Ship-based offshore beacon intelligent maintenance robot and adaptive operation method thereof

Abstract

The application discloses a ship-based offshore beacon intelligent maintenance robot and an adaptive operation method thereof, and belongs to the offshore beacon maintenance field.The ship-based offshore beacon intelligent maintenance robot comprises a base and a second telescopic arm, and further comprises: a turntable which is rotationally connected to the end of the second telescopic arm, a driving motor which is fixedly connected to the turntable, a rotating shaft which is fixedly connected to the output end of the driving motor, a rotating mechanism which is arranged between the second telescopic arm and the rotating shaft and is used for driving the turntable to rotate along the second telescopic arm, and a slide rail which is uniformly fixedly connected to the turntable and is provided with a clamping claw on the side, away from the second telescopic arm, of the slide rail, wherein the slide rail and the rotating shaft are provided with a clamping mechanism therebetween and the clamping mechanism is used for driving the clamping claw to move along the slide rail; and a detection probe which is fixedly connected to the turntable and is used for detecting the appearance of a beacon light and the position of a fixing bolt.The application can overcome the problems of great safety hazards, low maintenance efficiency and great maintenance difficulty during the maintenance of the equipment on the buoy.

Description

Technical Field

[0001] This invention relates to the field of marine navigation mark maintenance technology, and in particular to a ship-based intelligent marine navigation mark maintenance robot and its adaptive operation method. Background Technology

[0002] A navigation light is a specialized luminous navigation device designed for waterways such as seas, inland rivers, and lakes. Through specific light colors, flashing frequencies, and light intensities, it provides ships with crucial navigational information such as channel boundaries, danger zones, and obstacle locations. Its main functions include: channel marking to guide ships along safe routes; hazard warning to prevent collisions caused by reefs, shoals, or shipwrecks; and navigational aids to help ships locate themselves at night and correct their course, based on the characteristics of the light signals. In waters with frequent tidal changes or shallow depths, it is suitable to be anchored to the seabed with anchor chains, moving with the current. In inland waterways with stable water levels, it is directly cast onto concrete piles cast into the bank or shallow waters.

[0003] As an important component of marine buoys, navigation lights typically undergo inspections including: light quality checks (ensuring the light color and flashing frequency); structural checks (inspecting the light bracket, solar panel, battery, etc., to prevent corrosion or mechanical damage); and exterior checks (the structure of the light housing, stains, etc.). If a navigation light malfunctions or is damaged, it needs to be replaced.

[0004] Currently, when maintaining equipment on buoys, maintenance personnel need to climb onto the buoy. However, due to the influence of waves, the buoy and the ship may fluctuate at different amplitudes, making it difficult to maintain synchronization with the buoy. This not only makes it inconvenient for maintenance personnel to climb onto the buoy but also increases the difficulty of equipment maintenance due to uncontrollable impacts. Summary of the Invention

[0005] The purpose of this invention is to solve the problem of high maintenance difficulty caused by the misalignment between the buoy and the maintenance vessel due to wave action during the maintenance of equipment on buoys in the prior art. The invention proposes a ship-based intelligent maintenance robot for marine navigation aids and its adaptive operation method.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] The intelligent maintenance robot for marine navigation lights based on ships includes a base and a second telescopic arm, and further includes: a turntable rotatably connected to the end of the second telescopic arm, a drive motor fixedly connected to the turntable, and a rotating shaft fixedly connected to the output end of the drive motor; a rotating mechanism between the second telescopic arm and the rotating shaft for driving the turntable to rotate along the second telescopic arm; a slide rail evenly fixedly connected to the turntable, with a gripping claw on the side of the slide rail away from the second telescopic arm; a clamping mechanism between the slide rail and the rotating shaft for driving the gripping claw to move along the slide rail; a detection probe fixedly connected to the turntable for detecting the appearance of the navigation light and the position of the fixing bolts; a hydraulic seat fixedly connected to the side of the turntable away from the second telescopic arm; and a disassembly and assembly mechanism disposed on the outer wall of the gripping claw, with a bolt screwdriver on the disassembly and assembly mechanism. When the navigation light presses the hydraulic seat, the bolt screwdriver is driven to rotate in the bolt installation or disassembly direction according to the position of the gripping claw.

