Ship bottom rust removal robot

Abstract

The invention relates to a ship bottom rust removal robot. A cleaner of the ship bottom rust removal robot comprises a cleaning frame; the first floating ring and the two second floating rings are elastically mounted on the cleaning frame in a floating manner; the cleaning ring is coaxially mounted on the first floating ring, and a plurality of scraper knives are fixedly connected to the cleaning ring; when the universal rollers are in contact with the wall surface of the ship bottom, the cutting edge of the shovel blade is elastically pressed on the wall surface of the ship bottom; the polishing rings are coaxially mounted on the second floating ring, the polishing rings are located on the side, opposite to the advancing direction of the cleaning frame, of the cleaning ring, and the cleaning ring and the two polishing rings are arranged in the shape of a Chinese character'pin '; the driving device is used for driving the cleaning ring and the two polishing rings to rotate; a water outlet of the high-pressure water gun is positioned in the hollow part of the cleaning ring; an air outlet of the drying blower gun is positioned in the hollow part of the polishing ring. According to the device, attachment cleaning, rust removal, polishing and re-rust prevention operation can be conducted at the same time, and the cleaning ring and the polishing ring conduct self-adaptive floating overturning on the cleaning frame, so that the curved surface of the ship bottom wall surface can be better attached, and damage to the ship bottom wall surface is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of ship maintenance equipment, and in particular to a ship bottom rust removal robot. Background Art

[0002] Ships are a general term for all types of vessels, meaning they are vehicles that can sail or anchor in water for transportation or operations. Docking refers to the repair work performed in a dock on the hull structure below the waterline, propulsion systems, and other components or equipment that cannot be repaired while afloat. Rust removal is a crucial step during docking, and with the increasing displacement of ships, conventional manual rust removal is no longer sufficient. The introduction of robotic rust removal can significantly improve both efficiency and the quality of rust removal.

[0003] For example, in the related art, the Chinese patent application with application number CN201910972152.0 proposes a ship bottom rust removal robot, which includes a vehicle chassis, a crawler-type walking mechanism, a working arm assembly, etc. The working arm assembly includes a relatively retractable large arm and a telescopic arm, a rotating arm, a cleaning arm and a cleaner and corresponding multiple cylinders. The hydraulic control mechanism includes a two-position four-way electromagnetic reversing valve, a two-position four-way electromagnetic unloading valve, and a three-position four-way electromagnetic reversing valve respectively matched with each cylinder of the working arm assembly. The working arm assembly can very conveniently adjust and control each cylinder through the hydraulic control mechanism to achieve adjustment of the height and angle of the cleaner, and the posture remains relatively stable. In conjunction with the corresponding hydraulic system, walking system and wireless remote control system, it can move freely in a limited space.

[0004] However, after a ship has been at sea for a certain period of time, not only will rust appear on its bottom due to corrosion from seawater salt, but it will also become covered with a large number of marine organisms such as barnacles. Before rust removal can be carried out, these attachments must also be cleaned. However, the bottom of a ship is generally a curved surface with different curvatures. When cleaning attachments and removing rust simultaneously, it is easy to damage the base of the ship. Based on this, it is necessary to develop a robot that can simultaneously clean attachments and remove rust while minimizing damage to the bottom. Summary of the Invention

[0005] In order to simultaneously clean the attachments on the bottom of the ship and remove rust while reducing damage to the bottom of the ship, the present application provides a ship bottom rust removal robot.

[0006] The present application provides a ship bottom rust removal robot that adopts the following technical solutions: A ship bottom rust removal robot comprises a vehicle chassis, a working arm and a cleaning device, wherein the cleaning device comprises: A cleaning rack, on one side of which背离 the working arm, at least three universal rollers are installed; A first floating ring and two second floating rings are both elastically and floatingly installed on the cleaning rack, and the outer diameter of the first floating ring is greater than that of the second floating ring; A cleaning ring is coaxially installed on the first floating ring, and on one side of it背离 the first floating ring, a plurality of scraper blades are fixedly connected; when the universal rollers contact the bottom wall of the ship, the cutting edges of the scraper blades are elastically pressed against the bottom wall of the ship; A grinding ring is coaxially installed on the second floating ring, and the grinding ring is located on one side of the cleaning ring背离 the advancing direction of the cleaning rack, and the cleaning ring and the two grinding rings are arranged in a "pin" shape; A driving device is used to drive the cleaning ring and the two grinding rings to rotate; A high-pressure water gun is installed on the cleaning rack, and its water outlet is located in the hollow part of the cleaning ring; A drying air gun is installed on the cleaning rack, and its air outlet is located in the hollow part of the grinding ring.

