Hull hard organism cleaning robot

Abstract

The invention relates to a hull hard organism cleaning robot. Comprising a cleaning mechanism and a polishing mechanism, the cleaning mechanism comprises a cleaning roller driven by a cleaning motor to rotate, a cleaning unit is arranged on the peripheral surface of the cleaning roller in the radial direction, the cleaning unit comprises a cleaning plate with the length extending in the axis direction of the cleaning roller, and a mounting groove is formed in the side, facing hard organisms, of the cleaning plate; a nail plate which reciprocates in the direction perpendicular to the plate surface of the cleaning plate is assembled in the mounting groove in a guiding and sliding mode, a plurality of impact nails are evenly distributed on the nail plate in the axis direction of the cleaning roller, a spring which is provided for the nail plate to retract into the mounting groove is arranged in the mounting groove, and a cam mechanism driven by a cam motor is arranged in the mounting groove; the cam has an energy storage stroke for pushing the nail plate to retract into the mounting groove and enabling the spring to store energy in the rotating process, and a release stroke for instantly releasing the nail plate to be separated from the nail plate. The problem that hard organisms attached to a ship body are difficult to clean is solved.

Description

Technical Field

[0001] The invention relates to a robot for cleaning hard organisms on a hull. Background Art

[0002] Hard organisms, such as barnacles (which account for 40%-60% of the total weight of attachments), oysters, and mussels, adhere firmly to the outer surface of a ship by secreting a colloid. These attachments significantly increase navigational resistance, not due to their weight, but rather because they damage the smoothness and streamlined design of the hull, increasing water resistance and increasing fuel consumption by 20-40%. Even more dangerous is the acidic colloid secreted by barnacles, which corrodes the hull. Long-term attachment can accelerate corrosion of the hull's metal or coatings, shortening the ship's lifespan.

[0003] Traditional methods include manual cleaning, robotic cleaning, high-pressure water jet cleaning, etc., each of which has its own advantages and disadvantages. Robotic cleaning has the characteristics of low cost and can be done without the ship leaving the water. It has the advantages of intelligence and unmanned operation, and is the direction of future development. However, robotic cleaning is currently only suitable for cleaning regulatory films, organic molecules, primary colonizers, bacteria, diatoms, secondary colonizers, algae spores, etc. with low adhesion in marine pollution, while it is difficult to clean hard organisms that colonize in the later stage because the existing robot's roller brush cannot overcome the force of hard life adhering to the hull. For example, the colloid secreted by barnacles will adhere to the surface of the hull, and traditional roller brushes cannot lift it from the hull and clean it off. Summary of the Invention

[0004] The purpose of the present invention is to provide a ship hull hard organism cleaning robot to solve the technical problem that hard organisms attached to the ship hull are difficult to clean.

[0005] The technical solution of the present invention is as follows: A ship hull hard biological cleaning robot comprises: ontology; A traveling mechanism is installed on the main body to drive the main body to move along the outer surface of the hull; The cleaning mechanism is installed on the body and includes a cleaning roller driven to rotate by a cleaning motor. A cleaning unit is radially arranged on the outer peripheral surface of the cleaning roller. The cleaning unit includes a cleaning plate whose length extends along the axial direction of the cleaning roller. A mounting groove is provided on the side of the cleaning plate facing the hard organisms. A nail plate that moves back and forth along the plate surface direction perpendicular to the cleaning plate is installed in the guide sliding in the mounting groove. A plurality of impact nails are evenly distributed on the nail plate along the axial direction of the cleaning roller. A spring that provides a direction for the nail plate to retract into the mounting groove is provided in the mounting groove. A cam mechanism driven by a cam motor is provided in the mounting groove. The cam of the cam mechanism can contact the outer surface of the nail plate. During the rotation of the cam, there is an energy storage stroke for pushing the nail plate to retract into the mounting groove and storing energy in the spring, and a release stroke for instantly releasing the nail plate to disengage from the nail plate. The grinding mechanism is installed on the main body and is located behind the cleaning mechanism in the moving direction, and is used for grinding the outer surface of the hull after cleaning by the cleaning mechanism.

