204), wherein the sliding light rod (204) includes at least two, and the at least two sliding light rods (204) are respectively arranged on the inner side of the device body assembly (10), and the at least two sliding light rods (204) are arranged at intervals, and the lifting support plate (202) slides along the at least two sliding light rods (204).

7. The auxiliary device for the tank washing and wall climbing robot according to claim 6, characterized in that: The horizontal movement component includes: a horizontally movable support plate (215), the horizontally movable support plate (215) being arranged at the bottom of the lifting support plate (202); A dovetail trough body (217), wherein the dovetail trough body (217) comprises a plurality of dovetail trough bodies (217), and the plurality of dovetail trough bodies (217) are arranged at intervals on the top of the horizontally movable support plate (215); A dovetail column (216), the dovetail column (216) comprising at least two dovetail columns (216), at least two of the dovetail columns (216) being spaced apart and arranged on the lifting support plate (202), the dovetail columns (216) being matched with the dovetail slot (217); a driving rack (217), wherein the driving rack (217) is arranged at the bottom of the lifting support plate (202); a horizontal drive motor (218), wherein a fixing seat of the horizontal drive motor (218) is connected to the lifting support plate (202); A horizontal driving gear (219) is sleeved on the main shaft of the horizontal driving motor (218), and the horizontal driving gear (219) is matched with the driving rack (217).

8. The auxiliary device for the tank cleaning wall-climbing robot according to claim 7, characterized in that: The second telescopic drive assembly includes: a telescopic driving support frame (302), wherein a first end of the telescopic driving support frame (302) is connected to the bottom of the horizontally movable support plate (215); a telescopic drive support plate, the telescopic drive support plate being arranged at the second end of the telescopic drive support frame (302); a telescopic driving screw (305), wherein the telescopic driving screw (305) is rotatably mounted on the horizontal moving support plate (215) and the telescopic driving support plate (303); a telescopic drive motor (301), wherein a fixing seat of the telescopic drive motor (301) is arranged on the horizontally movable support plate (215), and an execution end of the telescopic drive motor (301) is connected to a first end of the telescopic drive lead screw (305); a telescopic drive nut, the telescopic drive nut being sleeved on the telescopic drive lead screw (305); a telescopic movable plate (303), the telescopic movable plate (303) being sleeved on the telescopic driving screw (305), and the telescopic movable plate (303) being connected to the telescopic driving nut; An optical axis (306), the optical axis (306) comprising at least two, the first ends of at least two of the optical axes (306) being connected to the telescopic movable plate (303), the at least two optical axes (306) being spaced apart, a portion of the optical axis (306) passing through the telescopic drive support plate, and the second ends of at least two of the optical axes (306) being connected to the manipulator support seat (309); A limiting shaft (304), the limiting shaft (304) includes at least two, the first ends of at least two of the optical axes (306) are connected to the horizontally movable support plate (215), the first ends of at least two of the optical axes (306) are connected to the telescopic drive support plate, and the telescopic movable plate (303) can slide along the at least two optical axes (306).

9. The auxiliary device for the tank washing and wall climbing robot according to claim 8, characterized in that: The rotary drive assembly comprises: A polygonal prism (314), the polygonal prism (314) being rotatably mounted on the telescopic movable plate (303) and the telescopic driving support plate; a rotation driving gear (315), wherein the rotation driving gear (315) is sleeved on the polygonal column (314); a rotary drive motor (307), wherein a base of the rotary drive motor (307) is fixed on the telescopic drive support frame (302); A rotation driving main gear (316), wherein the rotation driving main gear (316) is sleeved on the main shaft of the rotation driving motor (307), and the rotation driving main gear (316) cooperates with the rotation driving gear (315); a first transmission gear (317), the first transmission gear (317) being connected to the polygonal column (314) through the telescopic drive support plate and one end of the manipulator support base (309); A rotating transmission shaft (308), wherein the rotating transmission shaft (308) is rotatably mounted on both ends of the manipulator support base (309); a second transmission gear (313), wherein the second transmission gear (313) is sleeved on the rotating transmission shaft (308), and the second transmission gear (313) cooperates with the first transmission gear (317); A first synchronous pulley (311), comprising two first synchronous pulleys (311), the two first synchronous pulleys (311) being rotatably disposed on both sides of the manipulator support seat (309); A second synchronous pulley (313), comprising two second synchronous pulleys (313), the two second synchronous pulleys (313) being rotatably arranged on both sides of the manipulator support seat (309), the first synchronous pulley (311) and the second synchronous pulley (313) on the same side being spaced apart, and the two second synchronous pulleys (313) being coaxially arranged with the fixed seat of the manipulator assembly (40); A synchronous belt (310), wherein the first synchronous pulley (311) and the second synchronous pulley (313) on the same side are connected by transmission via the synchronous belt (310); The idler wheels (312) include two idler wheels (312), and the two idler wheels (312) are rotatably arranged on both sides of the manipulator support seat (309), and the idler wheels (312) on the same side are arranged in cooperation with the synchronous belt (310).

10. The auxiliary device for the tank cleaning wall-climbing robot according to claim 9, characterized in that: The manipulator assembly (40) comprises: A rotating fixed plate (403), comprising two rotating fixed plates (403), the two rotating fixed plates (403) being connected to the execution end of the rotating drive assembly; a connecting rod (402), the connecting rod (402) comprising at least two, the first ends of the at least two connecting rods (402) being respectively connected to the two rotating fixed plates (403); an adsorption plate (401), wherein both ends of the adsorption plate (401) are respectively connected to the second ends of the at least two connecting rods (402); The electromagnet (404) includes a plurality of electromagnets (404), the plurality of electromagnets (404) are arranged at intervals, and the plurality of electromagnets (404) are respectively connected to the bottom of the adsorption plate (401).

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