[0007] Furthermore, it further includes: A limiting cylinder is fixedly connected to the cleaning rack, and there are three of them, corresponding to the first floating ring and the two second floating rings one by one; A slip ring is coaxially and fixedly connected to the outer peripheral wall of the arc surface of the first floating ring or the second floating ring, and is in sliding fit with the inner peripheral wall of the limiting cylinder. The side of the slip ring靠近 the limiting cylinder is set as an arc surface; A plurality of elastic components are distributed in a circumferential array at equal intervals between the first floating ring and the cleaning rack and between the second floating ring and the cleaning rack.

[0008] Furthermore, the elastic component includes: A slide bar penetrates through the cleaning rack; A ball sleeve is fixedly connected to the free end of the slide bar; A rolling ball is embedded in the ball sleeve; A floating spring is sleeved outside the slide bar, and its two ends are respectively abutted against the ball sleeve and the cleaning rack.

[0009] Furthermore, on one side of the limiting cylinder背离 the cleaning rack, an annular anti-disengagement baffle is fixedly connected, and the inner diameter of the anti-disengagement baffle is greater than the outer diameter of the first floating ring or the second floating ring; or, annular grooves are opened on the outer peripheral wall of the arc surface of the first floating ring and the second floating ring, the width of the annular groove is more than three times the wall thickness of the anti-disengagement baffle, and the inner circle of the anti-disengagement baffle is embedded in the annular groove and is arranged with a gap from the bottom wall of the annular groove.

[0010] Furthermore, a sealing rubber ring is fixedly connected to the inner peripheral wall of the anti-disengagement baffle extending into the annular groove.

[0011] Furthermore, the driving device includes: A driving disc is rotatably mounted on the cleaning rack, and a power motor is mounted on the cleaning rack for driving the driving disc to rotate; A plurality of drive posts are provided and are distributed in an evenly spaced circular array and fixed to the edge of the drive disk, wherein the drive posts are parallel to the axis of the drive disk; There are multiple transmission columns, which are distributed in a circumferential array with equal spacing and fixed to the outer peripheral wall of the arc surface of the first floating ring or the second floating ring. The gap between two adjacent transmission columns is larger than the outer diameter of the drive column. The transmission columns are arranged radially along the first floating ring or the second floating ring; The driving column and the transmission column are arranged orthogonally, and when the driving disc rotates, the first floating ring and the two second floating rings are driven to rotate simultaneously through multiple driving columns and multiple transmission columns. The length of the driving column is greater than the maximum axial offset stroke of the first floating ring and the second floating ring.

[0012] Furthermore, a triangular pyramid is fixedly connected to the free end of the transmission column on the first floating ring, and the corners of the triangular pyramid are rounded; or, when the transmission column on the first floating ring transmits power to the drive column, the triangular pyramid does not contact the drive column.

[0013] Furthermore, a fixed shaft is fixedly connected to the cleaning rack, a sleeve is sleeved on the fixed shaft, the high-pressure water gun is mounted on the sleeve, a connecting rod is fixedly connected to the side of the sleeve facing away from the grinding ring, and a movable plate corresponding to one end of the plurality of sliding rods extending from the back of the cleaning rack is fixedly connected to the free end of the connecting rod; When the cleaning ring floats axially on the cleaning rack away from the grinding ring, the cleaning ring pushes the corresponding sliding rod to make the synchronous plate drive the sleeve to flip, so that the high-pressure water gun forms a sweeping cleaning synchronously with the floating state of the cleaning ring.

[0014] Furthermore, a torsion spring is sleeved on the fixed shaft, one end of the torsion spring is fixedly connected to the sleeve, and the other end is fixedly connected to the fixed shaft.

[0015] Furthermore, the cleaning rack is provided with a first mounting port and a second mounting port corresponding to the first floating ring and the second floating ring, and a waterproof rubber sleeve is fixedly connected to the inside of the first mounting port of the cleaning rack, and the waterproof rubber sleeve is located between the inner wall of the first floating ring and the high-pressure water gun.