[0008] To facilitate comprehensive inspection of the appearance of navigation lights, preferably, the rotating mechanism includes a connecting seat fixedly connected to a rotating shaft, a driving bevel gear rotatably connected to the connecting seat, a fixed bevel gear meshing with the driving bevel gear fixedly connected to the second telescopic arm, and a control component provided between the connecting seat and the driving bevel gear for controlling the rotation of the turntable.

[0009] To facilitate adjustments to the equipment's operating status, the control component further includes a mounting cavity located on the side of the drive bevel gear near the connecting seat. Multiple sets of electromagnetic blocks are uniformly fixedly connected to the mounting cavity near the connecting seat. A positioning rod is fixedly connected to the side of each electromagnetic block away from the connecting seat. A locking block is fixedly connected to the end of the positioning rod away from the electromagnetic block. A second spring, sleeved on the positioning rod, is fixedly connected between the locking block and the electromagnetic block. A locking hole matching the locking block is provided on the side of the drive bevel gear near the mounting cavity. The electromagnetic block and the detection probe are electrically connected via an electric slip ring. When the electromagnetic block is energized, it exhibits magnetism, and the sides of the electromagnetic block and the locking block that are close to each other have the same magnetism.

[0010] To ensure the stability of the navigation light during assembly and disassembly, preferably, the clamping mechanism includes a limiting rod fixedly connected to the slide rail, a slider slidably connected to the limiting rod and the slide rail, a threaded block fixedly connected to the slider, a screw threadedly connected to the threaded block rotatably connected to the slide rail, an adjusting gear fixedly connected to one end of the screw near the turntable, a first end face toothed ring rotatably connected to the turntable and meshing with the adjusting gear, and a drive gear meshing with the first end face toothed ring fixedly connected to the rotating shaft.

[0011] To facilitate cleaning of stains on the surface of the navigation light, the clamping claw is further fixedly connected to the bottom of the slider. The end of the clamping claw away from the slider is arc-shaped, and a cleaning strip is fixedly connected to the side of the clamping claw near the turntable. When the end of the clamping claw is in contact with the navigation light, the cleaning strip is in contact with the outer wall of the navigation light.

[0012] To facilitate the installation and removal of navigation lights from buoys, the installation and removal mechanism further includes a fixed plate fixedly connected to the gripper on the side away from the turntable. Two sets of seals are fixedly connected to the bottom of the fixed plate. A reversing gear and a linkage gear are rotatably connected to the seals. A positioning plate is fixedly connected to the side of the gripper away from the turntable. An elastic telescopic rod is fixedly connected to the positioning plate. A second end face toothed ring that meshes with the linkage gear is fixedly connected to the elastic telescopic rod. A reversing component is provided inside the seal. The hydraulic seat is connected to the two sets of seals through a pipe and a slip ring. The bolt screwdriver is fixedly connected to the end of the elastic telescopic rod away from the linkage gear.

[0013] To further ensure the stability of the navigation light assembly and disassembly, the reversing assembly includes a first spring fixedly connected within a seal. The bottom end of the first spring is fixedly connected to a sealing block that slides with the seal. A toothed plate is fixedly connected to the side of the sealing block away from the first spring. The toothed plate meshes with a reversing gear. Both sets of seals are equipped with pneumatic valves. A hydraulic rod is fixedly connected to the slide rail. The hydraulic rod and the pneumatic valves are connected by a pipe. When the hydraulic rod is in a compressed state, one set of pneumatic valves is in an open state. When the hydraulic rod is in an extended state, the other set of pneumatic valves is in an open state.