[0006] On the basis of the above scheme, further improvements are made as follows: the main body includes a controller, and a limit switch is installed on the side of the cleaning plate away from the cleaning roller; the controller is connected to the limit switch and the cam motor of the cleaning unit, and when the limit switch is triggered, the cam motor is controlled to put the cam in the release stroke, so that the nail plate carries the impact nail to impact the hard organisms on the hull.

[0007] On the basis of the above scheme, further improvements are made as follows: the grinding mechanism includes a grinding drum having the same length as the cleaning drum, a grinding sleeve is provided on the outer circumference of the grinding drum, and the rotation speed of the grinding drum is greater than the rotation speed of the cleaning drum.

[0008] On the basis of the above solution, a further improvement is made as follows: the running wheels of the running mechanism are made of permanent magnet material so as to be adsorbed on the outer surface of the hull by magnetic force.

[0009] On the basis of the above solution, a further improvement is made as follows: a guide surface cooperating with the nail plate guide is provided in the installation groove.

[0010] On the basis of the above solution, a further improvement is made as follows: a guide nail hole is provided on the cleaning plate corresponding to each impact nail, and the impact nail and the guide nail hole are in guiding sliding cooperation.

[0011] Based on the above solution, a further improvement is provided as follows: the spring is a tension spring that is sleeved onto the impact nail, with one end of the tension spring connected to the nail plate and the other end connected to the edge of the guide nail hole. The tension spring can be easily sleeved onto the impact nail, so that the impact nail serves as a guide for the tension spring, eliminating the need for a spring guide structure.

[0012] On the basis of the above scheme, a further improvement is made as follows: a scraper portion is vertically provided on the side of the cleaning plate away from the cleaning drum, and the scraper portion extends toward the side facing the hard organisms to assist in removing the hard organisms on the outer surface of the hull.

[0013] On the basis of the above solution, further improvement is made as follows: a plurality of water-passing holes penetrating the cleaning plate are provided in the installation groove to reduce the resistance of the cleaning plate to rotation.

[0014] The beneficial effects of this technical solution are as follows: when a hull hard organism cleaning robot is in use, the main body relies on a walking mechanism to walk along the outer surface of the hull and moves toward the hard organisms that need to be cleaned, for example, by magnetic attraction to ensure that it fits the outer surface of the hull. After the cleaning mechanism is started, the cleaning motor drives the cleaning drum to rotate. When the cleaning unit on the cleaning drum rotates to contact the outer surface of the hull, the cam is driven by the cam motor to switch from the energy storage stroke to the release stroke, and the spring that has stored energy in advance is instantly released. The nail plate drives the impact nail to move at high speed, so that the impact nail impacts the hard organisms in front. The hard organisms are either knocked off or pierced through the shell. As the cleaning drum rotates, the impact nail is driven to The impact nail continues to rotate, thereby pulling the pierced hard organisms off the hull. Subsequently, as the cleaning drum continues to rotate, the cam continues to be driven by the cam motor to rotate. After the cam is released from the nail plate, it continues to push the nail plate to move in the direction of the retracted mounting slot, so that the spring continues to store energy to prepare for the next impact, and while retracting, the hard organisms on the impact nail will be scraped off by the cleaning plate to prevent too many hard organisms from accumulating on the impact nail; at the same time, other cleaning units in contact with the hull also adopt the same operation method; after the cleaning unit has been cleaning for a period of time, the walking mechanism advances a short distance, and the following grinding mechanism can grind the residues left by the cleaning mechanism smooth. It can be seen that the technical solution of the present application can mainly achieve effective cleaning of stubborn hard organisms adhered to the hull, using the spring to store energy and then release it instantly, so that the impact nail can impact the hard organisms at high speed, so as to flush out the hard organisms or puncture them and then pull them off. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic structural diagram of a specific embodiment of a ship hull hard biological cleaning robot according to the present invention; Figure 2 for Figure 1 A partial enlarged view of point A in the middle; Figure 3 It is a structural diagram of the spring after storing energy and about to release it; Figure 4 This is the main view of the cleaning unit; In the figure: 1-hull, 2-main body, 3-traveling mechanism, 4-cleaning mechanism, 41-cleaning roller, 42-cleaning unit, 421-cleaning plate, 4211-mounting groove, 4212-guide nail hole, 4213-shovel part, 4214-water perforation, 422-nail plate, 4221-matching plate, 423-impact nail, 424-spring, 425-cam mechanism, 4251-cam, 4252-camshaft, 4253-cam motor, 426-travel switch, 427-bearing, 5-grinding mechanism, 51-grinding roller, 52-grinding sleeve, 6-hard organism. DETAILED DESCRIPTION