[0016] In summary, the beneficial technical effects of this application are: 1. The driving device simultaneously drives the cleaning ring and two grinding rings to rotate. As the cleaning ring rotates, it uses multiple scrapers on it to remove barnacles and other attachments adhering to the bottom wall of the ship. At the same time, the high-pressure water gun sprays strips of high-pressure jets into the hollow area of ​​the cleaning ring. This can not only remove and clean the residual attachments, but also remove rust by the impact force of the high-pressure jets. In other words, the rust removal robot of the present application can simultaneously clean attachments and remove rust, which can greatly improve the efficiency of ship maintenance operations. 2. When the two grinding wheels rotate, they further grind the rust-removed bottom wall, facilitating subsequent painting and maintenance processes. The compressed air / hot air sprayed by the drying air gun can quickly dry the rust-removed bottom wall, preventing the damp bottom wall from rusting again in a short period of time. The setting of the two second floating rings allows the grinding rings to operate at a higher speed and cover a larger grinding area. Alternatively, different grinding rings can be installed according to different work requirements, and when the cleaning frame moves forward, the working arm controls the cleaning frame to swing forward with the center axis of the cleaning ring as the rotation axis, so as to achieve multiple grinding operations at one time. In other words, the rust removal robot of the present application can also perform grinding and rust prevention operations at the same time. 3. The arrangement of multiple elastic components enables the first and second floating rings to float on the cleaning rack. The rolling balls within the elastic components achieve multi-directional elastic floating of the first and second floating rings without interfering with their rotation in the floating state, ensuring their multi-directional floating rotation. Furthermore, the cleaning and polishing rings can adaptively float and flip under the elastic deformation force of the corresponding multiple floating springs, allowing them to better conform to the curved surface of the ship's bottom wall, ensuring effective cleaning and polishing while minimizing damage to the bottom wall. 4. The slip ring and the sealing rubber ring form the two fulcrums for the floating rotation of the first and second floating rings in the limiting cylinder. The slip ring mainly provides rotational lubrication and floating support. The sealing rubber ring is elastic and can be axially flipped on the inner ring of the anti-slip baffle. It mainly provides active sealing and floating damping. It can reduce unnecessary floating of the first and second floating rings, improve the floating accuracy of the first and second floating rings, and avoid excessive floating of the first and second floating rings due to small curved surfaces or protruding attachments, thereby ensuring the cleaning effect of the cleaning ring and the grinding effect of the grinding ring. 5. Multiple drive columns, leveraging the meshing transmission effect with the multiple transmission columns on the first floating ring and the two second floating rings, can simultaneously drive the first floating ring and the two second floating rings to rotate. Even if the first floating ring and the second floating ring deflect during rotation, the longer drive columns can stably mesh with the gaps between the multiple transmission columns to achieve a floating drive effect. Furthermore, due to the large gaps between adjacent drive columns and adjacent transmission columns, even the splashback of sewage and debris during high-pressure jet flushing will not significantly interfere with the meshing transmission between the drive columns and the transmission columns. Compared to conventional gear meshing and universal joint transmission, this transmission method can be used in harsh environments. 6. By providing a triangular pyramid at the end of the transmission column fixed to the outer peripheral wall of the first floating ring, when the first floating ring is driven by the drive plate, the triangular pyramid first breaks the shell of the harder attachments, thereby reducing the protrusion height of the attachments on the bottom wall of the ship, making it easier for the scraper on the cleaning ring to remove them. This can significantly reduce the probability of excessive vibration of the cleaning ring and ensure the cleaning effect of the cleaning ring; 7. By hingedly connecting the high-pressure water gun to a fixed axis and providing a synchronously movable plate that cooperates with multiple slide bars on the front side of the cleaning rack, the cleaning ring can be made to float axially on the cleaning rack on the side away from the grinding ring. The cleaning ring pushes the corresponding slide bar to cause the synchronously movable plate to drive the sleeve to flip, so that the high-pressure water gun can form a sweeping cleaning synchronized with the floating state of the cleaning ring, reducing the damage to the bottom wall of the ship caused by local long-term high-pressure jet washing. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a side view of the overall structure of an embodiment of the present application; Figure 2 Schematic diagram of the overall structure of the cleaning device according to the embodiment of the present application; Figure 3 This is a top view of the overall structure of the cleaning device according to an embodiment of the present application; Figure 4 is a schematic diagram of a partial cross-sectional structure of a washer according to an embodiment of the present application; Figure 5 yes Figure 4 A partial enlarged schematic diagram of part A; Figure 6 is a schematic structural diagram of an elastic component according to an embodiment of the present application; Figure 7 This is a schematic structural diagram of the transmission column on the first floating ring of an embodiment of the present application; Figure 8 This is a schematic diagram of the overall structure of the cleaner from another perspective of an embodiment of the present application.

[0018] Description of reference numerals: 11. Chassis; 12. Working arm; 13. Cleaner; 2. Cleaning rack; 21. Universal roller; 24. Waterproof rubber sleeve; 31. First floating ring; 32. Second floating ring; 33. Ring groove; 4. Cleaning ring; 41. Shovel; 5. Grinding ring; 61. High-pressure water gun; 62. Drying air gun; 71. Limiting cylinder; 72. Slip ring; 73. Slide rod; 74. Ball sleeve; 75. Rolling ball; 76. Floating spring; 77. Anti-slip baffle; 78. Sealing rubber ring; 781. Edge sealing; 81. Driving disk; 82. Power motor; 83. Driving column; 84. Transmission column; 85. Triangular pyramid; 91. Fixed shaft; 92. Sleeve; 93. Connecting rod; 94. Synchronous plate; 95. Torsion spring. Specific implementation manner

[0019] The technical solution of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art without creative efforts based on the embodiments in the present application belong to the scope of protection of the present application.