[0014] To facilitate adjusting the position and angle of the equipment according to the position of the ship, preferably, it also includes a rotating seat rotatably connected to the base, a fixed arm rotatably connected to the rotating seat, a first telescopic arm rotatably connected to the end of the fixed arm away from the rotating seat, and a second telescopic arm rotatably connected to the end of the first telescopic arm away from the fixed arm.

[0015] To ensure stability during the navigation light detection process, a positioning arm is further included, which is rotatably connected to the fixed arm. The end of the positioning arm away from the fixed arm is rotatably connected to a positioning gripper for positioning the buoy at sea.

[0016] A ship-based method for maintaining marine buoys includes the following steps:

[0017] Step 1: Adjust the equipment on the vessel to extend it to the buoy's navigation light;

[0018] Step 2: Simultaneously position the buoy so that its fluctuation amplitude is synchronized with the ship's fluctuation amplitude;

[0019] Step 3: First, conduct a thorough inspection of the appearance of the navigation light. If there is a lot of dust or other dirt on the surface of the navigation light, clean it.

[0020] Step 4: If the navigation light needs to be replaced, clamp the navigation light with the equipment and remove the bolts on the navigation light at the same time;

[0021] Step 5: If a navigation light needs to be installed, release the navigation light to the designated position using the equipment, and then fix the navigation light to the buoy using bolts.

[0022] Compared with existing technologies, this invention provides a ship-based intelligent maintenance robot for marine navigation aids and its adaptive operation method, which has the following beneficial effects:

[0023] 1. This ship-based intelligent maintenance robot for marine navigation aids can adjust the position of the detection probe and cleaning strip on the navigation light through a rotating mechanism. On the one hand, it can achieve a thorough inspection of the navigation light's appearance without blind spots, and on the other hand, it can ensure the cleaning effect of dirt on the surface of the navigation light. It not only ensures the positional effectiveness of the navigation light, but also improves maintenance efficiency.

[0024] 2. This ship-based intelligent maintenance robot for marine navigation aids can fix the navigation light through a clamping mechanism to ensure stability during the maintenance process. At the same time, it can ensure the stability of the pressure between the cleaning strip and the surface of the navigation light, thereby ensuring the cleaning effect of the stains on the surface of the navigation light.

[0025] 3. This ship-based intelligent maintenance robot for marine navigation aids can drive a disassembly and assembly mechanism via a hydraulic base to disassemble and assemble the fixing bolts on the navigation aid lights, thereby facilitating the disassembly and assembly of the navigation aid lights. This not only improves the efficiency of disassembly and assembly of navigation aid lights, but also prevents maintenance tools from falling onto the sea surface.

[0026] The parts of the device not covered herein are the same as or can be implemented using existing technologies. This invention can overcome the problems of high safety hazards, low maintenance efficiency, and high maintenance difficulty when maintaining equipment on buoys. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the intelligent marine navigation mark maintenance robot based on a ship proposed in this invention;

[0028] Figure 2 This is a partial structural diagram of the intelligent marine navigation mark maintenance robot based on ships proposed in this invention. Figure 1 ;

[0029] Figure 3 This is a partial structural diagram of the intelligent marine navigation mark maintenance robot based on ships proposed in this invention. Figure 2 ;

[0030] Figure 4 This is a schematic diagram of the structure on the turntable of the intelligent marine navigation mark maintenance robot based on ships proposed in this invention;

[0031] Figure 5 This is a schematic diagram of the gripper and fixing plate in the intelligent marine navigation mark maintenance robot based on ships proposed in this invention;

[0032] Figure 6 This is a cross-sectional schematic diagram of the fixing plate and sealing components in the intelligent maintenance robot for marine navigation marks based on ships proposed in this invention;

[0033] Figure 7 The present invention proposes a ship-based intelligent maintenance robot for marine navigation aids. Figure 4 A schematic diagram of the structure of part A;

[0034] Figure 8 This is a cross-sectional schematic diagram of the connecting seat and drive bevel gear in the intelligent maintenance robot for marine navigation marks based on ships proposed in this invention.