[0016] In order to make the objectives, technical solutions, and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present invention and are not intended to limit the present invention. That is, the embodiments described herein are only some embodiments of the present invention, not all embodiments. Generally, the components of the embodiments of the present invention described and illustrated in the drawings herein may be arranged and designed in various different configurations.

[0017] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but is merely intended to represent selected embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative work are within the scope of protection of the present invention.

[0018] It should be noted that relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.

[0019] The features and performance of the present invention are further described in detail below with reference to the embodiments.

[0020] A specific embodiment of a ship hull hard biological cleaning robot of the present invention is as follows: Figure 1-4As shown, the hull hard organism cleaning robot of this embodiment includes a body 2, a running mechanism 3, a cleaning mechanism 4, and a grinding mechanism 5. The structures of the body 2 and running mechanism 3 are prior art, and reference can be made to the patent application number JP2024173303. The body 2 includes a frame and a waterproof chamber, in which a power module, a controller, and a communication module are installed. The running mechanism 3 includes a running motor, a transmission mechanism, and running wheels. The running wheels are made of permanent magnets to facilitate adsorption to the hull 1. At least eight sets of running wheels are provided to increase the adsorption force with the ship. The running mechanism 3 is controlled by a controller as a whole to move along the outer surface of the hull 1. However, its movement must be linked to the cleaning mechanism 4 and the grinding mechanism 5, and can be moved in a step-by-step manner to ensure sufficient time to clean the hard organisms 6.

[0021] like Figure 1-3 As shown, as the main improvement point of the present application, the cleaning mechanism 4 is installed on the main body 2, including a cleaning roller 41 driven to rotate by a cleaning motor, and the outer peripheral surface of the cleaning roller 41 is radially provided with a cleaning unit 42. In this embodiment, 6 cleaning units 42 are provided, and are evenly distributed along the circumferential direction. The cleaning unit 42 includes a cleaning plate 421 whose length extends along the axial direction of the cleaning roller 41. The length of the cleaning plate 421 is basically the same as the length of the cleaning roller 41. The material of the cleaning plate 421 is preferably stainless steel. A mounting groove 4211 is provided on the side of the cleaning plate 421 facing the hard organism 6. The mounting groove 4211 is used to install the nail plate 422 and the cam mechanism 425 on the one hand, and mainly provides an avoidance space for the rotation of the cam 4251 on the other hand. The guide slide in the mounting groove 4211 is equipped with a nail plate 422 that moves back and forth along the plate surface direction perpendicular to the cleaning plate 421. The length of the nail plate 422 is substantially the same as the length of the mounting groove 4211. A plurality of impact nails 423 are evenly distributed on the nail plate 422 along the axis direction of the cleaning roller 41. The impact nails 423 are made of high-strength tool steel, and the nail plate 422 can be made of stainless steel. The mounting groove 4211 is provided with a spring 424 that provides the nail plate 422 with a direction of retracting into the mounting groove 4211. The spring 424 is a high-strength tension spring made of high-strength steel. Three matching plates 4221 are provided along the length direction of the nail plate 422 to cooperate with three corresponding cams to achieve the purpose of driving the nail plate 422 by the cam. The three matching plates 4221 extend downward in a manner perpendicular to the nail plate. The mounting groove 4211 is provided with a cam mechanism 425 driven by a cam motor 4253, such as Figure 4 As shown, in this embodiment, the cam mechanism 425 consists of a cam motor 4253, a cam shaft 4252 and three cams 4251 driven synchronously by the cam shaft 4252. The cam 4251 is in the shape of an arc-shaped strip structure with a weight-reducing hole provided inside. The outer peripheral surface of the cam 4251 is provided with multiple arc surfaces. The cam of the cam mechanism 425 can contact the outer surface of the nail plate 422, as shown in FIG. Figure 2 、3 As shown, during the rotation process of the cam, there is an energy storage stroke for pushing the nail plate 422 to retract the installation groove 4211 and allowing the spring 424 to store energy, and a release stroke for instantly releasing the nail plate 422 to break away from the nail plate 422.