[0020] An embodiment of the present application discloses a ship bottom rust removal robot. Refer to Figure 1 , Figure 2 and Figure 3 [[ID=Q16]]It includes a vehicle chassis 11, a working arm 12 and a cleaner 13. The vehicle chassis 11 can be a wheeled or tracked chassis 11. Among them, the connection manners of the vehicle chassis 11, the working arm 12 and the connection between the working arm 12 and the cleaner 13 are all prior arts, which can be completely realized by those skilled in the art and will not be elaborated here.

[0021] The cleaner 13 includes: A cleaning frame 2, on the side背离 the working arm 12 of which at least three universal rollers 21 are installed.

[0022] A first floating ring 31 and two second floating rings 32, both of which are elastically and floatingly installed on the cleaning frame 2, and the outer diameter of the first floating ring 31 is greater than the outer diameter of the second floating ring 32; a first installation opening and a second installation opening corresponding to the first floating ring 31 and the second floating ring 32 are opened on the cleaning frame 2.

[0023] A cleaning ring 4, which is a disk-shaped with a hollow middle and is coaxially installed on the first floating ring 31, and on the side背离 the first floating ring 31 of which a plurality of scraping blades 41 are fixedly connected; when the universal rollers 21 contact the ship bottom wall surface, the cutting edges of the scraping blades 41 are elastically pressed against the ship bottom wall surface.

[0024] A grinding ring 5, which is a disk-shaped with a hollow middle and is coaxially installed on the second floating ring 32, and the grinding ring 5 is located on the side背离 the traveling direction of the cleaning frame 2 of the cleaning ring 4. The cleaning ring 4 and the two grinding rings 5 are arranged in a "pin" shape, and the cleaning ring 4 is bolted and installed on the first floating ring 31, and the grinding ring 5 is bolted and installed on the second floating ring 32 for convenient replacement according to the operation requirements.

[0025] A driving device for driving the cleaning ring 4 and the two grinding rings 5 to rotate simultaneously, and the rotation speed of the grinding ring 5 is higher than the rotation speed of the cleaning ring 4.

[0026] It should be noted that in the translation of "其背离工作臂12的一侧安装有至少三个万向滚轮21." in line 21, "背离" is translated as "背离", which is a more literal translation. A more common expression could be "on the side facing away from the working arm 12". Also, in line 27, "其背离第一浮环31的一侧固接有多个铲刀41" has a similar issue with "背离". These translations are made to closely follow the original text while still being understandable in the context of a patent translation.The high-pressure water gun 61 is installed on the cleaning rack 2, and its water outlet is located in the hollow part of the cleaning ring 4. Its water outlet direction is straight or obliquely directed to the bottom wall of the ship, and the strip-shaped high-pressure jets it sprays are arranged radially along the cleaning ring 4.

[0027] The drying air gun 62 is installed on the cleaning rack 2, and its air outlet is located in the hollow part of the grinding ring 5. The drying air gun 62 is specifically a rotary spray gun, which can deliver cold air, normal temperature air or hot air as needed to perform rotary jet drying on the bottom wall of the ship after high-pressure water washing to avoid rust in a short time.

[0028] Thus, when a ship to be repaired enters the dock, the rust removal robot of the present application moves to the operating area via the vehicle chassis 11, then lifts the cleaning device 13 to the bottom wall of the ship via the working arm 12, and places the multiple universal rollers 21 on the cleaning frame 2 against the bottom wall of the ship. As the vehicle chassis 11 moves forward, the drive device simultaneously drives the cleaning ring 4 and the two grinding rings 5 ​​to rotate. As the cleaning ring 4 rotates, it uses the multiple scrapers 41 on it to remove attachments such as barnacles adhering to the bottom wall of the ship. At the same time, the high-pressure water gun 61 sprays a strip of high-pressure jet into the hollow area of ​​the cleaning ring 4, which can not only remove and clean the residual attachments, but also remove rust by virtue of the impact force of the high-pressure jet. In other words, the rust removal robot of the present application can simultaneously clean attachments and remove rust, which can greatly improve the efficiency of ship maintenance operations.

[0029] Furthermore, the two grinding wheels at the rear rotate to further polish the derusted bottom surface, facilitating subsequent painting and maintenance procedures. The compressed air / hot air sprayed by the drying air gun 62 quickly dries the derusted bottom surface, preventing the damp bottom from rusting again in a short period of time. The two second floating rings 32 enable the grinding ring 5 to operate at a higher speed and cover a larger grinding area. Alternatively, different grinding rings 5 ​​can be installed to meet different work requirements. As the cleaning frame 2 advances, the working arm 12 controls the cleaning frame 2 to swing forward, rotating about the central axis of the cleaning ring 4, allowing for multiple grinding operations to be performed simultaneously.