[0035] In the diagram: 1. Base; 2. Rotary seat; 3. Fixed arm; 4. First telescopic arm; 5. Second telescopic arm; 6. Turntable; 7. Positioning arm; 8. Positioning gripper; 9. Hydraulic seat; 10. Detection probe; 11. Slide rail; 12. Limiting rod; 13. Slider; 14. Screw; 15. Threaded block; 16. Adjusting gear; 17. First end face gear ring; 18. Drive motor; 19. Rotating shaft; 20. Drive gear; 21. Connecting seat; 22. Drive bevel gear; 221 1. Mounting cavity; 222. Electromagnetic block; 223. Positioning rod; 224. Locking block; 225. Second spring; 226. Locking hole; 23. Fixed bevel gear; 24. Hydraulic rod; 25. Clamping claw; 26. Cleaning strip; 27. Fixing plate; 28. Seal; 29. ​​First spring; 30. Sealing block; 31. Gear plate; 32. Reversing gear; 33. Linkage gear; 34. Positioning plate; 35. Elastic telescopic rod; 36. Second end face gear ring; 37. Bolt screwdriver. Detailed Implementation

[0036] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0037] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0038] Example 1:

[0039] Reference Figures 1-8 The intelligent maintenance robot for marine navigation marks based on ships includes a base 1 and a second telescopic arm 5, and also includes: a turntable 6 rotatably connected to the end of the second telescopic arm 5, a drive motor 18 fixedly connected to the turntable 6, and a rotating shaft 19 fixedly connected to the output end of the drive motor 18. A rotating mechanism is provided between the second telescopic arm 5 and the rotating shaft 19 to drive the turntable 6 to rotate along the second telescopic arm 5; and a slide rail 11 evenly fixedly connected to the turntable 6. A gripping claw 25 is provided on the side of the slide rail 11 away from the second telescopic arm 5. A clamping mechanism is provided between the shafts 19 to drive the clamping claw 25 to move along the slide rail 11; a detection probe 10 is fixedly connected to the turntable 6 to detect the appearance of the navigation light and the position of the fixing bolts; a hydraulic seat 9 is fixedly connected to the turntable 6 on the side away from the second telescopic arm 5; a disassembly and assembly mechanism is provided on the outer wall of the clamping claw 25, and a bolt screwdriver 37 is provided on the disassembly and assembly mechanism. When the navigation light presses the hydraulic seat 9, the bolt screwdriver 37 is driven to rotate in the direction of bolt installation or disassembly according to the position of the clamping claw 25.

[0040] In this embodiment, when maintaining the navigation light, the equipment is extended above the navigation light and the buoy is fixed to match the wave frequency of the ship. As the equipment moves downward along the navigation light, the drive motor 18 is started, and the turntable 6 is rotated around the circumference of the navigation light through the rotating mechanism to facilitate a comprehensive inspection of the navigation light's appearance. Then, the clamping claw 25 is moved to the outer wall of the navigation light through the clamping mechanism, and the clamping claw 25 is rotated along the outer wall of the navigation light through the rotating mechanism. The cleaning strip 26 cleans the stains on the outer wall of the navigation light. Furthermore, if the navigation light malfunctions or is damaged, the fixing bolts of the navigation light are removed through the disassembly and assembly mechanism, and a new navigation light is installed at a distance, thereby completing the replacement of the navigation light.