[0022] like Figure 1 As shown, the grinding mechanism 5 is mounted on the body 2 and is located behind the cleaning mechanism 4 in the direction of movement. It is used to grind the outer surface of the hull 1 after cleaning by the cleaning mechanism 4. The grinding mechanism 5 includes a grinding drum 51 having the same length as the cleaning drum 41. The outer circumference of the grinding drum 51 is provided with a grinding sleeve 52. The grinding sleeve 52 is made of resin-bonded black silicon carbide sand. The rotation speed of the grinding drum 51 is greater than that of the cleaning drum 41 to improve the grinding efficiency.

[0023] The main body 2 includes a controller, such as Figure 2 As shown, a limit switch 426 is installed on the side of the cleaning plate 421 away from the cleaning roller 41; the controller is connected to the limit switch 426 and the cam motor 4253 of the cleaning unit 42. When the limit switch 426 is triggered, the cam motor 4253 is controlled to put the cam in the release stroke, so that the nail plate 422 carries the impact nail 423 to impact the hard organisms 6 on the hull 1.

[0024] The mounting groove 4211 is provided with a guide surface for guiding and cooperating with the nail plate 422, and is used to guide and slide with the upper surface and side surfaces of the nail plate 422. The cleaning plate 421 is provided with a guide nail hole 4212 corresponding to each impact nail 423, and the impact nail 423 is guided and slidably engaged with the guide nail hole 4212. The spring 424 is a tension spring that is mounted on the impact nail 423, with one end of the tension spring connected to the nail plate 422 and the other end connected to the edge of the guide nail hole 4212. The tension spring can be easily mounted on the impact nail 423, so that the impact nail 423 can be used to guide the tension spring, eliminating the need for a guide structure for the spring 424. A scraper portion 4213 is vertically provided on the side of the cleaning plate 421 away from the cleaning drum 41. The scraper portion 4213 extends toward the side facing the hard organisms 6 to assist in removing the hard organisms 6 from the outer surface of the hull 1. A plurality of water-passing holes 4214 are defined in the mounting groove 4211 and penetrate the cleaning plate 421 to reduce the resistance to the rotation of the cleaning plate 421 .

[0025] When in use, the main body 2 relies on the walking mechanism 3 to walk along the outer surface of the hull 1 and moves towards the hard organisms 6 that need to be cleaned, for example, by ensuring that it fits the outer surface of the hull 1 by magnetic attraction. After the cleaning mechanism 4 is started, the cleaning motor drives the cleaning drum 41 to rotate. When the cleaning unit 42 on the cleaning drum 41 rotates to contact the outer surface of the hull 1, the cam motor 4253 drives the cam to switch from the energy storage stroke to the release stroke, and the spring 424 that has stored energy in advance is released instantly. The nail plate 422 drives the impact nail 423 to move at a high speed, so that the impact nail 423 impacts the hard organism 6 in front. The hard organism 6 is either knocked off or pierced through the shell. As the cleaning drum 41 rotates, the impact nail 423 is driven to continue to rotate, thereby The hard organisms 6 are pulled off the hull 1. Subsequently, as the cleaning drum 41 continues to rotate, the cam is also driven by the cam motor 4253 to rotate. After the cam is released from the nail plate 422, it continues to push the nail plate 422 to move in the direction of the retracted mounting slot 4211, so that the spring 424 continues to store energy to prepare for the next impact. At the same time, the hard organisms 6 on the impact nail 423 will be scraped off by the cleaning plate 421 to prevent too many hard organisms 6 from accumulating on the impact nail 423. At the same time, other cleaning units 42 in contact with the hull 1 also adopt the same operation method. After the cleaning unit 42 has been cleaning for a period of time, the walking mechanism 3 advances a short distance, and the grinding mechanism 5 that follows can grind the residue left by the cleaning mechanism 4. It can be seen that the technical solution of the present application can mainly achieve effective cleaning of stubborn hard organisms 6 adhered to the hull 1, using the spring 424 to store energy and then release it instantly so that the impact nail 423 can impact the hard organisms 6 at high speed to flush or puncture the hard organisms 6 and then pull them off.