[0030] Moreover, during this process, since the cleaning ring 4 and the grinding ring 5 are elastically floating and rotating on the cleaning rack 2 through the first floating ring 31 and the second floating ring 32 respectively, the cleaning ring 4 and the grinding ring 5 can adaptively fit the bottom wall of the ship with different curvatures during the operation process, the operation efficiency is higher, and the damage to the curved bottom wall of the ship is less.

[0031] In order to realize the floating arrangement of the first floating ring 31 and the second floating ring 32 on the cleaning rack 2, specifically.

[0032] Reference Figure 2 、 Figure 4 and Figure 5, the ship bottom rust removal robot also includes: The limiting cylinders 71 are fixed to the cleaning rack 2 and embedded in the first installation opening or the second installation opening. There are three limiting cylinders 71 , which correspond to the first floating ring 31 and the two second floating rings 32 in a one-to-one manner.

[0033] The slip ring 72 is coaxially fixed to the arcuate outer peripheral wall of the first floating ring 31 or the second floating ring 32, and is slidably fitted with the inner peripheral wall of the limiting cylinder 71. The side of the slip ring 72 close to the limiting cylinder 71 is configured as an arcuate surface or a hemispherical surface. The slip ring 72 can be made of a lubricating material, such as polytetrafluoroethylene, graphite, high-elastic rubber, etc., which can provide low-resistance rotation and sliding of the slip ring 72 on the inner wall of the limiting cylinder 71. The outer wall of the slip ring 72 is configured as a arcuate surface or a hemispherical surface to ensure that the first floating ring 31 and the second floating ring 32 can float and swing smoothly in the corresponding limiting cylinder 71 to avoid getting stuck.

[0034] There are multiple elastic components and they are distributed in a circular array with equal spacing between the first floating ring 31 and the cleaning rack 2 and between the second floating ring 32 and the cleaning rack 2. Figure 4 、 Figure 5 and Figure 6 , elastic components include: Sliding rod 73, passing through cleaning rack 2; The ball sleeve 74 is fixed to the free end of the slide rod 73; The rolling ball 75 is embedded in the ball sleeve 74 and is used for rolling contact with the corresponding first floating ring 31 and second floating ring 32; The floating spring 76 is sleeved outside the slide rod 73, and its two ends are respectively pressed against the ball sleeve 74 and the cleaning frame 2; when the scraper 41 and the grinding ring 5 on the cleaning ring 4 are flush with the rolling surface of the universal roller 21, the floating spring 76 is in a compressed state.

[0035] Furthermore, an annular anti-slip baffle 77 is fixedly attached to the side of the limiting cylinder 71 facing away from the cleaning rack 2. The inner diameter of the anti-slip baffle 77 is larger than the outer diameter of the first floating ring 31 or the second floating ring 32. Alternatively, an annular groove 33 is defined on the outer circumferential wall of the first and second floating rings 31, 32. The width of the annular groove 33 is at least three times the thickness of the anti-slip baffle 77. The inner ring of the anti-slip baffle 77 is embedded in the annular groove 33, with a gap between the inner ring and the bottom wall of the annular groove 33. A sealing rubber ring 78 is fixedly attached to the inner ring of the anti-slip baffle 77 extending into the annular groove 33. The sealing rubber ring 78 is made of highly elastic and weather-resistant rubber and can deform under pressure and axially deflect to ensure that the first and second floating rings 31, 32 still provide a good sealing effect when floating. For example, the sealing rubber ring 78 is integrally formed with a sealing edge 781 that is embedded in the upper and lower end surfaces of the inner ring of the anti-slip baffle 77 and is fixed to the anti-slip baffle 77.

[0036] In this embodiment, the arrangement of the anti-slip baffle 77 is based on the example of the first floating ring 31 and the second floating ring 32 being provided with an annular groove 33, but it cannot be used as a basis for understanding the necessary feature identification of the technical problem claimed to be solved by this application. It is only a demonstration.

[0037] Therefore, when the cleaning rack 2 encounters a curved surface while moving in contact with the wall of the bottom of the ship, the cleaning ring 4 and the polishing ring 5 can adaptively float and flip under the elastic deformation force of the corresponding multiple floating springs 76, so as to better fit the curved surface of the wall of the bottom of the ship, ensure the cleaning and polishing effect, and reduce damage to the wall of the bottom of the ship.

[0038] Among them, the setting of the limiting cylinder 71 and the annular anti-slip baffle 77 is to prevent the first floating ring 31 and the second floating ring 32 from escaping from the cleaning rack 2; the setting of the slip ring 72 is to achieve the smooth rotation and multi-directional floating of the first floating ring 31 and the second floating ring 32 in the limiting cylinder 71; the setting of the rolling ball 75 in the elastic component is to achieve the multi-directional elastic floating effect of the first floating ring 31 and the second floating ring 32, and will not interfere with the rotation of the first floating ring 31 and the second floating ring 32 in the floating state, thereby ensuring the multi-directional floating rotation effect of the first floating ring 31 and the second floating ring 32. The inner ring of the anti-slip baffle 77 is embedded in the annular groove 33, and a rubber ring is provided on the inner ring. This is to achieve a multi-directional floating rotation effect of the first floating ring 31 and the second floating ring 32, and to seal and dust-proof the movable parts such as the slip ring 72 and the elastic component in the limit cylinder 71, so as to prevent debris, sewage, etc. generated during the attachment process from entering the limit cylinder 71 through the gap between the anti-slip baffle 77 and the first floating ring 31 or the second floating ring 32, and causing the sliding or rotation jam of the slip ring 72 or the jamming of the ball 75 and the floating spring 76.