[0041] Reference Figure 2 , Figure 4 , Figure 7 and Figure 8The rotating mechanism includes a connecting seat 21 fixedly connected to the rotating shaft 19, a driving bevel gear 22 rotatably connected to the connecting seat 21, and a fixed bevel gear 23 meshing with the driving bevel gear 22 fixedly connected to the second telescopic arm 5. A control component is provided between the connecting seat 21 and the driving bevel gear 22 to control the rotation of the turntable 6. The control component includes a mounting cavity 221 opened on the side of the driving bevel gear 22 near the connecting seat 21. Multiple sets of electromagnetic blocks 222 are uniformly fixedly connected to the side of the mounting cavity 221 near the connecting seat 21, and the side of the electromagnetic blocks 222 away from the connecting seat 21 is fixedly connected to the other side. A positioning rod 223 is fixedly connected to the positioning rod 223. A locking block 224 is fixedly connected to the end of the positioning rod 223 away from the electromagnetic block 222. A second spring 225 sleeved on the positioning rod 223 is fixedly connected between the locking block 224 and the electromagnetic block 222. A locking hole 226 matching the locking block 224 is opened on the side of the drive bevel gear 22 near the mounting cavity 221. The electromagnetic block 222 and the detection probe 10 are electrically connected through an electric slip ring. When the electromagnetic block 222 is energized, the electromagnetic block 222 exhibits magnetism, and the sides of the electromagnetic block 222 and the locking block 224 that are close to each other have the same magnetism.

[0042] In this embodiment, when the turntable 6 moves above the navigation light, the drive motor 18 is started, and the electromagnetic block 222 is energized, which drives the locking block 224 to move into the lock hole 226. At this time, the rotating shaft 19 drives the drive bevel gear 22 to rotate, which drives the turntable 6 to rotate along the second telescopic arm 5, thereby realizing the detection of the navigation light without blind spots.

[0043] Reference Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 7 The clamping mechanism includes a limiting rod 12 fixedly connected to the slide rail 11, a slider 13 slidably connected to the limiting rod 12 and slidably connected to the slide rail 11, a threaded block 15 fixedly connected to the slider 13, a screw 14 rotatably connected to the slide rail 11 and threadedly connected to the threaded block 15, an adjusting gear 16 fixedly connected to one end of the screw 14 near the turntable 6, a first end face toothed ring 17 rotatably connected to the turntable 6 and meshing with the adjusting gear 16, a drive gear 20 fixedly connected to the rotating shaft 19 and meshing with the first end face toothed ring 17, a clamping claw 25 fixedly connected to the bottom of the slider 13, the end of the clamping claw 25 away from the slider 13 being arc-shaped, and a cleaning strip 26 fixedly connected to the side of the clamping claw 25 near the turntable 6. When the end of the clamping claw 25 is in contact with the navigation light, the cleaning strip 26 is in contact with the outer wall of the navigation light.

[0044] In this embodiment, after the appearance inspection of the navigation light is completed, the turntable 6 stops rotating, the drive motor 18 drives the drive gear 20 to rotate, thereby driving the first end face gear ring 17 to rotate along the turntable 6, thereby driving the adjusting gear 16 to rotate, and driving the clamping claw 25 to move towards the side of the navigation light through the screw 14 until the cleaning strip 26 is in contact with the outer wall of the navigation light. Then the turntable 6 is driven to rotate again, so that the stains on the outer wall of the navigation light can be cleaned to ensure the effectiveness of the navigation light.

[0045] Reference Figure 2 , Figure 3 , Figure 5 and Figure 6 The disassembly and assembly mechanism includes a fixed plate 27 fixedly connected to the side of the clamping claw 25 away from the turntable 6. Two sets of seals 28 are fixedly connected to the bottom of the fixed plate 27. A reversing gear 32 and a linkage gear 33 are rotatably connected to the seals 28. A positioning plate 34 is fixedly connected to the side of the clamping claw 25 away from the turntable 6. An elastic telescopic rod 35 is fixedly connected to the positioning plate 34. A second end face toothed ring 36 that meshes with the linkage gear 33 is fixedly connected to the elastic telescopic rod 35. The reversing component is provided inside the seal 28. The hydraulic seat 9 is connected to the two sets of seals 28 through a pipe and a slip ring. A bolt screwdriver 37 is fixedly connected to the side of the elastic telescopic rod 35 away from the turntable 6. At one end of the linkage gear 33, the reversing assembly includes a first spring 29 fixedly connected within the seal 28. The bottom end of the first spring 29 is fixedly connected to a sealing block 30 that is slidably connected to the seal 28. A toothed plate 31 is fixedly connected to the side of the sealing block 30 away from the first spring 29. The toothed plate 31 meshes with the reversing gear 32. Pneumatic valves are provided on both sets of seals 28. A hydraulic rod 24 is fixedly connected to the slide rail 11. The hydraulic rod 24 and the pneumatic valves are connected by a pipe. When the hydraulic rod 24 is in a compressed state, one set of pneumatic valves is in an open state. When the hydraulic rod 24 is in an extended state, the other set of pneumatic valves is in an open state.