[0026] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. The scope of patent protection of the present invention shall be based on the claims. Any equivalent structural changes made using the description and drawings of the present invention shall be included in the scope of protection of the present invention.

Claims

1. A robot for cleaning hard biological surfaces from a ship, comprising: ontology; A traveling mechanism is installed on the main body to drive the main body to move along the outer surface of the hull; It is characterized by further comprising: The cleaning mechanism is installed on the body and includes a cleaning roller driven to rotate by a cleaning motor. A cleaning unit is radially arranged on the outer peripheral surface of the cleaning roller. The cleaning unit includes a cleaning plate whose length extends along the axial direction of the cleaning roller. A mounting groove is provided on the side of the cleaning plate facing the hard organisms. A nail plate that moves back and forth along the plate surface direction perpendicular to the cleaning plate is installed in the guide sliding in the mounting groove. A plurality of impact nails are evenly distributed on the nail plate along the axial direction of the cleaning roller. A spring that provides a direction for the nail plate to retract into the mounting groove is provided in the mounting groove. A cam mechanism driven by a cam motor is provided in the mounting groove. The cam of the cam mechanism can contact the outer surface of the nail plate. During the rotation of the cam, there is an energy storage stroke for pushing the nail plate to retract into the mounting groove and storing energy in the spring, and a release stroke for instantly releasing the nail plate to disengage from the nail plate. The grinding mechanism is installed on the main body and is located behind the cleaning mechanism in the moving direction, and is used for grinding the outer surface of the hull after cleaning by the cleaning mechanism.

2. A ship hull hard biological cleaning robot according to claim 1, characterized in that: The main body includes a controller, and a travel switch is installed on the side of the cleaning plate away from the cleaning roller; the controller is connected to the travel switch and cam motor of the cleaning unit. When the travel switch is triggered, the cam motor is controlled to put the cam in the release stroke, so that the nail plate carries the impact nail to impact the hard organisms on the hull.

3. A ship hull hard biological cleaning robot according to claim 1, characterized in that: The grinding mechanism comprises a grinding drum with a length consistent with that of the cleaning drum, a grinding sleeve is arranged on the outer circumference of the grinding drum, and the rotation speed of the grinding drum is greater than that of the cleaning drum.

4. The ship hull hard biological cleaning robot according to claim 1, characterized in that: The running wheels of the running mechanism are made of permanent magnet material so as to be adsorbed on the outer surface of the hull through magnetic force.

5. The ship hull hard biological cleaning robot according to claim 1, characterized in that: A guide surface that cooperates with the nail plate guide is provided in the installation groove.

6. The ship hull hard biological cleaning robot according to claim 1, characterized in that: The cleaning plate is provided with guide nail holes corresponding to the impact nails one by one, and the impact nails are guided and slidably matched with the guide nail holes.

7. The ship hull hard biological cleaning robot according to claim 6, characterized in that: The spring is a tension spring sleeved on the impact nail, one end of the tension spring is connected to the nail plate, and the other end is connected to the hole edge of the guide nail hole.

8. The ship hull hard biological cleaning robot according to claim 1, characterized in that: A scraper portion is vertically provided on one side of the cleaning plate away from the cleaning drum, and the scraper portion extends toward the side facing the hard organisms.

9. The ship hull hard biological cleaning robot according to claim 1, characterized in that: A plurality of water-passing holes penetrating the cleaning plate are arranged in the installation groove.

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