[0039] Moreover, the slip ring 72 and the sealing rubber ring 78 constitute the two fulcrums for the floating rotation of the first floating ring 31 and the second floating ring 32 in the limiting cylinder 71. The slip ring 72 mainly plays the role of rotational lubrication and floating support; the sealing rubber ring 78 is elastic and can be flipped axially along the inner ring of the anti-slip baffle 77, mainly playing the role of active sealing and floating damping, which can reduce the unnecessary floating amount of the first floating ring 31 and the second floating ring 32, improve the floating accuracy of the first floating ring 31 and the second floating ring 32, avoid excessive floating of the first floating ring 31 and the second floating ring 32 due to tiny curved surfaces or protruding attachments, and ensure the cleaning effect of the cleaning ring 4 and the grinding effect of the grinding ring 5.

[0040] In order to realize the floating rotation effect of the first floating ring 31 and the second floating ring 32 on the cleaning rack 2, refer to Figure 2 、 Figure 4 and Figure 5 , the aforementioned driving device includes: The driving disc 81 is rotatably mounted on the cleaning rack 2 , and a power motor 82 is mounted on the cleaning rack 2 for driving the driving disc 81 to rotate.

[0041] A plurality of driving posts 83 are provided and are distributed in a circular array with equal spacing and fixed to the edge of the driving disk 81 . The driving posts 83 are parallel to the axis of the driving disk 81 .

[0042] There are multiple transmission columns 84 distributed in an evenly spaced circular array and fixed to the arc-shaped outer wall of the first floating ring 31 or the second floating ring 32. The gap between two adjacent transmission columns 84 is larger than the outer diameter of the driving column 83. The transmission columns 84 are arranged radially along the first floating ring 31 or the second floating ring 32, and the outer diameter of the driving column 83 is larger than the outer diameter of the transmission column 84.

[0043] The driving column 83 and the transmission column 84 are arranged orthogonally, and when the driving disk 81 rotates, the first floating ring 31 and the two second floating rings 32 are driven to rotate simultaneously through multiple driving columns 83 and multiple transmission columns 84. The length of the driving column 83 is greater than the maximum axial offset stroke of the first floating ring 31 and the second floating ring 32; the number of transmission columns 84 on the first floating ring 31 is greater than the number of transmission columns 84 on the second floating ring 32.

[0044] Thus, when the power motor 82 drives the drive disc 81 to rotate, the drive disc 81 drives the multiple drive posts 83 thereon to rotate. The multiple drive posts 83, through the meshing transmission effect with the multiple transmission posts 84 on the first floating ring 31 and the two second floating rings 32, can simultaneously drive the first floating ring 31 and the two second floating rings 32 to rotate. Even if the first floating ring 31 and the second floating ring 32 experience floating deflection during rotation, the longer drive posts 83 can stably mesh with the gaps between the multiple transmission posts 84, achieving a floating drive effect. Furthermore, because the gaps between adjacent drive posts 83 and adjacent transmission posts 84 are relatively large, even if sewage or debris splashes back during high-pressure jet flushing, this will not significantly interfere with the meshing transmission between the drive posts 83 and the transmission posts 84. Compared to conventional gear meshing and universal joint transmission, this transmission method can be applied in harsh environments. Moreover, the flushing water from the high-pressure jet backwash and the high-speed airflow ejected from the drying air gun 62 impact the bottom wall of the ship, and there is a certain probability that the debris that may be mixed on the transmission column 84 and the drive column 83 will be washed away. Moreover, the rotating centrifugal force can also promote the removal of debris that may be mixed on the transmission column 84 and the drive column 83.

[0045] In addition, considering that attachments such as barnacles are relatively hard, if cleaning is performed solely by relying on multiple blades 41 on a high-speed rotating cleaning disc, the blades 41 will push the cleaning disc and the first floating ring 31 to excessively bounce when initially in contact with such attachments, which can easily cause the blades 41 closest to the bottom wall of the ship to scratch the bottom wall, and is not conducive to cleaning the attachments.

[0046] For this purpose, refer to Figure 4、 Figure 5 and Figure 7 A triangular pyramid 85 is fixedly connected to the free end of the transmission column 84 on the first floating ring 31, and the corners of the triangular pyramid 85 are rounded; or, when the transmission column 84 on the first floating ring 31 transmits power to the drive column 83, the triangular pyramid 85 does not contact the drive column 83.