[0046] In this embodiment, when inspecting the appearance of a navigation light, if the navigation light malfunctions or is damaged and needs to be replaced, the clamping claw 25 is first moved to the outer wall of the navigation light. At this time, the pressure between the clamping claw 25 and the outer wall of the navigation light is small, that is, the hydraulic rod 24 is in an extended state. When the drive turntable 6 moves downward, the navigation light will squeeze the hydraulic seat 9 and squeeze the hydraulic oil in the hydraulic seat 9 into one of the sets of seals 28. Through the sealing block 30, the toothed plate 31 extends outward, driving the reversing gear 32 to rotate, thereby driving the linkage gear 33 to rotate. Then, through the second end face toothed ring 36 and the elastic telescopic rod 35, the bolt screwdriver 37 is driven to rotate in the disassembly direction of the fixing bolt, thereby disassembling the fixing bolt of the navigation light. It should be explained that the bolt screwdriver 37 is magnetic and can disassemble the fixing bolt of the navigation light. When the fixing bolts are attracted and a new navigation light is installed, the navigation light is clamped by the clamping claws 25. At this time, the pressure between the clamping claws 25 and the navigation light is greater than the pressure during disassembly. The hydraulic rod 24 is in a compressed state. When the navigation light moves downward, it squeezes the hydraulic seat 9, which delivers the hydraulic oil in the hydraulic seat 9 to another set of seals 28, thereby driving the reversing gear 32 to rotate in the opposite direction. (It should be explained that since the positional deviation between the clamping claws 25 and the disassembly is smaller, it will not affect the installation of the fixing bolts. In addition, the side of the clamping claws 25 near the navigation light is made of elastic material, which can avoid damage to the outer wall of the navigation light. When the downward pressure on the navigation light reaches the threshold, it will cause the navigation light to move upward along the clamping claws 25, thus completing the replacement of the new navigation light.)

[0047] Reference Figure 1 It also includes a rotating seat 2 rotatably connected to the base 1, a fixed arm 3 rotatably connected to the rotating seat 2, a first telescopic arm 4 rotatably connected to the end of the fixed arm 3 away from the rotating seat 2, a second telescopic arm 5 rotatably connected to the end of the first telescopic arm 4 away from the fixed arm 3, and a positioning arm 7 rotatably connected to the fixed arm 3, a positioning gripper 8 rotatably connected to the end of the positioning arm 7 away from the fixed arm 3, for positioning buoys at sea.

[0048] In this embodiment, the rotating base 2, fixed arm 3, first telescopic arm 4, second telescopic arm 5, positioning arm 7, and positioning gripper 8 are all electrically driven. The specific structure can be referred to in the technical solutions in the prior art, which will be known to those skilled in the art and will not be described in detail here. The rotating base 6 is used to adjust the position and angle of the turntable 6 so that the turntable 6 and the navigation light are in a perpendicular state when the navigation light is maintained. Then, by adjusting the angle and length of the positioning arm 7, and through the positioning gripper 8, the buoy can be flexibly fixed so that the fluctuation amplitude of the buoy is close to the fluctuation amplitude of the ship, that is, to ensure the relative static state between the equipment and the navigation light, so as to avoid the impact of the wave fluctuation on the maintenance of the navigation light.