[0047] Therefore, by arranging a triangular cone 85 at the end of the transmission column 84 fixed to the outer peripheral wall of the first floating ring, when the first floating ring is driven by the driving disk 81 to rotate, the triangular cone 85 will first break the shell of the harder attachments to reduce the protruding height of the attachments on the bottom wall of the ship, making it easier for the scraper 41 on the cleaning ring 4 to remove them, which can significantly reduce the probability of excessive vibration of the cleaning ring 4 and ensure the cleaning effect of the cleaning ring 4.

[0048] Furthermore, it is also considered that when the cleaning disc is cleaning the attachments, if the cleaning disc and the first floating ring 31 jump, it means that there are attachments at that location on the bottom wall of the ship that cannot be cleaned in the short term. At this time, it is necessary to control the cleaning rack 2 to operate at that location for a long time. The water flow ejected by the high-pressure water gun 61 has a high pressure, and if it stays at a certain location for a long time, it will still cause excessive damage to the bottom wall of the ship.

[0049] Therefore, refer to Figure 4 、 Figure 5 and Figure 8 A fixed shaft 91 is also fixed to the cleaning rack 2, a sleeve 92 is sleeved on the fixed shaft 91, the high-pressure water gun 61 is mounted on the sleeve 92, a connecting rod 93 is fixed to the side of the sleeve 92 facing away from the grinding ring 5, and a movable plate 94 corresponding to one end of the plurality of slide rods 73 extending from the back of the cleaning rack 2 is fixed to the free end of the connecting rod 93; When the cleaning ring 4 floats axially on the cleaning frame 2 away from the side of the grinding ring 5, the cleaning ring 4 pushes the corresponding slide rod 73 to make the synchronous plate 94 drive the sleeve 92 to flip, so that the high-pressure water gun 61 forms a sweeping cleaning synchronously with the floating state of the cleaning ring 4.

[0050] In addition, a torsion spring 95 is sleeved on the fixed shaft 91, one end of the torsion spring 95 is fixed to the sleeve 92, and the other end is fixed to the fixed shaft 91, so that the sleeve 92 and the high-pressure water gun 61 thereon can be reset in time after swinging as the cleaning ring 4 floats.

[0051] Furthermore, during the flushing process of the high-pressure water gun 61, a large amount of splashed sewage and debris will inevitably enter the gap between the first floating ring 31 and the cleaning rack 2, causing the elastic component to jam. To this end, the cleaning rack 2 has a waterproof rubber sleeve 24 fixed inside the first mounting opening, which is located between the inner circumferential wall of the first floating ring 31 and the high-pressure water gun 61.

[0052] Furthermore, in other feasible embodiments, referring to Figure 2 、 Figure 4 and Figure 5 An elastic ring can be coaxially secured to the end of the waterproof rubber sleeve 24 facing away from the cleaning rack 2. This elastic ring can be made of plastic or elastic metal to ensure the stiffness of the waterproof rubber sleeve 24 and the fit between the free end of the waterproof rubber sleeve 24 and the inner wall of the first floating ring 31 or the second floating ring 32, thereby enhancing the sealing effect. Furthermore, a C-shaped support frame can be secured between the elastic ring and the cleaning rack 2, with its C-shaped opening facing away from the central axis of the elastic ring. This prevents the elastic ring from twisting as the first floating ring 31 or the second floating ring 32 rotates, while also preventing interference with the floating motion of the first floating ring 31 or the second floating ring 32.

[0053] Unless otherwise defined, the technical or scientific terms used in this application shall have the usual meanings understood by persons of ordinary skill in the field to which this application belongs. The words "first", "second", "third" and similar terms used in the specification and claims of this application do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "one" or "a" do not indicate a quantity limitation, but rather indicate the existence of at least one. Words such as "include" or "comprise" mean that the elements or objects appearing before "include" or "comprises" cover the elements or objects listed after "include" or "comprises" and their equivalents, and do not exclude other elements or objects. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0054] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A ship bottom rust removal robot, comprising a vehicle chassis, a working arm and a cleaning device, characterized in that: The cleaner includes: A cleaning frame, on one side facing away from the working arm, at least three universal rollers are installed; A first floating ring and two second floating rings, all elastically and floatingly installed on the cleaning frame, and the outer diameter of the first floating ring is larger than the outer diameter of the second floating ring; A cleaning ring, coaxially installed on the first floating ring, and on one side facing away from the first floating ring, a plurality of scraping blades are fixedly connected; when the universal rollers contact the bottom wall of the ship, the cutting edges of the scraping blades are elastically pressed against the bottom wall of the ship; A grinding ring, coaxially installed on the second floating ring, and the grinding ring is located on the side of the cleaning ring facing away from the advancing direction of the cleaning frame, and the cleaning ring and the two grinding rings are arranged in a "pin" shape; A driving device, used to drive the cleaning ring and the two grinding rings to rotate; A high-pressure water gun, installed on the cleaning frame, and its water outlet is located in the hollow part of the cleaning ring; A drying air gun, installed on the cleaning frame, and its air outlet is located in the hollow part of the grinding ring.