[0049] Example 2:

[0050] Similar to Example 1, an adaptive operation method for a ship-based intelligent maintenance robot for maritime navigation aids is proposed, including the following steps:

[0051] Step 1: Adjust the equipment on the vessel to extend it to the buoy's navigation light;

[0052] Step 2: Simultaneously position the buoy so that its fluctuation amplitude is synchronized with the ship's fluctuation amplitude;

[0053] Active wave compensation technology is used, which employs high-precision sensors (such as accelerometers and gyroscopes) to monitor the three-dimensional motion (roll, pitch, and heave) of the ship and buoy in real time. Combined with low-latency sea heave measurement methods and advanced compensation algorithms, the ship's attitude or connection settings are adjusted in real time through hydraulic or electric drive mechanisms to keep the maintenance equipment and buoy relatively stationary.

[0054] Step 3: First, conduct a thorough inspection of the appearance of the navigation light. If there is a lot of dust or other dirt on the surface of the navigation light, clean it.

[0055] Step 4: If the navigation light needs to be replaced, clamp the navigation light with the equipment and remove the bolts on the navigation light at the same time;

[0056] Step 5: If a navigation light needs to be installed, release the navigation light to the designated position using the equipment, and then fix the navigation light to the buoy using bolts.

[0057] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A ship-based intelligent maintenance robot for maritime navigation aids, comprising a base (1) and a second telescopic arm (5), characterized in that, Also includes: A turntable (6) is rotatably connected to the end of the second telescopic arm (5). A drive motor (18) is fixedly connected to the turntable (6), and a rotating shaft (19) is fixedly connected to the output end of the drive motor (18). A rotating mechanism is provided between the second telescopic arm (5) and the rotating shaft (19) to drive the turntable (6) to rotate along the second telescopic arm (5); The slide rail (11) is evenly and fixedly connected to the turntable (6), and the slide rail (11) is provided with a clamping claw (25) on the side away from the second telescopic arm (5). A clamping mechanism is provided between the slide rail (11) and the rotating shaft (19) for driving the clamping claw (25) to move along the slide rail (11); The detection probe (10) is fixedly connected to the turntable (6) and is used to detect the appearance of the navigation light and the position of the fixing bolts; The hydraulic base (9) is fixedly connected to the turntable (6) on the side away from the second telescopic arm (5); The disassembly and assembly mechanism is set on the outer wall of the clamping claw (25). The disassembly and assembly mechanism is equipped with a bolt screwdriver (37). When the flight light presses the hydraulic seat (9), the bolt screwdriver (37) is driven to rotate in the direction of bolt installation or disassembly according to the position of the clamping claw (25). The rotating mechanism includes a connecting seat (21) fixedly connected to the rotating shaft (19), a driving bevel gear (22) rotatably connected to the connecting seat (21), a fixed bevel gear (23) meshing with the driving bevel gear (22) fixedly connected to the second telescopic arm (5), and a control component is provided between the connecting seat (21) and the driving bevel gear (22) for controlling the rotation of the turntable (6); The clamping mechanism includes a limiting rod (12) fixedly connected in the slide rail (11), a slider (13) slidably connected to the slide rail (11) on the limiting rod (12), a threaded block (15) fixedly connected to the slider (13), a screw (14) rotatably connected to the slide rail (11) and threadedly connected to the threaded block (15), an adjusting gear (16) fixedly connected to one end of the screw (14) near the turntable (6), a first end face toothed ring (17) rotatably connected to the turntable (6) and meshing with the adjusting gear (16), and a drive gear (20) fixedly connected to the rotating shaft (19) and meshing with the first end face toothed ring (17). The disassembly and assembly mechanism includes a fixed plate (27) fixedly connected to the side of the clamping claw (25) away from the turntable (6). Two sets of seals (28) are fixedly connected to the bottom of the fixed plate (27). A reversing gear (32) and a linkage gear (33) are rotatably connected to the seals (28). A positioning plate (34) is fixedly connected to the side of the clamping claw (25) away from the turntable (6). An elastic telescopic rod (35) is fixedly connected to the positioning plate (34). A second end face toothed ring (36) that meshes with the linkage gear (33) is fixedly connected to the elastic telescopic rod (35). The sealing element (28) is provided with a reversing component inside. The hydraulic seat (9) is connected to the two sets of sealing elements (28) through a pipe and a slip ring. The bolt screwdriver (37) is fixedly connected to the end of the elastic telescopic rod (35) away from the linkage gear (33). The reversing assembly includes a first spring (29) fixedly connected within a seal (28), a sealing block (30) slidably connected to the bottom end of the first spring (29) and a toothed plate (31) fixedly connected to the side of the sealing block (30) away from the first spring (29), the toothed plate (31) meshing with a reversing gear (32). Among them, pneumatic valves are provided on both sets of seals (28), and hydraulic rods (24) are fixedly connected on the slide rail (11). The hydraulic rods (24) and the pneumatic valves are connected by pipes. When the hydraulic rods (24) are in a compressed state, one set of pneumatic valves is in an open state, and when the hydraulic rods (24) are in an extended state, the other set of pneumatic valves is in an open state.

2. The intelligent marine navigation mark maintenance robot based on ships according to claim 1, characterized in that, The control component includes a mounting cavity (221) on the side of the drive bevel gear (22) near the connecting seat (21). Multiple sets of electromagnetic blocks (222) are uniformly fixedly connected to the side of the mounting cavity (221) near the connecting seat (21). A positioning rod (223) is fixedly connected to the side of the electromagnetic block (222) away from the connecting seat (21). A locking block (224) is fixedly connected to the end of the positioning rod (223) away from the electromagnetic block (222). A second spring (225) sleeved on the positioning rod (223) is fixedly connected between the locking block (224) and the electromagnetic block (222). A locking hole (226) matching the locking block (224) is opened on the side of the drive bevel gear (222) near the mounting cavity (221). The electromagnetic block (222) is electrically connected to the detection probe (10) via an electric slip ring. When the electromagnetic block (222) is energized, the electromagnetic block (222) exhibits magnetism, and the electromagnetic block (222) and the locking block (224) have the same magnetism on the side that are close to each other.

3. The intelligent marine navigation mark maintenance robot based on ships according to claim 2, characterized in that, The clamping claw (25) is fixedly connected to the bottom of the slider (13). The end of the clamping claw (25) away from the slider (13) is arc-shaped. A cleaning strip (26) is fixedly connected to the side of the clamping claw (25) near the turntable (6). When the end of the clamping claw (25) is in contact with the navigation light, the cleaning strip (26) is in contact with the outer wall of the navigation light.

4. The intelligent marine navigation mark maintenance robot based on ships according to claim 3, characterized in that, It also includes a rotating seat (2) rotatably connected to the base (1), a fixed arm (3) rotatably connected to the rotating seat (2), a first telescopic arm (4) rotatably connected to the end of the fixed arm (3) away from the rotating seat (2), and a second telescopic arm (5) rotatably connected to the end of the first telescopic arm (4) away from the fixed arm (3).

5. The intelligent marine navigation mark maintenance robot based on ships according to claim 4, characterized in that, It also includes a positioning arm (7) rotatably connected to the fixed arm (3), with a positioning gripper (8) rotatably connected to one end of the positioning arm (7) away from the fixed arm (3) for positioning the buoy at sea.

6. An adaptive operation method for a ship-based intelligent maintenance robot for maritime navigation aids, employing the ship-based intelligent maintenance robot for maritime navigation aids as described in any one of claims 1-5, characterized in that, Includes the following steps: Step 1: Adjust the equipment on the vessel to extend it to the buoy's navigation light; Step 2: Simultaneously position the buoy so that its fluctuation amplitude is synchronized with the ship's fluctuation amplitude; Step 3: First, conduct a thorough inspection of the appearance of the navigation light. If there is a lot of dust or other dirt on the surface of the navigation light, clean it. Step 4: If the navigation light needs to be replaced, clamp the navigation light with the equipment and remove the bolts on the navigation light at the same time; Step 5: If a navigation light needs to be installed, release the navigation light to the designated position using the equipment, and then fix the navigation light to the buoy using bolts.

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