2. The ship bottom rust removal robot according to claim 1, characterized in that: It further includes: A limiting cylinder, fixedly connected to the cleaning frame, there are three and they correspond to the first floating ring and the two second floating rings one by one; A sliding ring, coaxially fixedly connected to the outer peripheral wall of the arc surface of the first floating ring or the second floating ring, and slidingly fitted with the inner peripheral wall of the limiting cylinder, and the side of the sliding ring close to the limiting cylinder is set as an arc surface; Elastic components, there are a plurality of them and are distributed in a circumferential array at equal intervals between the first floating ring and the cleaning frame and between the second floating ring and the cleaning frame.

3. The ship bottom rust removal robot according to claim 2, characterized in that: The elastic component includes: A sliding rod, penetrating through the cleaning frame; A ball sleeve, fixedly connected to the free end of the sliding rod; A rolling ball, embedded in the ball sleeve; A floating spring, sleeved outside the sliding rod, and its two ends are respectively abutted against the ball sleeve and the cleaning frame.

4. The ship bottom rust removal robot according to claim 2, characterized in that: On the side of the limiting cylinder facing away from the cleaning frame, an annular anti-disengagement baffle is fixedly connected, and the inner diameter of the anti-disengagement baffle is larger than the outer diameter of the first floating ring or the second floating ring; or, annular grooves are formed on the outer peripheral wall of the arc surface of the first floating ring and the second floating ring, the width of the annular groove is more than three times the wall thickness of the anti-disengagement baffle, and the inner circle of the anti-disengagement baffle is embedded in the annular groove and is arranged with a gap from the bottom wall of the annular groove.

5. The ship bottom rust removal robot according to claim 4, characterized in that: A sealing rubber ring is fixedly connected to the inner peripheral wall of the anti-disengagement baffle extending into the annular groove.

6. The ship bottom rust removal robot according to any one of claims 1 to 5, characterized in that: The driving device includes: A driving disk, rotatably arranged on the cleaning frame, and a power motor for driving the driving disk to rotate is installed on the cleaning frame; Driving columns, there are a plurality of them and are fixedly connected to the edge of the driving disk in a circumferential array at equal intervals, and the driving columns are parallel to the axis of the driving disk; Transmission columns, there are a plurality of them and are fixedly connected to the outer peripheral wall of the arc surface of the first floating ring or the second floating ring in a circumferential array at equal intervals, the gap between adjacent two transmission columns is larger than the outer diameter of the driving column, and the transmission columns are arranged along the radial direction of the first floating ring or the second floating ring; The driving columns and the transmission columns are arranged orthogonally, and when the driving disk rotates, the first floating ring and the two second floating rings are simultaneously driven to rotate through the plurality of driving columns and the plurality of transmission columns, and the length of the driving column is greater than the maximum axial offset stroke of the first floating ring and the second floating ring.

7. The ship bottom rust removal robot according to claim 6, characterized in that: At the free end of the transmission column on the first floating ring, a triangular pyramid is fixedly connected, and the edges of the triangular pyramid are provided with rounded corners; or, when the transmission column on the first floating ring transmits power with the driving column, the triangular pyramid does not contact the driving column.

8. The ship bottom rust removal robot according to claim 3, characterized in that: The cleaning rack is fixedly connected to a fixed shaft, a sleeve is sleeved on the fixed shaft, the high-pressure water gun is mounted on the sleeve, a connecting rod is fixedly connected to the side of the sleeve facing away from the grinding ring, and a movable plate corresponding to one end of the plurality of sliding rods extending from the back of the cleaning rack is fixedly connected to the free end of the connecting rod; When the cleaning ring floats axially on the cleaning rack away from the grinding ring, the cleaning ring pushes the corresponding sliding rod to make the synchronous plate drive the sleeve to flip, so that the high-pressure water gun forms a sweeping cleaning synchronously with the floating state of the cleaning ring.

9. The ship bottom rust removal robot according to claim 8, characterized in that: A torsion spring is sleeved on the fixed shaft, one end of the torsion spring is fixedly connected to the sleeve, and the other end is fixedly connected to the fixed shaft.

10. The ship bottom rust removal robot according to claim 1, characterized in that: The cleaning rack is provided with a first mounting opening and a second mounting opening corresponding to the first floating ring and the second floating ring. A waterproof rubber sleeve is fixedly connected to the inside of the first mounting opening of the cleaning rack. The waterproof rubber sleeve is located between the inner peripheral wall of the first floating ring and the high-pressure water gun.

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